CN108403219A - Orthopaedics non-invasive guide pin three-dimensional localization guidance method and guidance system - Google Patents
Orthopaedics non-invasive guide pin three-dimensional localization guidance method and guidance system Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000004807 localization Effects 0.000 title claims abstract description 32
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 18
- 239000007787 solid Substances 0.000 claims abstract description 4
- 239000013598 vector Substances 0.000 claims description 20
- 230000005855 radiation Effects 0.000 claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 11
- 230000005611 electricity Effects 0.000 claims description 10
- 230000037361 pathway Effects 0.000 claims description 9
- 230000002285 radioactive effect Effects 0.000 claims description 9
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 7
- 230000003447 ipsilateral effect Effects 0.000 claims description 6
- 230000001678 irradiating effect Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000005096 rolling process Methods 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 11
- 208000010392 Bone Fractures Diseases 0.000 description 8
- 206010017076 Fracture Diseases 0.000 description 5
- 238000005259 measurement Methods 0.000 description 3
- 238000002324 minimally invasive surgery Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000009795 derivation Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000000399 orthopedic effect Effects 0.000 description 2
- 238000004659 sterilization and disinfection Methods 0.000 description 2
- 241000237858 Gastropoda Species 0.000 description 1
- 210000000588 acetabulum Anatomy 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- MBNGWHIJMBWFHU-UHFFFAOYSA-N diosmetin Chemical compound C1=C(O)C(OC)=CC=C1C1=CC(=O)C2=C(O)C=C(O)C=C2O1 MBNGWHIJMBWFHU-UHFFFAOYSA-N 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 208000020089 femoral neck fracture Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910052705 radium Inorganic materials 0.000 description 1
- HCWPIIXVSYCSAN-UHFFFAOYSA-N radium atom Chemical compound [Ra] HCWPIIXVSYCSAN-UHFFFAOYSA-N 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
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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
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
- A61B17/90—Guides therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/50—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications
- A61B6/505—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications for diagnosis of bone
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- Orthopedic Medicine & Surgery (AREA)
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- Oral & Maxillofacial Surgery (AREA)
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- Physics & Mathematics (AREA)
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Abstract
A kind of orthopaedics non-invasive guide pin three-dimensional localization guidance method and guidance system, X-axis electric precise ball-screw slide unit is mutually perpendicular to be in horizontally disposed with Y-axis electric precise ball-screw slide unit, and Y-axis electric precise ball-screw slide unit can be moved along X-direction on X-axis electric precise ball-screw slide unit；Z axis electric precise ball-screw slide unit can along Y direction moved on Y-axis electric precise ball-screw slide unit and can be by Z axis centered on line rotate；Interchangeable sleeve is fixed on another electric precise worm and gear turntable by the support bracket fastened other end of sleeve, and replaces that sleeve is logical to be moved along Z-direction and can be rotated centered on sleeve fixing bracket；The guide pin locator is a kind of navigation auxiliary robot, can be by carrying out X-ray examination from any two direction, after solid geometry operation, you can the accurate three-dimensional coordinate for obtaining target point and bone channel.
Description
Technical field
The present invention relates to orthopedic navigation positioning field, espespecially a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance method and lead
To system.
Background technology
With orthopaedic technique it is continuous progress with it is perfect, orthopaedics Minimally Invasive Surgery have become orthopaedics develop main side
To.But Minimally Invasive Surgery needs certain equipment and technical support.Internal sclerite, mark are determined in the case where not cutting skin
The external location technology of point or bone channel position becomes the key technology of orthopaedics Minimally Invasive Surgery.
The external localization method being applied at present clinically is mainly divided to two kinds.The first is to be based on common X-ray irradiation technique
Positioning, it is how relatively simple, for example doctor by place metal flag object, had an X-rayed using C arms X-ray machine in art merely, with
Realize the positioning to internal target.Such method can only entry evaluation target position, three-dimensional localization can not be carried out, also can not
Bone channel is positioned, it is even more impossible in the position that some need special projection angle, before sacroiliac screw, pedicle nail and acetabular bone
In column bone fracture screw positioning is realized in the operations such as fixed.Second relatively advanced, navigates for computer-aided three-dimensional location of operation
Technology, although the technology accuracy is high, build is huge and heavy, is not easy disinfection and transhipment, and practicability is poor in addition, and operation is multiple
Miscellaneous and high cost greatly improves operation cost, and general hospital powerlessly purchases.
