CN106691562A - Individualized vertebral pedicle set screw drill jig with quick-changing drill bush and manufacturing method of individualized vertebral pedicle set screw drill jig - Google Patents
Individualized vertebral pedicle set screw drill jig with quick-changing drill bush and manufacturing method of individualized vertebral pedicle set screw drill jig Download PDFInfo
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- CN106691562A CN106691562A CN201611012148.2A CN201611012148A CN106691562A CN 106691562 A CN106691562 A CN 106691562A CN 201611012148 A CN201611012148 A CN 201611012148A CN 106691562 A CN106691562 A CN 106691562A
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- pedicle
- vertebral arch
- nail
- targeted vertebra
- vertebra
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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
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
- A61B17/70—Spinal positioners or stabilisers ; Bone stabilisers comprising fluid filler in an implant
- A61B17/7074—Tools specially adapted for spinal fixation operations other than for bone removal or filler handling
- A61B17/7076—Tools specially adapted for spinal fixation operations other than for bone removal or filler handling for driving, positioning or assembling spinal clamps or bone anchors specially adapted for spinal fixation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
- A61B17/90—Guides therefor
Abstract
The invention discloses an individualized vertebral pedicle set screw drill jig with a quick-changing drill bush and a manufacturing method of the individualized vertebral pedicle set screw drill jig. The individualized vertebral pedicle set screw drill jig comprises a body and the drill bush. The lower end of the body is provided with a bone binding face and a bottom face, the upper end of the body is provided with a set screw plane, finger pressing pits are arranged on the front and back side walls, two set screw channels are arranged inside the body, one end of each set screw channel penetrates through the set screw plane, and the other end of each set screw channel penetrates through the bottom face; the drill bush is installed inside the set screw channels, and the drill bush and the set screw channels form transition fit. The individualized vertebral pedicle set screw drill jig has the advantages that the structural size and the bone binding face are designed according to the form, size and adjacent vertebra position relation of a target vertebra, and the obvious individualized customization characteristics are achieved. A pedicle screw thread bottom hole is drilled through the drill bush, the pedicle screw is implanted, it can be ensured that the screw does not penetrate through the vertebral pedicle cortex, and it is ensured that the screw has the large diameter has the large diameter within the vertebral pedicle space allowed range, so that it is ensured that the firm three-dimensional fixing effect is achieved after implantation to a larger extent, and the vertebra joint biological mechanical characteristics can be replicated again.
Description
Technical field
The present invention relates to technical field of medical instruments, more particularly to a kind of personalized pedicle of vertebral arch with Quick-change drill bush puts nail bit
Mould and preparation method thereof.
Background technology
Fixed surgical indication is applied to tumor of spinal cord, retrogression pathological changes, the rheumatoid pass of backbone in pedicle screw
Section inflammation and infectious diseases, especially in the reset for the treatment of vertebral slippage, corrective procedure, pedicle of Vertebral Arch Fixation is the most reliable
Fixed form.Because pedicle screw can play three-dimensional fixation, with mechanical strength is high, fixed and Fusion levels are few,
The advantages of deformity of spine rectification effect is good, its clinical practice is more and more extensive.
Biomechanics experiment proves, only inserts screw along the dissection major axis of pedicle of vertebral arch and reach depth desired, can just obtain
Obtain preferable clinical effectiveness.Spinal vertebral surrounding anatomical structures are complicated, and front is adjacent with big blood vessel, internal organs, and pedicle of vertebral arch inner side is
Canalis spinalis, lower section are nerve root, and can the success or failure of the pedicle screw internal fixation operation of pedicle it is critical only that accurately by certainly
Attack screw pedicle and be screwed into centrum, do not wear out pedicle of vertebral arch cortex.Screw is put by mistake can cause spinal cord, nerve damage, internal organs, blood
Pipe is damaged, or even threat to life.And, thoracic vertebrae, the pedicle diameter of cervical vertebra are gradually reduced from lumbar vertebrae upwards, cause operation difficult
Degree increase, operation risk is improved.And the vertebral arch root morphology of individual has larger variability, screw is caused to put nail fault rate liter
It is high.Cause the clinical report of the complication such as neurotrosis, pedicle screw loosening because pedicle screw implantation site is improper simultaneously
It is not rare.Therefore, related medical technology and engineering technology how are relied on, helps doctor to complete operation pathway planning, accurately draw
The implantation of implants is led, is always the problem that basis and clinical research are extremely paid close attention to both at home and abroad.
At present, determine that pedicle screw enters to follow closely angle and the main method of entry point and has：Anatomic landmark point method, vertebral lamina fenestration
Method, X-ray examination method, computer navigation method, navigation template method etc..The entry point of anatomic points notation, enter to follow closely angle and mainly pass through
The experience of patient judges that accurate saying isByThe opposed nail channel of feel and pedicle probe of patient is felt to ensure vertebral arch
The accurate of root screw is inserted, and the clinical experience requirement to doctor is higher, and precision is difficult to ensure that.Vertebral lamina fenestration is inevitably
Increase operating time and intraoperative blood loss.The operating time of X-ray examination auxiliary law is more long, the x-ray that patient and medical personnel are subject to
Amount of radiation is larger.Computer navigation method is gradually applied in being fixed in pedicle screw in recent years, real-time using patient
Pedicle of vertebral arch image information carrys out guided operation, reduces operation risk, the time that doctor and patient contacts ray is reduced, with larger
Advantage, but navigation equipment is expensive, complex operation, and clinic popularization still suffers from difficulty.Navigation template method is based on 3D printing skill
Art produces navigation template, and with to operation quick response and efficiency-cost ratio advantage, existing individuation navigation template is primarily present
The problem of three aspects：One is that template thickness is relatively thin, rigidity is poor, is not easy to hold in art, during drilling template be also easy to produce deformation and
Rock；Two be the navigation template without sleeve conduit is easy to wear and fusing, and its sleeve of the navigation template with sleeve and template
Between for gap coordinate and have relative rotation, this can influence orientation accuracy and using effect；Three is the rule that pedicle of vertebral arch puts nail channel
Draw and lack effective theoretical and means support, its optimization method, operating efficiency and planning effect have much room for improvement.
