CN108186118B - Ankle joint fusion operation navigation system and navigation method thereof - Google Patents
Ankle joint fusion operation navigation system and navigation method thereof Download PDFInfo
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- CN108186118B CN108186118B CN201810166599.4A CN201810166599A CN108186118B CN 108186118 B CN108186118 B CN 108186118B CN 201810166599 A CN201810166599 A CN 201810166599A CN 108186118 B CN108186118 B CN 108186118B
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- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 31
- 230000004927 fusion Effects 0.000 title claims abstract description 15
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000002591 computed tomography Methods 0.000 claims description 29
- 210000003423 ankle Anatomy 0.000 claims description 20
- 244000309466 calf Species 0.000 claims description 11
- 230000006835 compression Effects 0.000 claims description 9
- 238000007906 compression Methods 0.000 claims description 9
- 230000000903 blocking effect Effects 0.000 claims description 8
- 230000000670 limiting effect Effects 0.000 claims description 6
- 238000003384 imaging method Methods 0.000 description 8
- 238000004458 analytical method Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 7
- 238000001356 surgical procedure Methods 0.000 description 6
- 208000002193 Pain Diseases 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 210000000988 bone and bone Anatomy 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 206010039073 rheumatoid arthritis Diseases 0.000 description 2
- 210000004233 talus Anatomy 0.000 description 2
- 238000003325 tomography Methods 0.000 description 2
- 208000027502 Ankle fracture Diseases 0.000 description 1
- 208000006820 Arthralgia Diseases 0.000 description 1
- 208000036487 Arthropathies Diseases 0.000 description 1
- 206010010356 Congenital anomaly Diseases 0.000 description 1
- 208000004575 Infectious Arthritis Diseases 0.000 description 1
- 206010028980 Neoplasm Diseases 0.000 description 1
- 208000028389 Nerve injury Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 208000000474 Poliomyelitis Diseases 0.000 description 1
- 206010048873 Traumatic arthritis Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 206010003246 arthritis Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000005786 degenerative changes Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
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- 230000010365 information processing Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000000302 ischemic effect Effects 0.000 description 1
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- 230000017074 necrotic cell death Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
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- Animal Behavior & Ethology (AREA)
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- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The invention discloses an ankle joint fusion operation navigation system and a navigation method thereof, which belong to the technical field of medical instruments and comprise a fixing device, a data acquisition device and a data processing device, wherein the fixing device comprises a bottom plate, a shank fixing position and a sole fixing position, the shank fixing position comprises a left shank fixing position and a right shank fixing position, the left shank fixing position and the right shank fixing position comprise shank fixing left blocks and shank fixing right blocks, the sole fixing position comprises left sole fixing positions and right sole fixing positions, and the left sole fixing position and the right sole fixing position comprise sole fixing left blocks and sole fixing right blocks. According to the invention, the ankle joint can be effectively fixed through the shank fixing position and the sole fixing position, the real-time space position of the ankle joint can be accurately transmitted to the data processing device through the data acquisition device, the real-time space position and the model are highly fitted through the data processing device, and the actual fixing position of the screw is further obtained, so that the accurate driving of the screw is realized.
Description
Technical Field
The invention belongs to the technical field of medical instruments, in particular to a device for treating bones or joints, and particularly relates to a system and a method for navigation and positioning in ankle fusion operation.
Background
Ankle fusion is a procedure in which bony structures of the ankle are fused, whereby pain is reduced, lesions are terminated, or joint stability is provided. The main indications are: secondary pain caused by degenerative changes such as ankle fracture and rheumatoid arthritis, and ankle disorder associated with progressive development of arthritis, and the inability to improve function and relieve pain by conventional treatment, are all considered to be treated by joint fusion. The method comprises the following steps: 1. severe joint dysfunction caused by traumatic arthritis of the ankle, or refractory joint pain; 2. severe joint pain left behind in the late stages of tuberculous or suppurative arthritis; 3. muscle paralysis caused by neuropathy or injury, causing serious instability of joints, including poliomyelitis sequela, serious peripheral or central nerve injury, etc.; 4. congenital or acquired deformities; 5. severe rheumatoid or osteoarthritis; 6. artificial ankle replacement failed; 7. ankle tumor, infection; 8. ischemic necrosis of talus. In the ankle fusion surgery, the lower end of the tibiofibular bone, the medial malleolus, the lateral malleolus and the talus body are usually fused and fixed by using 2 to 3 fixing nails to strengthen and fix the ankle. The screw fixing position is determined through mechanical analysis, any deviation can influence the joint force line, so that the joint ossification is reduced, meanwhile, the symmetry of soft tissues such as skin and the like can be damaged, and the flexibility of the joint is influenced.