For defect and deficiency present in current orthopaedics non-invasive location technology, one kind is gradually appeared by combining binocular
Visual theory coupled computer and its control operating software realize the location technology of geometrical reconstruction, see Patent No.
201410056737.5 the patent of entitled orthopedic robot guide pin locator, navigation device and positioning system.This is specially
Profit is acquired from two angle shot X-ray images, and by special imaging device, and two are established through computer image controlling operation software
Dimension coordinate system, and be computed by binocular distance measurement principle and most positioned.But the technology at least has the following defects：1, because
Binocular distance measurement principle is used, is needed higher using special X-ray imaging system and computer picture control operation, cost
It is unfavorable for popularizing.2 and the reconstruction geometry by match point uniqueness and Ordinal Consistency constraint constraint, work as mesh
Cursor position can not obtain accurate three-dimensional localization when being in gradation of image or the characteristics of image unconspicuous region of variation.3, in X-ray
Cortex of bone is overlapped in more region in image, and such as certain fracture of acetabulum are difficult to accurate reconstruction.
Invention content
In order to solve the above technical problems, and reduce using threshold, it is an object of the invention to develop a kind of orthopaedics non-invasive
3 D positioning system and guide pin locator, the guide pin locator be a kind of navigation auxiliary robot, use worm and gear turntable,
The technical equipment such as electronic compass and obliquity sensor build coordinate system, can be by carrying out X-ray examination, warp from any two direction
After crossing solid geometry operation, you can the accurate three-dimensional coordinate for obtaining target point and bone channel.Another object of the present invention is to,
The characteristic for making positioning device used have low-profile light, easy to operate to be easy to sterilize, cheap, reaches easy to spread
Effect.
To achieve the above object, the present invention provides a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance system, features
It is, it includes a, guide pin locator, which includes mainly：At least one X-axis electric precise ball-screw is slided
Platform, at least one Y-axis electric precise ball-screw slide unit, a Z axis electric precise ball-screw slide unit, two electric precise worm gears
Worm screw turntable, a sleeve fixing bracket and interchangeable sleeve；
Wherein, the X-axis electric precise ball-screw slide unit is mutually perpendicular to the Y-axis electric precise ball-screw slide unit
In horizontally disposed, and the Y-axis electric precise ball-screw slide unit can be along X-direction in X-axis electric precise ball-screw slide unit
Upper movement；Z axis electric precise ball-screw slide unit one end is slidedly arranged on the accurate electricity of Y-axis by an electric precise worm and gear turntable
Dynamic ball-screw slide unit, and Z axis electric precise ball-screw slide unit is enable to be slided in Y-axis electric precise ball-screw along Y direction
It moves and line can be rotated centered on Z axis on platform；Interchangeable sleeve is fixed on another essence by the support bracket fastened other end of sleeve
Cipher telegram moves worm and gear turntable, and the electric precise worm and gear turntable is slidedly arranged on Z axis electric precise ball-screw cunning
Platform can be moved along Z-direction and can be rotated centered on sleeve fixing bracket so that interchangeable sleeve is logical；By the structure,
Capable of making the guide pin being set in interchangeable sleeve, any point from space is directed toward any direction using guide pin anchor point as the centre of sphere.
Wherein preferably, the X-axis electric precise ball-screw slide unit, Y-axis electric precise ball-screw slide unit and Z axis essence
Close electric ball screw slide unit is respectively by slide unit stepper motor, slide unit driver, slide unit lead screw, slide unit sliding rail, slide unit sliding block, cunning
Platform pedestal is constituted.
Wherein preferably, the electric precise worm and gear turntable is respectively by turntable shaft step motor, worm and gear
Turntable fuselage, worm and gear turntable table top are constituted.