Therefore, need badly design a set of energy it is accurate, efficiently planning pedicle screw entry point, insert angle, diameter with
The method of length, and the result of calculation based on the method prepare be applied to operation " nail bit mould is put in personalization ", in order to
Pedicle screw is inserted in pedicle screw internal fixation operation safety and precise, realize replicating again for vertebra biomechanics characteristic,
Improve patients ' life quality.
The content of the invention
The purpose of the present invention is to overcome the shortcomings of existing method and technology, and provides a kind of personalized vertebra with Quick-change drill bush
Nut puts nail bit mould and preparation method thereof, and nail bit mould is put by the personalized pedicle of vertebral arch with Quick-change drill bush, and patient is in pedicle of vertebral arch
Can fast and accurately implement into nail in ligamentopexis, realize that complicated operation safe, key operation simplification, apparatus are with low cost
Change.
The technical scheme is that：Personalized pedicle of vertebral arch with Quick-change drill bush puts nail bit mould, including body and drill bushing；This
Body lower end is provided with bone binding face and bottom surface, and upper end is provided with puts nail plane, and two side is provided with finger pressure hole before and after body, is set in body
There are two to put nail channel, put the insertion of nail channel one end to putting nail plane, other end insertion to bottom surface；Drill bushing is arranged on and puts nail channel
Interior, the two forms interference fits.
Further technical scheme is the present invention：Drill bushing is shorter in length than the length for putting nail channel, is put when drill bushing is arranged on
In nail channel, put one section of nail channel and contacted with drill bushing, another section does not contact with drill bushing, put one section that nail channel is not contacted with drill bushing
It is chip removal chamber, chip removal chamber is communicated to bottom surface.
Further technical scheme is the present invention：Bone binding face can be with targeted vertebra vertebral plate, transverse process rear portion and spinous process root
The profile of portion's dorsal part is attached and coincide；When bone binding face and targeted vertebra are attached coincide, the central axis and target of nail channel are put
The axis that pedicles of vertebrae most imperial palace connects Elliptic Cylinder overlaps；The adjacent vertebrae is positioned at targeted vertebra lower section and and target
One piece of vertebra of vertebrae adjacent.
Further technical scheme of the invention is：Body left and right sides wall is provided with transverse process avoidance with body bottom surface intersection
Chamfering；The position on bone binding face correspondence targeted vertebra spinous process top is provided with spinous process and avoids groove；Bone binding face correspondence adjacent vertebrae
The position of processus articular superior is provided with processus articular superior and avoids groove.
The preparation method that the described personalized pedicle of vertebral arch with Quick-change drill bush puts nail bit mould is as follows：
S01, obtains targeted vertebra medical image：Transfer spiral CT examination data or nuclear magnetic resonance check before patient's diagnosis
Data, select the data of operative region targeted vertebra, save as the recognizable form of medical image software；
S02, reconstructs the threedimensional model and central point point set of targeted vertebra：The medical image of targeted vertebra is imported into medical science shadow
As software Mimics, rebuild the threedimensional model of targeted vertebra, then obtain the central point point set of targeted vertebra, central point point set by
Away from the discrete point composition for a, threedimensional model and central point point set are saved as into STL forms, IGS forms respectively；
In this step, the interval of a is 0.01mm~0.1mm；
S03, creates and to be modified once enters staple line：Threedimensional model and central point point set data file are imported into reverse engineering software
In Imageware, the central point point set in the pedicle of vertebral arch length range of side is then chosen, create nurbs curve, it is bent in NURBS
Take m equidistant point on line, and make nurbs curve in this m tangent line of a position, cross this m point be respectively created perpendicular to
A m normal section of each tangent line, the n comprising pedicle isthmus is extracted in a m normal section and is once abscissused
Face, nurbs curve forms n intersection point with this n normal section, obtains the least-squares line of this n intersection point, as once
Enter staple line；
In this step, n >=7, m >=n；
S04, create it is secondary enter staple line：By n intersection point in S03 steps, it is respectively created perpendicular to the n individual two for once entering staple line
Secondary normal section；Extract the outer contour of pedicle of vertebral arch respectively on n secondary normal section, be then created that in each outer contour
Maximum inscribed circle, the center of circle of each maximum inscribed circle is sequentially connected, and forms a space broken line, obtains the minimum of the space broken line
Two multiply straight line, as it is secondary enter staple line；
In this step, it is secondary enter staple line be final pedicle screw and enter to follow closely route；
S05, it is determined that along it is secondary enter staple line direction pedicle of vertebral arch most imperial palace connect the cross section of Elliptic Cylinder：By the n in S03 steps
Individual intersection point, be respectively created perpendicular to it is secondary enter staple line n three normal sections, extract vertebra respectively on this n three normal sections
The outer contour of nut, the n outer contour that then will be extracted along it is secondary enter staple line vector direction, near target vertebra
Projected on three normal sections of bone centrum, a closed interval is internally formed after projection superposition, made in the closed interval