To make the screw-in position accurate, it is necessary to ensure that the ankle joint is at an accurate predetermined position first, and then to obtain an accurate fixed position by alignment and correction.
Therefore, it is necessary to develop a navigation system and a navigation method thereof, which can accurately fix the ankle joint and provide corresponding position information so that the actual position completely coincides with the theoretical preset position, and has great practical significance for improving the fixing effect and the operation quality.
Disclosure of Invention
Accordingly, the present invention is directed to an ankle fusion surgery navigation system and a navigation method thereof, which can accurately fix an ankle and provide corresponding position information so as to make an actual position completely coincide with a theoretical predetermined position, thereby realizing accurate screw driving.
One of the objects of the invention is achieved by the following scheme:
an ankle joint fusion operation navigation system comprises a fixing device, a data acquisition device and a data processing device,
The fixing device comprises a bottom plate, shank fixing positions and sole fixing positions which are respectively fixed at the front end and the rear end of the bottom plate,
The shank fixing position comprises a left shank fixing position and a right shank fixing position, both the left shank fixing position and the right shank fixing position comprise a shank fixing left block and a shank fixing right block, the shank fixing left block is provided with a shank fixing left cambered surface which is horizontally concave leftwards, the shank fixing right block is provided with a shank fixing right cambered surface which is symmetrical with the shank fixing left cambered surface, the shank fixing left block of the left shank fixing position is movably connected with the shank fixing right block through a telescopic device I, the shank fixing right block of the right shank fixing position is movably connected with the shank fixing left block through a telescopic device II,
The sole fixing position comprises a left sole fixing position and a right sole fixing position, both the left sole fixing position and the right sole fixing position comprise a sole fixing left block and a sole fixing right block, the sole fixing left block is provided with a sole fixing left cambered surface which is horizontally concave leftwards, the sole fixing left block of the left sole fixing position is movably connected with the sole fixing right block through a telescopic device III, the sole fixing right block of the right sole fixing position is movably connected with the sole fixing left block through a telescopic device IV,
The shank fixing left block is integrally provided with a shank fixing left bottom block with the same height, the shank fixing left bottom block is provided with a shank supporting left cambered surface connected with the shank fixing left cambered surface,
The lower leg fixing right block is integrally provided with a lower leg fixing right bottom block with the same height, and the lower leg fixing right bottom block is provided with a lower leg supporting right cambered surface which is in arc connection with the lower leg fixing right cambered surface;
the sole fixing left block is integrally provided with a sole fixing left bottom block with the same height, the sole fixing left bottom block is provided with a sole supporting left cambered surface connected with the sole fixing left cambered surface,
The sole fixing right block is integrally provided with a sole fixing right bottom block with the same height, and the sole fixing right bottom block is provided with a sole supporting right cambered surface which is in arc connection with the sole fixing right cambered surface;
The shank fixing position also comprises a shank pressing device, the shank pressing device comprises a left shank pressing block, a right shank pressing block, a telescopic device V and a pressure-bearing beam, the left shank pressing block and the right shank pressing block are respectively fixed at two ends of the pressure-bearing beam, the middle part of the other side of the pressure-bearing beam is fixed with the telescopic device V, and the other end of the telescopic device V is fixed with the bottom plate;
the sole fixing position also comprises a sole pressing device, wherein the sole pressing device comprises a left sole pressing block, a right sole pressing block, a telescopic device VI and a supporting beam, the left sole pressing block and the right sole pressing block are respectively fixed at two ends of the supporting beam, the middle part of the other side of the supporting beam is fixed with the telescopic device VI, and the other end of the telescopic device VI is fixed with the bottom plate;
The left calf press block and the right calf press block are symmetrically provided with calf compression concave surfaces, the left sole press block and the right sole press block are symmetrically provided with sole compression concave surfaces,
The data acquisition device comprises a CT scanner arranged between a shank fixing position and a sole fixing position, wherein the CT scanner comprises a CT scanning upper semicircular module and a CT scanning lower semicircular module which are distributed up and down;
The data processing device comprises a memory, a processing chip and input and output equipment, wherein the processing chip is electrically communicated with the memory, the input and output equipment, the CT scanning upper semicircular module and the CT scanning lower semicircular module.