Wherein preferably, the orthopaedics non-invasive guide pin three-dimensional localization guidance system further includes the three-dimensional electricity of at least one C-arm
Sub- compass, C-arm, operating bed and processing system.
Wherein preferably, the Y-axis electric precise ball-screw slide unit is equipped with Y-axis slid platform base, the three-dimensional electricity of the C-arm
Sub- compass is positioned over Y-axis slid platform base and/or bottom is pasted at the top of C-arm radiation end, when C-arm three-dimensional electronic compass bottom
When being pasted at the top of C-arm radiation end, Z axis is the center directions Tou Zhaoxian of C-arm 3, and major and minor axis is respectively C-arm three
Tie up the X-axis Y-axis side in the x-axis y-axis direction and guide pin locator of 2 zero-bit of X-axis and Y-axis C-arm three-dimensional electronic compass of electronic compass 2
To consistent, when C-arm three-dimensional electronic compass is positioned over Y-axis slid platform base, i.e., using XOY plane as zero-bitplane, it is with Y direction
Course angle zero.
Wherein preferably, the Y-axis slid platform base does not interfere the movable side of other component or accommodating institute is arranged below
State the Y-axis three-dimensional electronic compass card slot of C-arm three-dimensional electronic compass；And it can be equipped at the top of C-arm radiation end and house the C-arm
The C-arm three-dimensional electronic compass card slot of three-dimensional electronic compass.
Wherein preferably, the system further includes the laser range finder for irradiating entry point.
Wherein preferably, the laser range finder is a ball-shaped cloud platform laser ranging component, the ball-shaped cloud platform laser ranging
The ball-shaped cloud platform pedestal of component is fixed on Z axis electric precise ball-screw slide unit upper end to make laser ranging mould by ball-shaped cloud platform
Block is directed toward any direction, and obtains its direction in space by laser ranging three-dimensional electronic compass, and radium is housed in laser ranging module
Light source is penetrated, measures distance after obtaining positioning point coordinates, to expose to after body surface ideal entry point, and recording laser ranging three-dimensional
Electronic compass direction in space can obtain the space coordinate of entry point whereby, and to obtain 2 points of place straight lines, and making automatically can be more
The axis for changing sleeve is overlapped with the straight line, and interchangeable sleeve head end is close to body surface along the linear movement to entry point.
Wherein preferably, Y-axis electric precise ball-screw slide unit passes through company respectively with Z axis electric precise ball-screw slide unit
Fishplate bar is connect with electric precise worm and gear turntable, and sleeve fixing frame and Z axis electric precise ball-screw slide unit by
It is to be connected by connecting plate.
Wherein preferably, the guide pin locator also includes the inclination angle for measuring electric precise worm and gear turntable rotation angle
Sensor.
The present invention also provides a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance methods, by any of the above-described bone
The guide pin locator of section's non-invasive 3 D positioning system is placed on Ipsilateral operating bed and is inserted into guide pin in interchangeable sleeve, with X-axis
The direction of electric precise ball-screw slide unit I is guide pin locator X-direction, and Y-axis electric precise ball-screw slide unit direction is
Guide pin locator Y direction, Z axis electric precise ball-screw slide unit direction are guide pin locator Z-direction；With electric precise snail
Worm and gear turntable I reads as α, i.e., guide pin is in the projection of XOY plane and the angle of X-axis using Y direction as zero；Accurate electricity
Dynamic worm and gear turntable II, using XOY plane as zero, reads as β, the i.e. angle of guide pin and XOY plane；And setting is replaceable
The axle center of sleeve 12 is guide pin anchor point with the intersection point in the support bracket fastened axle center of sleeve, and guide pin when being in zero-bit with each axis is fixed
Site is that origin builds three-dimensional system of coordinate, and it is (x, y, z), axle center and the Z axis slide unit screw axis of interchangeable sleeve to record the point
The distance of the heart is L, and the displacement of X-axis electric precise ball-screw slide unit I and X-axis electric precise ball-screw slide unit II is x', Y-axis