Maximum inner ellipse, the maximum inner ellipse be along it is secondary enter staple line direction pedicle of vertebral arch most imperial palace connect the horizontal stroke of Elliptic Cylinder
Section；
S06, determines pedicle screw and puts the interval of nail channel diameter：During center with the maximum inner ellipse is
The heart, r is semi-minor axis length, and h is semimajor axis length, concentration ellipse is made in maximum inner ellipse, and ensure the short of concentration ellipse
Axle is Chong Die with the short axle of maximum inner ellipse, by the minor axis length of the concentration ellipse and pharmaceuticals industry standard YY0018-2002 institutes
The external thread diameter size of the metal bone screw of regulation is compared and downward rounding, determines pedicle screw external thread diameter
D1, looks into the diameter of thread d2 taken corresponding to d1, using d2 as drill bushing internal diameter basic size, using d2+2 δ as drill bushing external diameter
Basic size, then determines to put nail channel diameter according to drill bushing with the matching relationship for putting nail channel；
In this step, r=b-x-y；h=c-x-y；B is the semi-minor axis length of maximum inner ellipse, and c is the half of maximum inner ellipse
Long axis length, x is the statistical value of targeted vertebra pedicle of vertebral arch thickness of cortex of bone, and y is the drilling offset distance of body, and the interval of y is
0.3~0.5mm；δ is the wall thickness of drill bushing, and the interval of δ is 1.5~1.75mm；
S07, is repeated in S03~S06, obtains the secondary of the opposite side pedicle of vertebral arch relative with " side pedicle of vertebral arch " in S03 steps
Enter staple line, pedicle screw and put the interval of nail channel diameter；
S08, sets up this body three-dimensional models：The threedimensional model file of targeted vertebra and its adjacent vertebrae is imported into PRO/E；Root
Position relationship according to the form of targeted vertebra, size and with adjacent vertebrae, sets up body initial configuration model, further according to it is secondary enter
Nail channel diameter is put in staple line linear equation and selection, is set up on body initial configuration model and puts nail channel, Ran Hou
The body initial configuration model that targeted vertebra and band put nail channel is matched in Mimics, using Boolean calculation under body
The reverse curved surface of end generation targeted vertebra locating surface, as the bone binding face of body, so as to realize the foundation of this body three-dimensional models；
S09, the personalized pedicle of vertebral arch of manufacture puts nail bit mould：This body three-dimensional models that will be designed are manufactured with 3D printing technique,
And the drill bushing that will be designed also is manufactured, while produce the 3D printing model of targeted vertebra, be easy to the preoperative experiment of doctor with
Assessment.
It is preferred that, in step S08, when setting up body initial configuration model, it is considered to the convenience of clamping, the both sides before and after body
Finger pressure hole is set on wall, and holding position when nail bit die worker makees is put in finger pressure hole as personalized pedicle of vertebral arch.
It is preferred that, in step S08, when setting up body initial configuration model, empty avoiding treatment at three is carried out, at described three at empty avoiding
Reason is included in body left and right sides wall and sets transverse process avoidance chamfering with bottom surface intersection, to avoid the transverse process position pair of adjacent vertebrae
Body installs the interference of positioning；The position on bone binding face correspondence targeted vertebra spinous process top sets spinous process and avoids groove, to avoid
The interference effect that spinous process lateral protrusions are positioned to bone binding face curved surface；Bone binding face correspondence adjacent vertebrae processus articular superior is closed on position
Section is prominent to avoid groove, to avoid what the relative motion change in location between targeted vertebra and adjacent vertebrae was positioned to bone binding face curved surface
Interference effect.
The present invention has the following advantages that compared with prior art：
1st, using the preparation method in the present invention, can produce to be attached with targeted vertebra positioning curved surface and coincide well and with high-precision
The personalized pedicle of vertebral arch that degree puts nail channel puts nail bit mould.Patient accurately and rapidly can be implemented in pedicle screw by this drill jig
Ligamentopexis, both improves procedure efficiency, and the accuracy and security of operation have been ensured again.
2nd, the bone binding face of the physical dimension of body and body lower end all in accordance with the form of targeted vertebra, size and with it is adjacent
The position relationship of vertebra is designed, with obvious personalized customization feature.Body interior put nail channel space angle and
Diameter is that the respective algorithms in preparation method are calculated.Can be in targeted vertebra pedicle of vertebral arch by the drill bushing of body interior
The thread Pilot hole of pedicle screw is inside got out, the pedicle screw being implanted into by thread Pilot hole can both ensure not wear out pedicle of vertebral arch
Cortex, ensures that screw has larger diameter in the range of the permission of vertebral arch radical space, so as to ensure to plant to large extent
There is excellent biomechanics characteristic and firm three-dimensional fixed effect after entering, the multiple again of vertebral joint biomechanics characteristic is realized
System.
3rd, finger pressure hole is provided with before and after body on two side, meets ergonomics, can easily entered when drill jig works
Row holds and presses, and not only can effectively reduce the vibration of drill jig, moreover it is possible to effectively prevent between drill jig and targeted vertebra, patient
There is skidding between finger and drill jig.
