CN107595406A - The electromagnetism guide system of fracture closed reduction treatment - Google Patents
The electromagnetism guide system of fracture closed reduction treatment Download PDFInfo
- Publication number
- CN107595406A CN107595406A CN201710829429.5A CN201710829429A CN107595406A CN 107595406 A CN107595406 A CN 107595406A CN 201710829429 A CN201710829429 A CN 201710829429A CN 107595406 A CN107595406 A CN 107595406A
- Authority
- CN
- China
- Prior art keywords
- control system
- navigation control
- magnetic field
- field generator
- electromagnetism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The invention discloses a kind of electromagnetism guide system for closed reduction treatment of fracturing, it is characterized in that it is provided with magnetic field generator, electromagnetic sensor, CT scanner, navigation control system and power supply, the electromagnetic sensor is connected with magnetic field generator electromagnetism, the magnetic field generator and CT scanner are connected with navigation control system respectively, the magnetic field generator, CT scanner and navigation control system are connected with power supply respectively, the present invention is due to using said structure, it is small with operation wound, it is radiationless in art, operating time is short, the reduction of the fracture is accurate, patient's labor intensity is low, patient's pain is few, the advantages that post-operative recovery time is short.
Description
Technical field
The present invention relates to technical field of medical equipment, specifically a kind of electromagnetism guide system for closed reduction treatment of fracturing
System.
Background technology
It is well known that orthopedist is for fracture operation generally use internal fixation for treatment.This operation
Though clinical efficacy is definite, its substantive deficiency is：Fracture open reduction need to expose more soft tissue, and wound is big, postoperative pain
The pain time is grown, big due to being destroyed to surrounding soft tissue, cause fracture end blood supply it is poor, more after time length；Traditional traditional Chinese medical science gimmick is answered
Position, doctor is usually by experience to the reduction of the fracture, and doctor needs to receive long period X-ray radiation damage with patient in reseting procedure
Wound, patient's labor intensity is big, and reduction of the fracture effect depends on X ray and the experience of patient unduly.
In order to solve the above-mentioned technical problem, Patent Office of the People's Republic of China discloses a kind of number of patent application 2017103328115, patent
A kind of application for a patent for invention of entitled individuation femoral fracture reset model construction method, the program is in X-ray examination or more
Secondary take the photograph under piece effect is performed the operation, and its substantive deficiency is：Excessive application roentgen radiation x, considerably increases patient and doctor in art
Raw radiation injury.
The content of the invention
Present invention aim to address above-mentioned the deficiencies in the prior art, there is provided a kind of surgical wound is small, the painful small, hand of patient
Electromagnetism tracking is visual in the fracture operation that art reset error is small, post-operative recovery time is short, operating time is short, labor intensity is low resets system
System.
A kind of electromagnetism guide system for closed reduction treatment of fracturing, it is characterised in that provided with magnetic field generator, electromagnetic sensing
Device, CT scanner, navigation control system and power supply, the electromagnetic sensor are connected with magnetic field generator electromagnetism, the magnetic field hair
Raw device and CT scanner are connected with navigation control system respectively, the magnetic field generator, CT scanner and navigation control system
It is connected respectively with power supply, when electromagnetism tracking reset is carried out in art, first passes through CT scanner to fracture site row CT scan, and
CT scan data is imported in navigation control system, then starts magnetic field generator, real-time tracking magnetic field of the goal generator space
The attitudes vibration of positional information, the position and direction of the electromagnetic sensor of fracture site are determined, and the information is uploaded to navigation
Control system, while these characteristic areas are selected in navigation control system, then carry out point cloud registering：By the number of point cloud registering
Handled according in navigation control system, and three-dimensional reconstruction is carried out in navigation control system, coordinate value is imported, make collection
Information point it is registering in real time with CT models, registration after, carry out manual synchronizing, check registration point with planning registration region overlapping journey
Degree, completes preoperative Registration, then row gimmick closed reduction.Solves the essence resetted at present using the descending femur of X-ray examination
Property deficiency, avoid the radiation injury of patient and doctor.