Further, the telescoping device I, the telescoping device II, the telescoping device III, the telescoping device IV, the telescoping device V and the telescoping device VI are all electric push rods.
Further, a left shank fixing right block of the left shank fixing position and a right shank fixing left block of the right shank fixing position are integrally arranged, and the telescopic device V is fixed on the shank fixing left block of the right shank fixing position.
Further, the sole fixing right block of the left sole fixing position and the sole fixing left block of the right sole fixing position are integrally arranged, and the telescopic device VI is fixed on the sole fixing left block of the right sole fixing position.
Further, the device also comprises a pressure sensor arranged on the region of the lower leg compression concave surface and the sole compression concave surface.
Further, a side blocking surface for limiting the side surface is arranged on the sole fixing left cambered surface, the sole fixing right cambered surface, the shank fixing left cambered surface and the shank fixing right cambered surface, and the side blocking surface is a vertical surface tangent with the upper tail end of each cambered surface.
Further, the CT scanning upper semicircular module comprises a movable manipulator which is detachably connected with the CT scanning upper semicircular module and has seven degrees of freedom.
The second purpose of the invention is realized by the following scheme:
The ankle joint fusion operation navigation method comprises the following steps:
1) Establishing a three-dimensional model of the fixture as described above;
2) Establishing an ankle joint model through CT tomography;
3) Fitting and fixing the ankle joint model on a three-dimensional model of a fixing device, and presetting the fixing position of a fixing nail;
4) Loading the ankle joint model into a fixed nail for mechanical analysis;
5) Comparing the analysis results, if the analysis results meet the set values, carrying out the following steps, otherwise repeating the steps 3) and 4);
6) Determining a theoretical fixing position of the fixing nail and storing data;
7) Fixing the ankle joint of the patient through a fixing device;
8) Performing secondary imaging on the ankle joint of the patient through a CT scanner;
9) Performing azimuth fitting on the secondary imaging information and the ankle joint model, and determining the actual fixing position, the nailing direction and the nailing point of the fixing nail;
10 Performing fixation surgery according to the nailing direction and the nailing point determined in the step 9), and ending the navigation.
The invention has the beneficial effects that:
According to the invention, the ankle joint can be effectively fixed through the shank fixing position and the sole fixing position, the real-time space position of the ankle joint can be accurately transmitted to the data processing device through the data acquisition device, the real-time space position and the model are highly fitted through the data processing device, so that the actual fixing position, the nailing direction and the nailing point of the screw are obtained, and the accurate nailing of the screw is completed.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objects and other advantages of the invention may be realized and obtained by means of the instrumentalities and combinations particularly pointed out in the specification.
Drawings
In order to make the objects, technical solutions and advantageous effects of the present invention more clear, the present invention provides the following drawings for description:
FIG. 1 is a schematic view of a three-dimensional structure of an ankle fusion surgery navigation system according to the present invention;
FIG. 2 is a top view of the ankle fusion procedure navigation system of the present invention;
FIG. 3 is a left side view of FIG. 2;
FIG. 4 is a schematic three-dimensional structure of the fixing device of the present invention;
FIG. 5 is a front view of the fixture of the present invention;
FIG. 6 is a top view of FIG. 5;
FIG. 7 is a left side view of FIG. 5;
FIG. 8 is a right side view of FIG. 5;
Fig. 9 is a schematic diagram of data information acquisition according to the present invention.