4th, body puts the drill bushing that metal material is provided with nail channel, and drill bushing is shorter in length than the length for putting nail channel, when
Drill bushing be arranged on put in nail channel, put one section of nail channel and contacted with drill bushing, another section does not contact with drill bushing, put nail channel not with brill
One section of set contact is chip removal chamber, and chip removal chamber can accommodate the bone bits for getting out, bit cutting blade tip when spudding in can be prevented effectively from again
Scratch of the angle to drill bushing endoporus.During drill bushing is used prepared by carbon quenched and tempered steel (45 steel or medium carbon alloy steel 40Cr), it had both been had good
Good comprehensive mechanical performance and wearability, definite value reamer is easy to use again carries out Precision Machining to its small size internal diameter.In operation
Middle drill bushing not only gets out screw thread bottom outlet and provides accurate guide effect for drill bit in pedicle of vertebral arch, and can keep good size
Stability, thus ensure to be formed between drill bit and drill bushing high-precision cooperation (the ratio between chip clearance and bit diameter for 0.5~
1).Metal drill bushing can quick dispatch, reusable, both improve procedure efficiency, apparatus cost is reduced again.
5th, body is provided with optimization structure at three：Body left and right sides wall is provided with transverse process and avoids chamfering with bottom surface intersection,
Can avoid the transverse process position of adjacent vertebrae that the interference for positioning is installed to body；The portion on bone binding face correspondence targeted vertebra spinous process top
Position is provided with spinous process and avoids groove, the interference effect that spinous process lateral protrusions can be avoided to position bone binding face curved surface；Bone binding face pair
Answer the position of adjacent vertebrae processus articular superior to be provided with processus articular superior and avoid groove, can avoid relative between targeted vertebra and adjacent vertebrae
Interference effect of the movement position change to bone binding face curved surface positioning.
Below in conjunction with figure, the invention will be further described with embodiment.
Brief description of the drawings
Fig. 1 is the front view that the personalized pedicle of vertebral arch with Quick-change drill bush puts nail bit mould；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the left view of Fig. 1；
Fig. 4 is the dimensional structure diagram that the personalized pedicle of vertebral arch with Quick-change drill bush puts nail bit mould；
Fig. 5 is the use state schematic diagram that the personalized pedicle of vertebral arch with Quick-change drill bush puts nail bit mould；
Fig. 6 is the structural representation of body；
Fig. 7 is the position relationship schematic diagram of targeted vertebra and adjacent vertebrae；
Fig. 8 is the threedimensional model of targeted vertebra and the matching status schematic diagram of its central point point set；
Fig. 9 is the generation view for once entering staple line to be modified；
Figure 10 be it is secondary enter staple line generation view；
Figure 11 is three generation views of normal section；
Figure 12 enters nail channel generation view for safety.
Explanation：For the structure of more intuitive show ontology, Fig. 3 uses broken section putting at nail channel.
Part marginal data：Body 1；Bone binding face 11；Put nail plane 12；Put nail channel 13；Finger pressure hole 14；Bottom surface 15；
Transverse process avoids chamfering 16；Spinous process avoids groove 17；Processus articular superior avoids groove 18；Drill bushing 2；Ring-shaped step 21；Targeted vertebra 31；
Spinous process 311；Central point point set 32；Nurbs curve 33；Once enter staple line 34；Normal section 35；Secondary normal section 36；It is maximum
Inscribed circle 37；Space broken line 38；It is secondary enter staple line 39；Three normal sections 40；Maximum inner ellipse 41；Concentration ellipse 42；It is adjacent
Vertebra 9；Transverse process 91；Processus articular superior 92.
Specific embodiment
Embodiment 1：
As shown in figs. 1 to 6, the personalized pedicle of vertebral arch with Quick-change drill bush puts nail bit mould, including body 1 and drill bushing 2.
The lower end of body 1 is provided with bone binding face 11 and bottom surface 15, and upper end is provided with puts nail plane 12.Body is provided with two and puts nail
Passage 13, put one end insertion of nail channel 13 to put nail plane 12, other end insertion to bottom surface 15.Bone binding face 11 and targeted vertebra
The profile of 31 vertebral plates, transverse process rear portion and spinous process root dorsal part is attached and coincide.It is coincide when bone binding face 11 and targeted vertebra 31 are attached
When, the axis that the central axis 132 for putting nail channel 13 connects Elliptic Cylinder with the pedicle of vertebral arch most imperial palace of targeted vertebra 31 overlaps.
Drill bushing 2 is arranged on and puts in nail channel 13, and the two forms interference fits, that is, form gap or interference fit (may be selected
H8/js7 or H8/k7), but gap value or the equal very little of the magnitude of interference, it is easily installed again and dismantles while orientation accuracy is ensured.
It is preferred that, the edge of the front and rear two side of body 1 is provided with finger pressure hole 14.
It is preferred that, nail channel 13 is put for shoulder hole, step surface 131 is provided with it, the outer wall of drill bushing 2 is provided with ring-shaped step 21；
Put in nail channel 13 when drill bushing 2 is arranged on, drill bushing 2 is by ring-shaped step 21 thereon and the step surface 131 put in nail channel 13
It is in contact and is axially located.