The foreground of navigation control system of the present invention is based on QT developing user interfaces, is easy to user to interact, backstage
Three dimensional computer graphics, image procossing and visualization are realized using VTK, and registration model is in the art of the navigation control system
Established using the quadratic sum of the Euclidean distance of the minimum between point cloud registering corresponding points,
I.e.：
It is exactly a pair of corresponding points；
Shared NpTo corresponding points.
The attitudes vibration of magnetic field generator spatial positional information of the present invention mainly uses quaternion representation rigid body pose,
It is succinct to reach attitude matrix method, and without the effect of singular point, when needing attitude matrix, the quaternary number q0+iq1+jq2
+ kq3 is converted into following spin matrix：It enormously simplify calculating.
The present invention due to using said structure, have operation wound is small, in art it is radiationless, operating time is short, the reduction of the fracture
Precisely, the advantages that patient's labor intensity is low, patient is painful less, post-operative recovery time is short.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is that (3-dimensional image of fracture site is adjusted automatically for the QT developing user interfaces figure of navigation control system in the present invention
It is whole for the sagittal plain of standard, Coronal, axle position).
Fig. 3 is the reseting fracture design sketch of navigation control system in the present invention.
Fig. 4 is that illustration is implemented in electromagnetic navigation tracking of the present invention.
Reference：Magnetic field generator 1, electromagnetic sensor 2, CT scanner 3, navigation control system 4 and power supply 5.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings：
As shown in drawings, it is a kind of fracture closed reduction treatment electromagnetism guide system, it is characterised in that provided with magnetic field generator 1,
Electromagnetic sensor 2, CT scanner 3, navigation control system 4 and power supply 5, the electromagnetic sensor 2 connect with the electromagnetism of magnetic field generator 1
Connect, the magnetic field generator 1 and CT scanner 3 are connected with navigation control system 4 respectively, and the magnetic field generator 1, CT are swept
Retouch instrument 3 and navigation control system 4 is connected with power supply respectively, when electromagnetism tracking reset is carried out in art, first pass through CT scanners
3 pairs of fracture site row CT scan, and CT scan data is imported in navigation control system 4, then start magnetic field generator 1, lead to
The attitudes vibration of the spatial positional information of navigation control system real-time tracking magnetic field of the goal generator 1 is crossed, determines the electricity of fracture site
The position and direction of Magnetic Sensor 2, and the information is uploaded to navigation control system 4, while selected in navigation control system 4
These characteristic areas, then carry out point cloud registering：The data of point cloud registering are handled in navigation control system, and led
Three-dimensional reconstruction is carried out in boat control system, coordinate value is imported, makes the information point of collection registering in real time with CT models, after registration,
Manual synchronizing is carried out, registration point is checked and plans the overlapping degree of registration region, completes preoperative Registration, then row gimmick closure
Reset.Solve at present using the substance deficiency of the descending reduction of the fracture of roentgen radiation x, the radiation for avoiding patient and doctor is damaged
Wound.
The foreground of navigation control system 4 of the present invention is based on QT developing user interfaces, is easy to user to interact, backstage
Three dimensional computer graphics, image procossing and visualization are realized using VTK, and registration model is in the art of the navigation control system
Established using the quadratic sum of the Euclidean distance of the minimum between point cloud registering corresponding points,
I.e.：
It is exactly a pair of corresponding points；
Shared NpTo corresponding points.
Three axles (X, Y, Z) of magnetic field generator 1 of the present invention are reference frame, and tracking target relative magnetic field occurs
The spatial positional information of device 1 can be described by the two relative distance R, azimuth angle alpha and elevation angle β, and tracking target relative magnetic field occurs
The spatial attitude information of device 1 can use roll angle φ, yaw angle Ф and pitching angle theta to describe, that is, track the six degree of freedom of target, institute
The attitudes vibration for stating the spatial positional information of magnetic field generator 1 mainly uses quaternion representation rigid body pose, to reach attitude matrix
Method is succinct, and without the effect of singular point, when needing attitude matrix, the quaternary number q0+iq1+jq2+kq3 be converted into as
Lower spin matrix：It enormously simplify calculating.