The displacement of electric precise ball-screw slide unit is y', and the displacement of Z axis electric precise ball-screw slide unit is z', setting：X'=x-
Lcos α, y'=y-Lsin α, z'=z, to control, guide pin can as the centre of sphere, any point from space refers to using guide pin anchor point
To any direction；C-arm three-dimensional electronic compass is fixed on Y-axis card slot, the X-axis Y-axis side in x-axis y-axis direction and guide pin locator
To consistent, and it is automatically recorded when front direction after energization and is set to zero-bit, i.e., using XOY plane as zero-bitplane, with Y-axis
Direction is course angle zero；Just C-arm three-dimensional electronic compass is removed after recording successfully or another C-arm three-dimensional electronic sieve is taken to place
In C-arm three-dimensional electronic compass card slot, and the manually recorded C-arm radiation of when C-arm is adjusted to suitable position in use
The C-arm three-dimensional electronic compass value at top is held, and it is fixed according to the C-arm three-dimensional electronic compass value to establish C-arm and guide pin
The vector relations of position device, three-dimensional electronic compass axis is the center directions Tou Zhaoxian of C-arm, and its major and minor axis is respectively C-arm
The axis and axis of three-dimensional electronic compass；
When C-arm obtains suitable X-ray irradiation position, it is radioactive source 1 to define the position, passes through C-arm three-dimensional electronic sieve
The pitch angle α ', roll angle β ' and course angle γ ' of the manually recorded C-arm three-dimensional electronic compass of disk calculate the center of C-arm 3
The cosine value according to line and guide pin locator XYZ positive axis angles is thrown, respectivelyCos φ, cos θ, wherein：
Then, step is carried out：
1. adjust guide pin locating point position, and adjust guide pin angle [alpha] and β makes guide pin in being directed toward target location on x-ray image,
Record guide pin positioning point coordinates (x1,y1,z1) and interchangeable sleeve direction α1、β1；
2. changing guide pin locating point position and making guide pin in being again directed to target location on x-ray image, clicks and confirm record
Guide pin positions point coordinates (x2,y2,z2) and interchangeable sleeve direction α2、β2；
3. can show that the linear equation of the axis in channel is by processor operation：
Wherein,
cosδ1=cos α1·cosβ1cosδ2=cos α2·cosβ2
cosη1=sin α1·cosβ1, cos η2=sin α2·cosβ2。
cosμ1=sin β1, cos μ2=sin β2
Wherein preferably, the processing system of the positioning system is according to the linear equation of the axis in the channel, and setβ=90 °-θ, and guide pin locator is controlled, so that the axis weight of the axis of interchangeable sleeve and the channel
It closes, and by adjustment t values, interchangeable sleeve 12 is made to be moved to body surface along the axis in channel.
Wherein preferably, this method further comprises the steps：
Change the angle of C-arm and irradiate X-ray again, it is radioactive source 2 that the position is defined when obtaining suitable position, and is led to
Cross the pitch angle α ' of the manually recorded C-arm three-dimensional electronic compass of C-arm three-dimensional electronic compass2, roll angle β '2And course angle
γ'2, and the center throwing for calculating C-arm is respectively according to the cosine value of line and guide pin locator XYZ positive axis anglescos
φ2,cosθ2,
Then, guide pin locating point position is adjusted, and adjusting guide pin angle [alpha] and β makes guide pin in direction target position on x-ray image
It sets, record guide pin positioning point coordinates (x3,y3,z3) and interchangeable sleeve direction α3、β3；
Further, the coordinate (x of target point can be obtained by operation4,y4,z4),
Wherein：
Wherein preferably, according to the coordinate (x of the target point obtained4,y4,z4), by adjusting guide pin positioning point coordinates (x,
Y, z), pass through control system, settingSo that adjustment process
The direction of middle guide pin sleeve constantly run-home point.
Wherein preferably, in known two endpoints, it is thus necessary to determine that when guide pin mobile route, repeat the seat of the positioning target point
Mark (x4,y4,z4) method, to calculate two target endpoints, and guide pin mobile route is calculated by the calculation control module of positioning system
For control guide pin locator movement.