Reference numerals:
1-a bottom plate; 2-shank fixation; 3-sole fixing and positioning; 4-left calf fixing position; 5-right calf immobilization; 6-fixing a left block on the lower leg; 7-fixing a right block on the lower leg; 8-fixing a left cambered surface on the lower leg; 9-fixing a right cambered surface on the lower leg; 10-an electric push rod I; 11-an electric push rod II; 12-left sole fixing and positioning; 13-right sole fixing and positioning; 14-sole fixing left block; 15-sole fixing right block; 16-sole fixing left cambered surface; 17-fixing a right cambered surface on the sole; 18-an electric push rod III; 19-an electric push rod IV; 20-a guide rod; 21-fixing a left bottom block on the lower leg; 22-left arc surface of shank support; 23-fixing a right bottom block on the lower leg; 24-supporting right cambered surface by the lower leg; 25-sole fixing left bottom block; 26-sole support left cambered surface; 27-sole fixing right bottom block; 28-sole supporting right arc surface; 29-left calf press; 30-right calf briquetting; 31-an electric push rod V; 32-bearing beams; 33-a calf compression concavity; 34-pressing the left sole; 35-right sole pressing block; 36-electric push rod VI; 37-a support beam; 38-sole compacting concave; 39-fixing means; 40-ball hinge; 41-a pressure sensor; 42-side stop surfaces; 43-data acquisition device; 44-data processing means; 45-processing the chip; 46-a memory; 47-input-output devices; 48-moving a manipulator; 49-CT scanning upper semicircle module; 50-CT scan lower semicircle module.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 8, the ankle fusion surgery navigation system according to the present invention comprises a fixing device 39, a data acquisition device 43 and a data processing device 44, wherein the fixing device comprises a base plate 1, and a shank fixing position 2 and a sole fixing position 3 respectively fixed at the front end and the rear end of the base plate, and can respectively fix the shank at the front end of the ankle and the sole at the rear end of the ankle:
The shank fixing position of the embodiment comprises a left shank fixing position 4 and a right shank fixing position 5, wherein the left shank fixing position and the right shank fixing position respectively comprise a shank fixing left block 6 and a shank fixing right block 7, the shank fixing left block is provided with a shank fixing left cambered surface 8 which is horizontally concave leftwards, the shank fixing right block is provided with a shank fixing right cambered surface 9 which is symmetrical to the shank fixing left cambered surface, the two symmetrically arranged cambered surfaces can symmetrically fix the left direction and the right direction of the shank, so that the fixing force is uniform and consistent, meanwhile, in order to enhance the adaptability, the shank fixing left block of the left shank fixing position is connected with the shank fixing right block through an electric push rod I10, and the shank fixing right block of the right shank fixing position is connected with the shank fixing left block through an electric push rod II 11, so that the movable connection can adjust the space between the two blocks to adapt to leg fixing of different sizes;
Similarly, the sole fixing position of the embodiment also comprises a left sole fixing position 12 and a right sole fixing position 13, the left sole fixing position and the right sole fixing position both comprise a sole fixing left block 14 and a sole fixing right block 15, the sole fixing left block is provided with a sole fixing left cambered surface 16 which is horizontally concave leftwards, the sole fixing right block is provided with a sole fixing right cambered surface 17 which is symmetrical to the sole fixing left cambered surface, the left and right directions of the sole can be symmetrically fixed by two symmetrically arranged cambered surfaces, so that the fixing force is uniform and consistent, meanwhile, the sole fixing left block of the left sole fixing position is movably connected with the sole fixing right block through an electric push rod III 18, and the sole fixing right block of the right sole fixing position is movably connected with the sole fixing left block through an electric push rod IV 19, so that the movable connection can adjust the space between the two blocks to adapt to the sole fixing of different sizes;
In order to improve the movement stability, a plurality of guide rods 20 are arranged between the left shank fixing block and the right shank fixing block and between the left sole fixing block and the right sole fixing block, two guide rods are respectively arranged in the embodiment, and are respectively symmetrically arranged between the left shank fixing block and the right shank fixing block and between the left sole fixing block and the right sole fixing block,
In order to enhance the limiting effect, the left shank-fixing block is integrally provided with a left shank-fixing bottom block 21 with the same height, the left shank-fixing bottom block is provided with a left shank-supporting cambered surface 22 connected with the left shank-fixing cambered surface, the right shank-fixing block is integrally provided with a right shank-fixing bottom block 23 with the same height, and the right shank-fixing bottom block is provided with a right shank-supporting cambered surface 24 connected with the right shank-fixing cambered surface in a cambered manner; the left arc surface and the right arc surface of the lower leg support limit support the left side and the right side below the lower leg respectively, so that the accuracy of lower leg fixing is improved;