It is preferred that, as shown in Fig. 2,7, the left and right sides wall of body 1 is provided with transverse process and avoids chamfering 16 with the intersection of bottom surface 15, can keep away
The position of transverse process 91 for exempting from adjacent vertebrae 9 is installed by the interference of positioning to body；On the correspondence spinous process 311 of targeted vertebra 31 of bone binding face 11
The position in portion is provided with spinous process and avoids groove 17, the interference effect that spinous process lateral protrusions can be avoided to position the curved surface of bone binding face 11；
The position of the correspondence processus articular superior 92 of adjacent vertebrae 9 of bone binding face 11 is provided with processus articular superior and avoids groove 18, can avoid targeted vertebra
The interference effect that relative motion change in location between 31 and adjacent vertebrae 9 is positioned to the curved surface of bone binding face 11.
The described preparation method for putting nail bit mould with Quick-change drill bush personalization pedicle of vertebral arch is as follows：
S01, obtains targeted vertebra medical image：Transfer spiral CT examination data or nuclear magnetic resonance check before patient's diagnosis
Data, select the data of operative region targeted vertebra, save as the recognizable forms of medical image software Mimics.
S02, reconstructs the threedimensional model and central point point set of targeted vertebra：The medical image of targeted vertebra 31 is imported
Medical image software Mimics, takes filtering, noise reduction means to carry out the pre-treatment of two dimensional image, further according to the wheel of targeted vertebra 31
Exterior feature carries out threshold value separation, sets up mask, rebuilds the threedimensional model of targeted vertebra 31, then by Mimics built-in " center line plan
Conjunction " function generates the central point point set 32 of targeted vertebra 31, and central point point set 32 is made up of the discrete point that spacing is 0.05mm, will
The threedimensional model and central point point set 32 of targeted vertebra 31 save as STL forms, IGS forms respectively.
In this step, the interval of a is 0.01mm~0.1mm；The central point point set 32 is the barycenter of targeted vertebra 31
The point set of composition.
S03, creates and to be modified once enters staple line：The threedimensional model of targeted vertebra 31 and central point point set 32 are imported inverse
In to engineering software Imageware (as shown in Figure 8), the central point point set 32 in the pedicle of vertebral arch length range of side is then chosen,
Nurbs curve 33 is created, 21 equidistant points is taken on nurbs curve, and make nurbs curve 33 in this 21 positions
Tangent line, excessively this 21 points are respectively created 21 normal sections 35 perpendicular to each tangent line, are extracted in 21 normal sections
Go out including 7 normal sections (as shown in Figure 9) including pedicle isthmus；According to nurbs curve and 7 normal sections
7 D coordinates values of intersection point, the M files based on Matlab obtain its least-squares line equation, and are painted in Imageware
The least-squares line is made, the least-squares line is once to enter staple line 34 (as shown in Figure 9).
In this step, the nurbs curve is non-homogeneous B spline curve, is with the central point point of pedicle area
It is node to integrate, the continuous smooth curve created in Imageware.The isthmus is one section of most narrow area of pedicle of vertebral arch
Domain, accounts for the 5%~15% of pedicle of vertebral arch total length, on the premise of the densification of central point spacing, it is easy to obtained in a m normal section.
S04, create it is secondary enter staple line：Created perpendicular to once entering staple line 34 by 7 intersection points formed in S03 steps
7 secondary normal sections 36, extract the outer contour of pedicle of vertebral arch, then in each foreign steamer respectively on 7 secondary normal sections 36
Maximum inscribed circle 37 is created that in profile, the center of circle of 7 maximum inscribed circles is sequentially connected, form a space broken line 38 (such as
Shown in Figure 10)；M files based on Matlab obtain the least-squares line equation of space broken line 38；Drawn in Imageware
Go out the least-squares line of space broken line 38, the least-squares line be it is secondary enter staple line 39 (as shown in Figure 10).
In this step, it is secondary enter staple line 39 be final pedicle screw and enter to follow closely route.
S05, it is determined that along it is secondary enter staple line direction pedicle of vertebral arch most imperial palace connect the cross section of Elliptic Cylinder：By S03 steps
In 7 intersection points, be respectively created perpendicular to it is secondary enter staple line 39 7 three normal sections 40, on 7 three normal sections 40 point
Indescribably take the outer contour (as shown in figure 11) of pedicle of vertebral arch, 7 outer contours that then will be extracted along it is secondary enter staple line vector
Direction, is projected on three normal sections 40 near the centrum of targeted vertebra 31, and one is internally formed after 7 projection superpositions
Closed interval (according to medical statistics, this closed interval forms a similar elliptical shape), makes in the closed interval most
Big inner ellipse 41 (as shown in figure 12), the minor axis length of maximum inner ellipse 41 is 8.2mm, and long axis length is 10.2mm, should
Maximum inner ellipse 41 be along it is secondary enter staple line direction pedicle of vertebral arch most imperial palace connect the cross section of Elliptic Cylinder.
S06, determines pedicle screw and puts the interval of nail channel diameter：During center with maximum inner ellipse 41 is
The heart, 2.1mm is semi-minor axis length, and 3.1mm is semimajor axis length, and (such as Figure 12 of concentration ellipse 42 is made in maximum inner ellipse 41
It is shown), and ensure that the short axle of concentration ellipse 42 is Chong Die with the short axle of maximum inner ellipse 41, the short axle of the concentration ellipse 42 is long
Degree and pharmaceuticals industry standard YY0018-2002《Synosteosis implant metal bone screw》The outer spiral shell of the metal bone screw of defined
Line diameter dimension is compared, and rounding downwards, inquires about and determine the model HA4.0 of pedicle screw, its external thread diameter
D1 is 4.0mm, and diameter of thread d2 is 2.9mm, so that it is determined that the basic size of drill bushing internal diameter is straight with the drill bit for getting out thread Pilot hole
Footpath is 2.9mm；Using d2+2 δ (the wall thickness δ of drill bushing is 1.5mm) as the basic size of drill bushing external diameter, so that it is determined that it is logical to put nail
The diameter in road and the basic size of drill bushing external diameter are 5.9mm.