Wherein preferably, when being had an X-rayed using C-arm, target location is made to be presented in picture centre, that is, is located at center and throws
According on line.
Wherein preferably, irradiating entry point using laser range finder in the positioning to target point, make replaceable set automatically
The axis of cylinder is overlapped with the straight line, and interchangeable sleeve head end is to determine hand close to body surface along the linear movement to entry point
Art path.
Wherein preferably, the guide pin locator includes the inclination angle biography for measuring electric precise worm and gear turntable rotation angle
Sensor.
Wherein preferably, the laser range finder is a ball-shaped cloud platform laser ranging component, the ball-shaped cloud platform laser ranging
The ball-shaped cloud platform pedestal of component is fixed on Z axis electric precise ball-screw slide unit upper end, can make Laser Measuring by ball-shaped cloud platform
It is directed toward any direction away from module, and its direction in space is obtained by laser ranging three-dimensional electronic compass, laser ranging module is built-in
There is laser source, after obtaining positioning point coordinates, distance, and recording laser ranging three are measured after exposing to body surface ideal entry point
Electronic compass direction in space is tieed up, can obtain the space coordinate of entry point whereby, to obtain 2 points of place straight lines, and making automatically can
The axis for replacing sleeve is overlapped with the straight line, and close to body surface, i.e., interchangeable sleeve head end is along the linear movement to entry point
Obtain operation pathway.
By above-mentioned apparatus and method, of the invention a kind of orthopaedics non-invasive 3 D positioning system and guide pin locator and
Its localization method uses worm and gear turntable, electronic compass and inclination angle to pass by navigation auxiliary robot (guide pin locator)
The technical equipment such as sensor build coordinate system, by from any two direction row X-ray examination, after solid geometry operation, you can
The accurate three-dimensional coordinate for obtaining target point and bone channel.Laser range finder irradiation inserting needle can be used in the positioning to target point
Point can determine operation pathway.The positioning device low-profile is light, easy to operate to be easy to sterilize, cheap thus be easy to push away
Extensively.
Description of the drawings
Fig. 1 system schematics；
Fig. 2 guide pin locator structural schematic diagrams；
Fig. 3 X-axis electric precise ball-screws slide unit I；
Fig. 4 Y-axis electric precise ball-screws slide unit (1204 mini slide unit)；
Fig. 5 Z axis electric precise ball-screws slide unit (1204 mini slide unit)；
Fig. 6 electric precise worm and gears turntable I (ZX110-100)；
Fig. 7 electric precise worm and gears turntable II (ZX110-60)；
Fig. 8 sleeve fixing brackets；
Fig. 9 connecting plates I；
Figure 10 connecting plates II；
Figure 11 connecting plates III；
The coordinate schematic diagram of Figure 12, Figure 13, Figure 14, Figure 15 present invention；
The general illustration of another specific embodiment with laser ranging component of Figure 16 present invention；
The guide pin locator schematic diagram of another specific embodiment with laser ranging component of Figure 17 present invention；
Another ball-shaped cloud platform laser ranging component schematic diagram with laser ranging component of Figure 18 present invention；
The laser ranging component connecting plate schematic diagram of another specific embodiment with laser ranging component of Figure 19 present invention；
In figure：
1 guide pin locator, 2 C-arm three-dimensional electronic compass
3 C-arm, 4 operating bed
5 X-axis electric precise ball-screw slide unit, I 6 X-axis electric precise ball-screw slide unit II
7 Y-axis electric precise ball-screw slide unit, 8 Z axis electric precise ball-screw slide unit
9 electric precise worm and gear turntable, I 10 electric precise worm and gear turntable II
11 sleeve fixing bracket, 12 interchangeable sleeve
13 connecting plate, I 14 connecting plate II
15 connecting plate, III 16 X-axis slide unit stepper motor
17 X-axis slide unit driver, 18 X-axis slide unit lead screw
19 X-axis slide unit sliding rail, 20 X-axis slide unit sliding block
21 X-axis slid platform base, 22 Y-axis slide unit stepper motor
23 Y-axis slide unit driver, 24 Y-axis slide unit silk
25 Y-axis slide unit sliding rail, 26 Y-axis slide unit sliding block
27 Y-axis slid platform base, 28 Z axis slide unit stepper motor
29 Z axis slide unit driver, 30 Z axis slide unit lead screw
31 Z axis slide unit sliding rail, 32 Z axis slide unit sliding block
33 Z axis slid platform base, 34 turntable, I shaft step motor
35 worm and gear turntable, I fuselage, 36 worm and gear turntable, I table top
37 turntable, II shaft step motor, 38 worm and gear turntable, II fuselage
39 worm and gear turntable, II table top
181 locator ball-shaped cloud platform pedestal, 182 locator ball-shaped cloud platform
183 locator ball-shaped cloud platform spherical shape card slot, 184 locator ball-shaped cloud platform locking level
185 laser ranging three-dimensional electronic compass, 186 ball-shaped cloud platform range finder module.