Similarly, the sole fixing left block is integrally provided with a sole fixing left bottom block 25 with the same height, the sole fixing left bottom block is provided with a sole supporting left cambered surface 26 connected with the sole fixing left cambered surface, the sole fixing right block is integrally provided with a sole fixing right bottom block 27 with the same height, and the sole fixing right bottom block is provided with a sole supporting right cambered surface 28 connected with the sole fixing right cambered surface in an arc shape; the left cambered surface and the right cambered surface of the sole support are used for limiting and supporting the left side, the right side, the front side and the rear side below the sole respectively, so that the accuracy of sole fixing is improved;
In order to further improve the fixing effect, the shank fixing position of the present embodiment further includes a shank compressing device, where the shank compressing device includes a left shank compressing block 29, a right shank compressing block 30, an electric push rod V31, and a pressure-bearing beam 32, where the left shank compressing block and the right shank compressing block are respectively fixed at two ends of the pressure-bearing beam, the middle part of the other side of the pressure-bearing beam is fixed with the electric push rod V, and the other end of the electric push rod V is fixed with the bottom plate, and because the left shank compressing block and the right shank compressing block are respectively fixed at two ends of the pressure-bearing beam, and expansion and contraction are limited by one electric push rod, when the lengths of the left shank compressing block and the right shank compressing block are fixed, the same compressing force can be obtained under the action of the same electric push rod, and the left shank compressing block and the right shank compressing block are symmetrically provided with shank compressing concave surfaces 33, so that relatively uniform deformation can be obtained, and the fixing effect is better, where the "relatively uniform deformation" of the present embodiment is relatively to different human bodies;
Similarly, in order to improve the fixing effect, the sole fixing position of the present embodiment further includes a sole pressing device, where the sole pressing device includes a left sole pressing block 34, a right sole pressing block 35, an electric push rod VI 36, and a support beam 37, where the left sole pressing block and the right sole pressing block are respectively fixed at two ends of the support beam, the middle part of the other side of the support beam is fixed with the electric push rod VI, the other end of the telescopic device VI is fixed with the bottom plate, and sole pressing concave surfaces 38 are symmetrically arranged on the left sole pressing block and the right sole pressing block, so that relatively uniform deformation can be obtained, thereby improving the fixing effect;
In order to provide accurate space information, the data acquisition device comprises a CT scanner arranged between a shank fixing position and a sole fixing position, the CT scanner of the embodiment comprises a CT scanning upper semicircular module 49 and a CT scanning lower semicircular module 50 which are distributed up and down, the CT scanning upper semicircular module and the CT scanning lower semicircular module are detachably connected with a mobile manipulator 48, an X-ray generator and an X-ray detector are arranged in each of the CT scanning upper semicircular module and the CT scanning lower semicircular module, and when the CT scanning upper semicircular module emits an X-ray beam, the CT scanning lower semicircular module receives the X-ray beam; when the lower semicircular module of CT scan emits X-ray beam, the upper semicircular module of CT scan receives X-ray beam and processes data according to attenuation coefficient and absorption coefficient of X-ray to obtain model of scan entity, and the specific process and principle are known technology, which is not described. The movable manipulator has seven degrees of freedom, can carry out flexible space movement, realizes the movement in or out operation of the upper semicircular module of the CT scanning, is suitable for different use states, moves in the upper semicircular module of the CT scanning when scanning is needed, and is matched with the lower semicircular module of the CT scanning for scanning operation, and when scanning is finished, moves out the upper semicircular module of the CT scanning, thereby facilitating the fixing operation.
After accurate space information is obtained, information processing is also needed. The data processing device of this embodiment includes a memory 46, a processing chip 45, and an input/output device 47, where the processing chip is electrically connected with the memory, the input/output device, the CT scanning upper semicircular module, and the CT scanning lower semicircular module, so as to receive and process information.
The electric push rod of the embodiment can also be an air cylinder, an oil cylinder and other prior arts.