In this step, the statistical value x of the section pedicle of vertebral arch thickness of cortex of bone is 1.7mm, and the drilling offset distance y of body is
0.3mm, the semi-minor axis length b of maximum inner ellipse 41 is 4.1mm, and the semimajor axis length c of maximum inner ellipse 41 is 5.1mm,
The semi-minor axis length of concentration ellipse 42 is r, and the semimajor axis length of concentration ellipse 42 is h, is calculated according to formula r=b- (x+y)
The semi-minor axis length r of concentration ellipse 42 is 2.1mm, long according to the semi-major axis that formula h=c- (x+y) calculates concentration ellipse 42
Degree h is 3.1mm.
S07, is repeated in S03~S06, obtains the opposite side pedicle of vertebral arch relative with " side pedicle of vertebral arch " in S03 steps
It is secondary to enter staple line, pedicle screw and to put the interval of nail channel diameter.
S08, sets up the threedimensional model of body：By targeted vertebra 31 and its threedimensional model file (the STL lattice of adjacent vertebrae 9
Formula) it imported into PRO/E；Form, size according to targeted vertebra 31 and the position relationship with adjacent vertebrae 9, at the beginning of setting up body
Beginning structural model, further according to both sides pedicle of vertebral arch it is secondary enter staple line linear equation and selection put nail channel diameter, at the beginning of body
Set up on beginning structural model and put nail channel 13, the body that targeted vertebra 31 and band are then put nail channel 13 in Mimics is initial
Structural model is matched, and the reverse curved surface of the locating surface of targeted vertebra 31 is generated in the lower end of body 1 using Boolean calculation, used as this
The bone binding face 11 of body 1, so as to realize the foundation of this body three-dimensional models.
S09, personalized pedicle of vertebral arch of the manufacture with Quick-change drill bush puts nail bit mould：Personalized pedicle of vertebral arch with Quick-change drill bush is put
The threedimensional model file (STL forms) of nail bit mould is imported in 3D printing software Cura, carry out 3D printing manufacture, and will be designed
Drill bushing is also manufactured, while producing the 3D printing model of targeted vertebra, is easy to the preoperative experiment of doctor and assessment.
The planning for putting nail channel in preparation method of the present invention to body employs the cad technique of uniqueness, is effectively lifted
The quality and efficiency of planning.The most imperial palace that it is critical only that searching pedicle of vertebral arch that nail channel is put in planning connects Elliptic Cylinder, according to this really
That determines pedicle screw enters to follow closely direction and screw diameter.
This preparation method is primarily based on the central point point set data in the pedicle of vertebral arch length range automatically generated in Mimics,
The pedicle of vertebral arch center line of nurbs curve form is created in Imageware, cylindroid is connect in this, as pedicle of vertebral arch most imperial palace is sought
The primary data of body axis, avoiding problems blindness and arbitrariness that Elliptic Cylinder initial plan is connect to pedicle of vertebral arch most imperial palace.
If next considering only to connect ellipse setting pedicle of vertebral arch most imperial palace to the normal of nurbs curve normal section with isthmus
The axis vector of cylinder, then do not have ergodic, therefore choose n characteristic point of nurbs curve in pedicle of vertebral arch length range
Least-squares line is solved and drawn out, as staple line is once entered, is completed to entering to follow closely direction that is, most imperial palace connects Elliptic Cylinder axle
The first time amendment of line vector.
It should be noted that as important Mathematical Modeling, least square method because theoretical ripe, algorithm is simple and easy to do
It is used widely in survey engineering, standard GB/T/T 1958-2004《Product geometric sense technical specification（GPS）Shape and position
Put tolerance detection regulation》Also illustrate, on the premise of functional requirement is met, it is allowed to commented instead of minimal condition using approximation method
Determine form error, including axis straightness error.
Next, it is contemplated that once enter the initial data of staple line from n not parallel section in pedicle of vertebral arch length range
The central point in face (normal section), i.e. center of mass point, although for the initial plan that pedicle of vertebral arch most imperial palace connects Elliptic Cylinder is provided
It is convenient, but if entering to follow closely direction as final using it, then due to the complexity of pedicle of vertebral arch anatomic morphological occur it is larger
Vector error, the center of circle of the maximum inscribed circle in n secondary normal sections along once enter the projective distribution of staple line vector one compared with
In big scope, this larger dislocation causes the diameter that the pedicle of vertebral arch made most imperial palace connects Elliptic Cylinder less than normal, therefore correctly may be used
Capable way is the circle center line connecting by asking for maximum inscribed circle, further asks for the least-squares line of the line as secondary
Enter staple line, complete to entering to follow closely direction that is, most imperial palace connects second amendment of Elliptic Cylinder axis vector, in the vector direction energy
Obtain bigger pedicle of vertebral arch most imperial palace and connect Elliptic Cylinder diameter.