Specific implementation mode
Below with reference to the embodiments and with reference to the accompanying drawing technical scheme of the present invention is described in further detail.
As shown in Figure 1, a kind of orthopaedics non-invasive 3 D positioning system of the present invention includes：Guide pin locator 1, C-arm three
Tie up electronic compass 2, C-arm 3, operating bed 4 and processing system (not being painted in figure).
It is illustrated in figure 2 the guide pin locator schematic diagram of the present invention, it is fixed for the guide pin of the present invention additionally referring to Fig. 3-Fig. 9
Position device block diagram, wherein the guide pin locator 1 includes mainly：X-axis electric precise ball-screw slide unit I 5, the accurate electricity of X-axis
Dynamic ball-screw slide unit II 6, Y-axis electric precise ball-screw slide unit 7, Z axis electric precise ball-screw slide unit 8, electric precise
Worm and gear turntable I 9, electric precise worm and gear turntable II 10, sleeve fixing bracket 11 and interchangeable sleeve 12 (2.0/
2.5/3.0 interchangeable sleeve), comprise in addition three connecting plates：Connecting plate I 13, connecting plate II 14, connecting plate III 15.
Fig. 3 and Fig. 4 is referred to, is X-axis electric precise ball-screw slide unit I 5, X-axis electric precise ball-screw slide unit
II 6 and 7 structural schematic diagram of Y-axis electric precise ball-screw slide unit.Three's structure is identical, respectively by X-axis slide unit stepper motor 16,
X-axis slide unit driver 17, X-axis slide unit lead screw 18, X-axis slide unit sliding rail 19, X-axis slide unit sliding block 20, X-axis slid platform base 21, Y-axis are slided
Platform stepper motor 22, Y-axis slide unit driver 23, Y-axis slide unit silk 24, Y-axis slide unit sliding rail 25, Y-axis slide unit sliding block 26, Y-axis slide unit
Pedestal 27 is constituted.
Fig. 5 is referred to, is the structural schematic diagram of Z axis electric precise ball-screw slide unit 8.Including：Z axis slide unit stepping electricity
Machine 20, Z axis slide unit driver 29, Z axis slide unit lead screw 30, Z axis slide unit sliding rail 31, Z axis slide unit sliding block 32, Z axis slid platform base 33.
Fig. 6 and Fig. 7 is referred to, is two turntables：Electric precise worm and gear turntable I 9, electric precise worm and gear
The schematic diagram of turntable II 10.It is respectively by I shaft step motor 34 of turntable, I fuselage 35 of worm and gear turntable, worm and gear
II shaft step motor 37 of I table top 36 of turntable and turntable, II fuselage 38 of worm and gear turntable, worm and gear turntable II
Face 39 is constituted.Y-axis electric precise ball-screw slide unit 7 is with Z axis electric precise ball-screw slide unit 8 respectively by shown in Fig. 9-10
Connecting plate (13,14) connect with electric precise worm and gear turntable I 9, and sleeve fixing frame 11 and Z axis electric precise ball
Screw slide 8 is connected by connecting plate shown in Figure 11 III 15.