In the embodiment, a left shank fixing right block of a left shank fixing position and a right shank fixing left block of a right shank fixing position are integrally arranged, and an electric push rod V is fixed on the shank fixing left block of the right shank fixing position; the sole fixed right block of the sole fixed position and the sole fixed left block of the sole fixed position of the right sole are integrally arranged, the electric putter VI is fixed on the sole fixed left block of the sole fixed position of the right sole, the processing period can be shortened through the integral arrangement, the processing cost is reduced, and meanwhile, the fixing of the electric putter is also facilitated.
As an improvement of the embodiment, the bearing beam and the electric push rod V and the supporting beam and the electric push rod VI are connected through the ball hinge 40, so that the bearing beam and the supporting beam can rotate relative to the electric push rod, and the forces of the contact points of the two ends and the human body are equal, thereby obtaining accurate pressing force.
As an improvement of the embodiment, a section of side blocking surface 42 for limiting the side surface is arranged on the sole fixing left cambered surface, the sole fixing right cambered surface, the shank fixing left cambered surface and the shank fixing right cambered surface, the side blocking surface is a vertical surface tangent with the upper tail end of each cambered surface, the left side and the right side of the shank and the sole can be limited through the side blocking surface, the shank and the sole can not slide out even when being lifted, and meanwhile, the shank and the sole can be guided into a fixing position through the vertical side blocking surface so as to initially limit and improve the fixing effect.
The second invention, an ankle joint fusion operation navigation method, adopts the following steps:
1) Establishing a three-dimensional model of the fixture as described above;
2) Obtaining three-dimensional data information of the ankle joint by CT tomography of the ankle joint, and establishing an ankle joint model by reverse engineering;
3) Fitting and placing the ankle joint model on a three-dimensional model of the fixing device, namely simulating the lying posture of a patient, and presetting the fixing position of the fixing nail through the experience of a doctor;
4) Loading the fixed nail model into an ankle joint model, establishing a CAE simulation model, setting various material parameters, and carrying out analysis and calculation;
5) After the analysis is completed, comparing the analysis results, and when the stress value meets the set value, performing the following steps, otherwise repeating the steps 3) and 4);
6) Determining the theoretical fixing position of the fixing nail, storing data, and calling during operation;
7) During operation, firstly, the ankle joint of a patient is fixed through a fixing device;
8) Then, performing secondary imaging on the ankle joint of the patient through the CT scanner, and transmitting secondary imaging information to a data processing device;
9) The data processing device establishes a secondary imaging ankle joint real-time model through secondary imaging information, adjusts the spatial positions of the ankle joint model and the ankle joint real-time model to enable the two to be completely overlapped, and then determines the position, the nailing direction and the nailing point to be fixed on the ankle joint real-time model;
10 Performing fixation surgery according to the nailing direction and the nailing point determined in the step 9), and ending the navigation.
In step 9), only a secondary imaging ankle real-time azimuth model can be built through secondary imaging information, then the ankle model and the ankle real-time azimuth model are adjusted, as shown in fig. 9, the entity center is different from the model center, the center and the azimuth of the model center can be completely overlapped only by moving the model center in the X direction and the negative Y direction, and the navigation purpose can be achieved.
According to the embodiment, the real-time space position of the ankle joint can be accurately transmitted to the data processing device through the data acquisition device by limiting the left, right, upper, lower, front and rear degrees of freedom of the lower leg and the sole, the real-time space position and the model are highly fitted through the data processing device, so that the actual fixed position, the nailing direction and the nailing point of the screw are obtained, the accurate nailing of the screw is further completed, and the operation quality and the technical efficiency are improved.
Finally, it is noted that the above-mentioned preferred embodiments are only intended to illustrate rather than limit the invention, and that, although the invention has been described in detail by means of the above-mentioned preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the invention as defined by the appended claims.