By virtual experimental, find such as using it is secondary enter staple line isthmus normal section maximum inscribed circle as pedicle of vertebral arch most
Imperial palace connects Elliptic Cylinder diameter, can produce slight broken wall phenomenon, therefore the pedicle of vertebral arch outline that will first be extracted on three normal sections
Line along it is secondary enter staple line vector direction project and be superimposed, found by Practice in Computer Graphics, the projection of n outer contour is superimposed
Afterwards, internal closed area is similar to an ellipse, therefore, the maximum inner ellipse in closed interval can be asked for, as along two
It is secondary enter staple line direction pedicle of vertebral arch most imperial palace connect the cross section of Elliptic Cylinder, the Virtual Test Validation security of this method.
Then concentration ellipse is made in maximum inner ellipse, because when implementing pedicle of vertebral arch operation, screw can not penetrate vertebra
Nut cortex bone, therefore it is concentric ellipse with what drilling offset distance was obtained that pedicle of vertebral arch thickness of cortex of bone is subtracted on the basis of maximum inner ellipse
Circle, be only the pedicle of vertebral arch body that can implement to perform the operation, as long as pedicle screw enters to follow closely scope and falls in concentration ellipse during operation
All it is allowed, it has the tolerance band of certain error.
In sum, what is proposed in preparation method of the present invention carries out second-order correction and acquisition pedicle of vertebral arch maximum to entering to follow closely direction
The technology path of Elliptic Cylinder is inside connect, is the built-in work(of anatomic morphological, Least Square Theory and CAD software based on pedicle of vertebral arch
Can and carry out, effectively improve put nail channel planning quality and efficiency.
Claims (8)
1. the personalized pedicle of vertebral arch with Quick-change drill bush puts nail bit mould, it is characterized in that：Including body (1) and drill bushing (2)；Body (1)
Lower end is provided with bone binding face (11) and bottom surface (15), and upper end is provided with puts nail plane (12), and two side is provided with finger before and after body (1)
Two are provided with load mould (14), body (1) and put nail channel (13), put nail channel (13) one end insertion to nail plane (12) is put, separately
One end insertion is to bone binding face (11)；Installed in putting in nail channel (13), the two forms interference fits to drill bushing (2).
2. the personalized pedicle of vertebral arch with Quick-change drill bush as claimed in claim 1 puts nail bit mould, it is characterized in that：The length of drill bushing (2)
Degree is shorter than the length for putting nail channel (13), when drill bushing (2) is installed in putting in nail channel (13), puts (13) one sections of nail channel and drill bushing
(2) contact, another section contact with drill bushing (2), it is chip removal chamber (133) to put one section that nail channel (13) do not contact with drill bushing (2),
Chip removal chamber (133) is communicated to bottom surface (15).
3. the personalized pedicle of vertebral arch with Quick-change drill bush as claimed in claim 1 or 2 puts nail bit mould, it is characterized in that：Bone binding face
(11) can be attached with the profile of targeted vertebra (31) vertebral plate, transverse process rear portion and spinous process root dorsal part and coincide；When bone binding face (11)
When attaching identical with targeted vertebra (31), the central axis (132) for putting nail channel (13) is maximum with targeted vertebra (31) pedicle of vertebral arch
The axis for inside connecing Elliptic Cylinder overlaps；The adjacent vertebrae (9) is positioned at targeted vertebra (31) lower section and and targeted vertebra
(31) one piece of adjacent vertebra.
4. the personalized pedicle of vertebral arch with Quick-change drill bush as claimed in claim 3 puts nail bit mould, it is characterized in that：Body (1) left and right
Two side is provided with transverse process and avoids chamfering (16) with body (1) bottom surface (15) intersection；Bone binding face (11) correspondence targeted vertebra
(31) position on spinous process top is provided with spinous process and avoids groove (17)；Bone binding face (11) correspondence adjacent vertebrae (9) processus articular superior
Position is provided with processus articular superior and avoids groove (18).
5. the personalized pedicle of vertebral arch with Quick-change drill bush as claimed in claim 1 or 2 puts nail bit mould, it is characterized in that：Body (1) is left
Right two side is provided with transverse process and avoids chamfering (16) with body (1) bottom surface (15) intersection；Bone binding face (11) correspondence targeted vertebra
(31) position on spinous process (311) top is provided with spinous process and avoids groove (17)；Bone binding face (11) correspondence adjacent vertebrae (9) upper joint
The position of prominent (92) is provided with processus articular superior and avoids groove (18).