Fig. 2 and Fig. 4-6,9,10 are referred to, Y-axis electric precise ball-screw slide unit 7 is fixed on by Y-axis slid platform base 27
On the X-axis slide unit sliding block of X-axis electric precise ball-screw slide unit I 6 and X-axis electric precise ball-screw slide unit II 7, to make Y
Axis electric precise ball-screw slide unit 7 can be moved along X-direction according to specified distance by the rotation of X-axis slide unit stepper motor
It is dynamic；One end of Z axis electric precise ball-screw slide unit 8 passes through electric precise worm and gear by I 13 connecting plate II 14 of connecting plate
Turntable I 9 is connected with the Y-axis slide unit sliding block 26 of Y-axis electric precise ball-screw slide unit 7, so that Z axis electric precise ball wire
Thick stick slide unit 8 can be moved along Y direction according to specified distance by the rotation of Y-axis slide unit stepper motor 22, while can also
Rotation by I shaft step motor 34 of turntable horizontally rotates specified angle centered on Z axis.
Fig. 2 and Fig. 5,7,8,11 are referred to, one end of sleeve fixing bracket 11 passes through electric precise worm and gear turntable
II 10 and connecting plate III 15 be connected with the Z axis slide unit sliding block 32 of Z axis electric precise ball-screw slide unit 8 so that sleeve is fixed
Holder 11 and the interchangeable sleeve 12 for being fixed on its other end can be by the rotations of Z axis slide unit stepper motor 28 along Z-direction
It is moved according to specified distance, while the plane that can also be constituted with X, Y-axis by the rotation of II shaft step motor 37 of turntable
The specified angle of (XOY plane) perpendicular direction rotation.
In conclusion by above-mentioned electric precise ball-screw slide unit, the moving track in tri- directions X, Y, Z is constituted, by
Corresponding slide unit stepper motor (16/22/28) can be driven to rotate by the control device in processing system, to drive leading for guide pin
Needle anchor point arbitrarily moves on three-dimensional, to reach any point in space.
After referring to Fig. 2 it is found that by corresponding turntable shaft step motor (9/10) is driven, guide pin rotation can be made corresponding
Angle, wherein guide pin reads in the projection of XOY plane and the angle (using Y direction as zero) of X-axis as α；And electric precise
It when worm and gear turntable II 10 rotates, is formed using XOY plane as zero, the angle reading of guide pin and XOY plane is β.
It is 11 schematic diagram of interchangeable sleeve 12 and sleeve fixing frame referring to Fig. 8, wherein replace axle center and the Z axis of sleeve 12
The distance in 34 axle center of slide unit lead screw is L.
By those structures, then guide pin can be achieved, and using guide pin anchor point as the centre of sphere, any point from space is directed toward arbitrary side
To.Meanwhile it is practical for convenience, in the present invention, remote control can be equipped with to control corresponding motor rotation, and rotation angle can adopt
It is measured with obliquity sensor, straight-line displacement can be used stepper motor signal record or displacement sensor can be used.
In addition, a kind of orthopaedics non-invasive 3 D positioning system of the present invention, further includes at least one C-arm three-dimensional electronic sieve
Disk 2, and in this specific embodiment, one can be equipped at the top of the side of Y-axis slid platform base or following and C-arm radiation end
Y-axis three-dimensional electronic compass card slot is to want not interfere other component activity；Wherein, it will be appreciated by persons skilled in the art that
The C-arm three-dimensional electronic compass 2 can be respectively arranged on C-arm three-dimensional electronic compass card slot and Y-axis at the top of C-arm radiation end
Three-dimensional electronic compass card slot, the three-dimensional parameter and zero-bitplane when with according to the work of its measurement and course angle zero, to build
The vector relations of vertical C-arm and guide pin locator；Preferably a C-arm three-dimensional electronic compass 2 can be only arranged in it, first put
Initial value is measured on Y-axis three-dimensional electronic compass card slot, then places the C-arm three-dimensional electronic compass at the top of C-arm radiation end
Card slot measures pitch angle, roll angle and the course angle when work, so that it is guaranteed that exclusive PCR, improves precision, and reduce cost.