Claims (2)
1. Ankle joint fuses operation navigation, its characterized in that: comprises a fixing device, a data acquisition device and a data processing device,
The fixing device comprises a bottom plate, shank fixing positions and sole fixing positions which are respectively fixed at the front end and the rear end of the bottom plate,
The shank fixing position comprises a left shank fixing position and a right shank fixing position, both the left shank fixing position and the right shank fixing position comprise a shank fixing left block and a shank fixing right block, the shank fixing left block is provided with a shank fixing left cambered surface which is horizontally concave leftwards, the shank fixing right block is provided with a shank fixing right cambered surface which is symmetrical with the shank fixing left cambered surface, the shank fixing left block of the left shank fixing position is movably connected with the shank fixing right block through a telescopic device I, the shank fixing right block of the right shank fixing position is movably connected with the shank fixing left block through a telescopic device II,
The sole fixing position comprises a left sole fixing position and a right sole fixing position, both the left sole fixing position and the right sole fixing position comprise a sole fixing left block and a sole fixing right block, the sole fixing left block is provided with a sole fixing left cambered surface which is horizontally concave leftwards, the sole fixing left block of the left sole fixing position is movably connected with the sole fixing right block through a telescopic device III, the sole fixing right block of the right sole fixing position is movably connected with the sole fixing left block through a telescopic device IV,
The shank fixing left block is integrally provided with a shank fixing left bottom block with the same height, the shank fixing left bottom block is provided with a shank supporting left cambered surface connected with the shank fixing left cambered surface,
The lower leg fixing right block is integrally provided with a lower leg fixing right bottom block with the same height, and the lower leg fixing right bottom block is provided with a lower leg supporting right cambered surface which is in arc connection with the lower leg fixing right cambered surface;
the sole fixing left block is integrally provided with a sole fixing left bottom block with the same height, the sole fixing left bottom block is provided with a sole supporting left cambered surface connected with the sole fixing left cambered surface,
The sole fixing right block is integrally provided with a sole fixing right bottom block with the same height, and the sole fixing right bottom block is provided with a sole supporting right cambered surface which is in arc connection with the sole fixing right cambered surface;
The shank fixing position also comprises a shank pressing device, the shank pressing device comprises a left shank pressing block, a right shank pressing block, a telescopic device V and a pressure-bearing beam, the left shank pressing block and the right shank pressing block are respectively fixed at two ends of the pressure-bearing beam, the middle part of the other side of the pressure-bearing beam is fixed with the telescopic device V, and the other end of the telescopic device V is fixed with the bottom plate;
the sole fixing position also comprises a sole pressing device, wherein the sole pressing device comprises a left sole pressing block, a right sole pressing block, a telescopic device VI and a supporting beam, the left sole pressing block and the right sole pressing block are respectively fixed at two ends of the supporting beam, the middle part of the other side of the supporting beam is fixed with the telescopic device VI, and the other end of the telescopic device VI is fixed with the bottom plate;
The left calf press block and the right calf press block are symmetrically provided with calf compression concave surfaces, the left sole press block and the right sole press block are symmetrically provided with sole compression concave surfaces,
The data acquisition device comprises a CT scanner arranged between a shank fixing position and a sole fixing position, wherein the CT scanner comprises a CT scanning upper semicircular module and a CT scanning lower semicircular module which are distributed up and down; the data processing device comprises a memory, a processing chip and input and output equipment, wherein the processing chip is electrically communicated with the memory, the input and output equipment, a CT scanning upper semicircular module and a CT scanning lower semicircular module, the telescopic device I, the telescopic device II, the telescopic device III, the telescopic device IV, the telescopic device V and the telescopic device VI are all electric push rods, a left shank fixed right block and a right shank fixed left block of a left shank fixed position are integrally arranged, the telescopic device V is fixed on the right shank fixed left block, a left sole fixed right block and a right sole fixed left block are integrally arranged, the telescopic device VI is fixed on the right sole fixed left block, and the data processing device further comprises a pressure sensor arranged on a shank compression concave surface and a sole compression concave surface area and a movable manipulator which is detachably connected with the CT scanning upper semicircular module and has seven degrees of freedom.
2. The ankle fusion procedure navigation system according to claim 1, wherein: the sole fixing left cambered surface, the sole fixing right cambered surface, the shank fixing left cambered surface and the shank fixing right cambered surface are provided with a side blocking surface for limiting the side surface, and the side blocking surface is a vertical surface tangent with the upper tail end of each cambered surface.
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| CN108186118B true CN108186118B (en) | 2024-05-07 |
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| CN108186118A (en) | 2018-06-22 |
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