Navigation control system of the present invention is made up of navigation indicator and PLC control unit, passes through PLC control unit
Receive the information that CT scanner uploads and shown after being handled inside it in navigation indicator.
Embodiment：Exemplified by the present invention is fractured by femur backbone stage casing, total femoral length 40-60cm, by fracture site both sides
Epiphysis is respectively provided with 5 mark points, and the mark point is the electromagnetic sensor.
First, Preoperative Method：Prepare 5 marker characteristic points, fixed reference framves that the epiphysis of femoral fracture broken ends of fractured bone both sides is fixed
(Marker)；
Specific steps：
1. fixed reference frame (Marker)：The frame of reference (Marker) of labeled in vitro characteristic point, in the remote, near of fracture under local anaesthesia
Hold one piece of nonmagnetic steel pin of each application to be rigidly fixed on Ipsilateral bone, electromagnetic sensor is fixed to external frame of reference (Marker)
On；
2. scanning computed tomography：CT scanner row femur CT scan, and CT scan data is uploaded to navigation control system, its scanning range
Ipsilateral femur and labeled in vitro characteristic point need to be covered；
3. three-dimensional reconstruction：By the CT data of importing to middle carry out three-dimensional reconstruction；
4. image is split：Ipsilateral bone and the good characteristic point of labeled in vitro are isolated from the 3-dimensional image of navigation control system.
2nd, point cloud registering：Patient is lain on the back on operation table, and Aurora flat boards (i.e. magnetic field generator) are positioned over into operating table
On, making Ipsilateral femur, the spatial dimension is generally in 1000mm* in the spatial dimension of Aurora flat boards (magnetic field generator)
In 1000mm*1000mm, routine disinfection, drape,
3rd, it is registering in art：The region of characteristic point has been marked to be acquired labeled in vitro characteristic point in vitro using label probe, together
When these characteristic areas are selected in navigation control system, then carry out point cloud registering：By cloud data in navigation control system
In handled, and three-dimensional reconstruction is carried out in navigation control system, coordinate value is imported, make the information point and CT models of collection
Registration in real time, after registering, manual synchronizing is carried out, check that registration point with planning the overlapping degree of registration region, completes preoperative registration
Registration, registration after error need to control within 2mm.
4th, manipulative reduction：
The 3-dimensional image of fracture site is automatically regulated to be to sagittal plain, Coronal, the axle position (such as Fig. 2) of standard, reseting fracture,
The promising result (such as Fig. 3) of the reduction of the fracture can be clearly seen on giant-screen.
The relative Ipsilateral bone of positioning operation apparatus (probe as carried electromagnetic sensor) can be shown by real-time navigation
The movement of bone, the relative motion and position relationship of two pieces of bones of fracture area can be shown, it is solid outside feasible gypsum after the completion of reset
It is fixed, such as unstable fracture, after the reduction of the fracture, interior side's opening before femoral greater trochanter fixed point, by with the non-magnetic of electromagnetic sensor
Property metal intramedullary needle magnetic navigation device guiding under insert, fracture site is passed through by metal needle in the visible marrow of navigation indicator
Into femoral far side, expand marrow, place the intramedullary nail system of appropriate length and thickness, accurately locked under electromagnetic navigation positioning
Far and near end pinning, its reduction of the fracture error are controlled within 3 ° in 2mm, the anglec of rotation, and the degree of accuracy that far and near end twists pinning reaches
More than 95%.
The present invention due to using said structure, solving at present using the substance deficiency of the descending reduction of the fracture of roentgen radiation x,
Avoid the radiation injury of patient and doctor, have operation wound is small, in art it is radiationless, operating time is short, the reduction of the fracture is accurate,
The advantages that patient's labor intensity is low, patient is painful less, post-operative recovery time is short.
Claims (4)
1. it is a kind of fracture closed reduction treatment electromagnetism guide system, it is characterised in that provided with magnetic field generator, electromagnetic sensor,
CT scanner, navigation control system and power supply, the electromagnetic sensor are connected with magnetic field generator electromagnetism, the magnetic field generator
It is connected respectively with navigation control system with CT scanner, the magnetic field generator, CT scanner and navigation control system difference
It is connected with power supply.