6. a kind of personalized pedicle of vertebral arch with Quick-change drill bush prepared as any one of claim 1-5 puts the side of nail bit mould
Method, it is characterized in that, comprise the following steps：
S01, obtains targeted vertebra medical image：Transfer spiral CT examination data or nuclear magnetic resonance check before patient's diagnosis
Data, select the data of operative region targeted vertebra, save as the recognizable form of medical image software；
S02, reconstructs the threedimensional model and central point point set of targeted vertebra：The medical image of targeted vertebra is imported into medical science shadow
As software Mimics, rebuild the threedimensional model of targeted vertebra, then obtain the central point point set of targeted vertebra, central point point set by
Away from the discrete point composition for a, threedimensional model and central point point set are saved as into STL forms, IGS forms respectively；
In this step, the interval of a is 0.01mm~0.1mm；
S03, creates and to be modified once enters staple line：Threedimensional model and central point point set data file are imported into reverse engineering software
In Imageware, the central point point set in the pedicle of vertebral arch length range of side is then chosen, create nurbs curve, it is bent in NURBS
Take m equidistant point on line, and make nurbs curve in this m tangent line of a position, cross this m point be respectively created perpendicular to
A m normal section of each tangent line, the n comprising pedicle isthmus is extracted in a m normal section and is once abscissused
Face, nurbs curve forms n intersection point with this n normal section, obtains the least-squares line of this n intersection point, as once
Enter staple line；
In this step, n >=7, m >=n；
S04, create it is secondary enter staple line：By n intersection point in S03 steps, it is respectively created perpendicular to the n individual two for once entering staple line
Secondary normal section；Extract the outer contour of pedicle of vertebral arch respectively on n secondary normal section, be then created that in each outer contour
Maximum inscribed circle, the center of circle of each maximum inscribed circle is sequentially connected, and forms a space broken line, obtains the minimum of the space broken line
Two multiply straight line, as it is secondary enter staple line；
In this step, it is secondary enter staple line be final pedicle screw and enter to follow closely route；
S05, it is determined that along it is secondary enter staple line direction pedicle of vertebral arch most imperial palace connect the cross section of Elliptic Cylinder：By the n in S03 steps
Individual intersection point, be respectively created perpendicular to it is secondary enter staple line n three normal sections, extract vertebra respectively on this n three normal sections
The outer contour of nut, the n outer contour that then will be extracted along it is secondary enter staple line vector direction, near target vertebra
Projected on three normal sections of bone centrum, a closed interval is internally formed after projection superposition, made in the closed interval
Maximum inner ellipse, the maximum inner ellipse be along it is secondary enter staple line direction pedicle of vertebral arch most imperial palace connect the horizontal stroke of Elliptic Cylinder
Section；
S06, determines pedicle screw and puts the interval of nail channel diameter：During center with the maximum inner ellipse is
The heart, r is semi-minor axis length, and h is semimajor axis length, concentration ellipse is made in maximum inner ellipse, and ensure the short of concentration ellipse
Axle is Chong Die with the short axle of maximum inner ellipse, by the minor axis length of the concentration ellipse and pharmaceuticals industry standard YY0018-2002 institutes
The external thread diameter size of the metal bone screw of regulation is compared and downward rounding, determines pedicle screw external thread diameter
D1, looks into the diameter of thread d2 taken corresponding to d1, using d2 as drill bushing internal diameter basic size, using d2+2 δ as drill bushing external diameter
Basic size, then determines to put nail channel diameter according to drill bushing with the matching relationship for putting nail channel；
In this step, r=b-x-y；h=c-x-y；B is the semi-minor axis length of maximum inner ellipse, and c is the half of maximum inner ellipse
Long axis length, x is the statistical value of targeted vertebra pedicle of vertebral arch thickness of cortex of bone, and y is the drilling offset distance of body, and the interval of y is
0.3~0.5mm；δ is the wall thickness of drill bushing, and the interval of δ is 1.5~1.75mm；
S07, is repeated in S03~S06, obtains the secondary of the opposite side pedicle of vertebral arch relative with " side pedicle of vertebral arch " in S03 steps
Enter staple line, pedicle screw and put the interval of nail channel diameter；
S08, sets up this body three-dimensional models：The threedimensional model file of targeted vertebra and its adjacent vertebrae is imported into PRO/E；Root
Position relationship according to the form of targeted vertebra, size and with adjacent vertebrae, sets up body initial configuration model, further according to it is secondary enter
Nail channel diameter is put in staple line linear equation and selection, is set up on body initial configuration model and puts nail channel, Ran Hou
The body initial configuration model that targeted vertebra and band put nail channel is matched in Mimics, using Boolean calculation under body
The reverse curved surface of end generation targeted vertebra locating surface, as the bone binding face of body, so as to realize the foundation of this body three-dimensional models；
S09, personalized pedicle of vertebral arch of the manufacture with Quick-change drill bush puts nail bit mould：This body three-dimensional models that will be designed 3D printing skill
Art is manufactured, and the drill bushing that will be designed also is manufactured, while producing the 3D printing model of targeted vertebra, is easy to doctor
Preoperative experiment and assessment.
7. the method that the personalized pedicle of vertebral arch with Quick-change drill bush puts nail bit mould is prepared as claimed in claim 6, it is characterized in that：Step
In rapid S08, when setting up body initial configuration model, it is considered to the convenience of clamping, finger pressure hole is set on two side before and after body,
Holding position when nail bit die worker makees is put as the personalized pedicle of vertebral arch with Quick-change drill bush in finger pressure hole.
8. the method that personalized pedicle of vertebral arch of the preparation as claimed in claims 6 or 7 with Quick-change drill bush puts nail bit mould, its feature
It is：In step S08, when setting up body initial configuration model, empty avoiding treatment at three is carried out, empty avoiding treatment is included in this at described three
Body left and right sides wall sets transverse process and avoids chamfering with bottom surface intersection, installs fixed to body with the transverse process position for avoiding adjacent vertebrae
The interference of position；The position on bone binding face correspondence targeted vertebra spinous process top sets spinous process and avoids groove, to avoid spinous process laterally convex
Play the interference effect to bone binding face curved surface positioning；Bone binding face correspondence adjacent vertebrae processus articular superior position processus articular superior avoids recessed
Groove, with the interference effect for avoiding the relative motion change in location between targeted vertebra and adjacent vertebrae from positioning bone binding face curved surface.
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| CN2840938Y (en) * | 2005-07-29 | 2006-11-29 | 太原市绿波机电科技有限公司 | Vertebral body internal fixation guider and depthkeeping drill bit and pedicle screw device |
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