2. electromagnetism follows the trail of reset system in a kind of femoral fracture art according to claim 1, it is characterised in that enters in art
When the tracking of row electromagnetism resets, CT scanner is first passed through to suffering limb row femur CT scan, and CT scan data is imported into Navigation Control
In system, then start magnetic field generator, the attitudes vibration of real-time tracking magnetic field of the goal generator spatial positional information, it is determined that suffering from
The position and direction of the electromagnetic sensor at limb position, and the information is uploaded to navigation control system, while in Navigation Control system
These characteristic areas are selected in system, then carry out point cloud registering：The data of point cloud registering are located in navigation control system
Reason, and three-dimensional reconstruction is carried out in navigation control system, coordinate value is imported, the information point and CT models for making collection are matched somebody with somebody in real time
Standard, after registering, manual synchronizing is carried out, check registration point and plan the overlapping degree of registration region, complete preoperative Registration, then
Row gimmick closed reduction.
3. electromagnetism follows the trail of reset system in a kind of femoral fracture art according to claim 2, it is characterised in that the navigation
The foreground of control system is based on QT developing user interfaces, realizes three dimensional computer graphics, image procossing and can using VTK from the background
Depending on change, registration model is the Euclidean distance for using the minimum between point cloud registering corresponding points in the art of the navigation control system
Quadratic sum established,
I.e.：
It is exactly a pair of corresponding points；
It is sharedTo corresponding points.
4. electromagnetism tracking is visual in a kind of femoral fracture art according to claim 2 resets system, it is characterised in that described
The attitudes vibration of magnetic field generator spatial positional information mainly uses quaternion representation rigid body pose, when needing attitude matrix,
The quaternary number q0+iq1+jq2+kq3 is converted into following spin matrix：
。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710829429.5A CN107595406B (en) | 2017-09-14 | 2017-09-14 | Electromagnetic guiding system for fracture closed reduction treatment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710829429.5A CN107595406B (en) | 2017-09-14 | 2017-09-14 | Electromagnetic guiding system for fracture closed reduction treatment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107595406A true CN107595406A (en) | 2018-01-19 |
| CN107595406B CN107595406B (en) | 2022-03-25 |
Family
ID=61063352
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710829429.5A Active CN107595406B (en) | 2017-09-14 | 2017-09-14 | Electromagnetic guiding system for fracture closed reduction treatment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107595406B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109820590A (en) * | 2019-02-15 | 2019-05-31 | 中国人民解放军总医院 | A kind of pelvic fracture reset intelligent monitor system |
| CN109984843A (en) * | 2019-03-20 | 2019-07-09 | 中国科学院苏州生物医学工程技术研究所 | Closed reduction navigation system of fracturing and method |
| CN110101452A (en) * | 2019-05-10 | 2019-08-09 | 山东威高医疗科技有限公司 | A kind of optomagnetic integrated positioning navigation method for surgical operation |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2587369Y (en) * | 2002-08-15 | 2003-11-26 | 刘道平 | Electromagnetic operation navigation apparatus based on C type X-ray unit |
| CN1931097A (en) * | 2006-09-30 | 2007-03-21 | 南方医科大学 | Human body orthopedic navigation system |
| CN101862205A (en) * | 2010-05-25 | 2010-10-20 | 中国人民解放军第四军医大学 | Intraoperative tissue tracking method combined with preoperative image |
| US20120289821A1 (en) * | 2011-05-12 | 2012-11-15 | The Johns Hopkins University | C-arm integrated electromagnetic tracking system |
-
2017
- 2017-09-14 CN CN201710829429.5A patent/CN107595406B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2587369Y (en) * | 2002-08-15 | 2003-11-26 | 刘道平 | Electromagnetic operation navigation apparatus based on C type X-ray unit |
| CN1931097A (en) * | 2006-09-30 | 2007-03-21 | 南方医科大学 | Human body orthopedic navigation system |
| CN101862205A (en) * | 2010-05-25 | 2010-10-20 | 中国人民解放军第四军医大学 | Intraoperative tissue tracking method combined with preoperative image |
| US20120289821A1 (en) * | 2011-05-12 | 2012-11-15 | The Johns Hopkins University | C-arm integrated electromagnetic tracking system |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109820590A (en) * | 2019-02-15 | 2019-05-31 | 中国人民解放军总医院 | A kind of pelvic fracture reset intelligent monitor system |
| CN109820590B (en) * | 2019-02-15 | 2024-04-12 | 中国人民解放军总医院 | Pelvis fracture resets intelligent monitoring system |
| CN109984843A (en) * | 2019-03-20 | 2019-07-09 | 中国科学院苏州生物医学工程技术研究所 | Closed reduction navigation system of fracturing and method |
| CN109984843B (en) * | 2019-03-20 | 2021-08-06 | 中国科学院苏州生物医学工程技术研究所 | Fracture closed reduction navigation system and method |
| CN110101452A (en) * | 2019-05-10 | 2019-08-09 | 山东威高医疗科技有限公司 | A kind of optomagnetic integrated positioning navigation method for surgical operation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107595406B (en) | 2022-03-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9554868B2 (en) | Method and apparatus for reducing malalignment of fractured bone fragments | |
| JP4488678B2 (en) | Establishing a three-dimensional display of bone X-ray images | |
| CN103313673B (en) | For analyzing method and the instrument of image | |
| EP2790597B1 (en) | A method and a device for computer assisted surgery | |
| Massimini et al. | Non-invasive determination of coupled motion of the scapula and humerus—an in-vitro validation | |
| CN105963002A (en) | Three-dimensional printed minimally invasive guide template and making method thereof | |
| CN101474075B (en) | Navigation system of minimal invasive surgery | |
| CN206612845U (en) | The percutaneous interventional programs robot of non-vascular | |
| CN107847278A (en) | Optics targets and track visualization | |
| US20030185346A1 (en) | Medical navigation and/or pre-operative treatment planning with the assistance of generic patient data | |
| CN101847182B (en) | Virtual and real resetting registration method of long bone based on six-degree-of-freedom parallel connection mechanism | |
| CN110432989A (en) | 5G remote orthopedic surgery robot combining virtual technology and 3D printing | |
| CN107595406A (en) | The electromagnetism guide system of fracture closed reduction treatment | |
| US10603111B2 (en) | Computer assistance system and method for image-guided reduction of fracture | |
| JP7240519B2 (en) | Smart monitoring system for pelvic fracture reduction | |
| CN107510504A (en) | A kind of non-radioactive line perspective vision navigation methods and systems for aiding in bone surgery | |
| Wei et al. | A CT-guided robotic needle puncture method for lung tumours with respiratory motion | |
| Khoury et al. | Intraoperative cone‐beam CT for correction of periaxial malrotation of the femoral shaft: A surface‐matching approach | |
| US20210366118A1 (en) | Intraoperative imaging and virtual modeling methods, systems, and instrumentalities for fracture reduction | |
| WO2024051735A1 (en) | Method for measuring relative motion of bone, and method for acquiring and positioning rotation axis of joint | |
| Welsch et al. | CT-based preoperative analysis of scapula morphology and glenohumeral joint geometry | |
| Barber et al. | A CBCT study of the gravity-induced movement in rotating rabbits | |
| CN207708144U (en) | A kind of 3D printing spinal operation prone position gesture rack | |
| CN206630673U (en) | Operating robot operating theater instruments clamps guiding device | |
| WO2021007803A1 (en) | Positioning and navigation method for fracture reduction and closure surgery, and positioning device for use in method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220627 Address after: 264200 Shenyang road-96, gaoqu District, Weihai City, Shandong Province Patentee after: Weihai gaoqu Limin hospital Co.,Ltd. Patentee after: Cluster wave Patentee after: Hou Hongjun Address before: 264400 room 503, unit 2, No. 8, Beigong street, Wendeng City, Weihai City, Shandong Province Patentee before: Cluster wave Patentee before: Houhongjun |
|
| TR01 | Transfer of patent right |