The x-axis y-axis direction of 2 zero-bit of C-arm three-dimensional electronic compass is consistent with the X-axis Y direction of guide pin locator, works as c-type
When arm, three-D electronic compass 2 is positioned over the Y-axis three-dimensional electronic compass card slot in Y-axis slid platform base 27, i.e., using XOY plane as zero-bit
Plane, using Y direction as course angle zero；And when in use, it is that the bottom of C-arm three-dimensional electronic compass 2 is pasted on C-arm
It radiates at the top of end, its Z axis is the center directions Tou Zhaoxian of C-arm 3 at this time, and major and minor axis is respectively C-arm three-dimensional electronic sieve
The X-axis and Y-axis of disk 2.
By the assistance of the guide pin locator 1 and C-arm 3 and respective sensor, a kind of orthopaedics non-invasive three of the invention
Dimension positioning system can realize the foundation in the bone channel under various complex situations and the confirmation of entry point and operation pathway.
Below in conjunction with specific usage scenario, to a kind of application process of orthopaedics non-invasive 3 D positioning system of the present invention
It elaborates：
Specifically, a kind of orthopaedics non-invasive 3 D positioning system of the invention is with the accurate electricity of X-axis in use
The direction of dynamic ball-screw slide unit I 5 is guide pin locator X-direction, and 7 direction of Y-axis electric precise ball-screw slide unit is guide pin
Locator Y direction, 8 direction of Z axis electric precise ball-screw slide unit are guide pin locator Z-direction.
In addition, electric precise worm and gear turntable I 9 using Y direction as zero, reads as α, i.e., guide pin is in XOY plane
Projection and X-axis angle；Electric precise worm and gear turntable II 10 is read using XOY plane as zero as β, i.e., guide pin with
The angle of XOY plane.
This system sets the intersection point in the axle center of interchangeable sleeve 12 and the axle center of sleeve fixing bracket 11 as guide pin anchor point.
If guide pin anchor point when being in zero-bit using each axis builds three-dimensional system of coordinate as origin, and it is (x, y, z) to record the point.It can be more
The axle center for changing sleeve 12 is L at a distance from 34 axle center of Z axis slide unit lead screw, and X-axis electric precise ball-screw slide unit I 5 and X-axis are accurate
The displacement of electric ball screw slide unit II 6 is x', and the displacement of Y-axis electric precise ball-screw slide unit 7 is y', Z axis electric precise
The displacement of ball-screw slide unit 8 is z'.Setting：X'=x-Lcos α, y'=y-Lsin α, z'=z then can be achieved with guide pin
Anchor point is that centre of sphere any point from space is directed toward any direction.
When guide pin locator is placed on Ipsilateral operating bed, the x-axis y-axis direction of 2 zero-bit of C-arm three-dimensional electronic compass with
The X-axis Y direction of guide pin locator is consistent, that is to say, that (in this specific embodiment is when it is positioned over Y-axis slid platform base 27
By the Y-axis card slot positioning set on 27 side of Y-axis slid platform base or bottom edge) when, i.e., using XOY plane as zero-bitplane, with Y-axis side
To for course angle zero.Then it is that the bottom of C-arm three-dimensional electronic compass 2 is pasted at the top of C-arm radiation end during use
C-arm three-dimensional electronic compass card slot, Z axis is the center directions Tou Zhaoxian of C-arm 3, and major and minor axis is respectively C-arm three
Tie up the X-axis and Y-axis of electronic compass 2.And to reduce error, target location should all be made to be presented in image when being had an X-rayed using C-arm
Center is located at center and throws according on line.
It is summed up, the type that orthopaedics non-invasive location technology of the present invention is applied can be divided into following three types：
1, target point is positioned using example scenario 1；
Target：The sclerite collapsed is navigated in guide pin locator coordinate system；
The type is the blocky fracture that such as tibial plateau collapsed fracture, distal tibial pillon fracture needs aim at.Its
It is characterized in that target is a point, by taking tibial plateau collapsed fracture as an example.Pass through Patent No. after suffering limb disinfection
201310614751.8, a kind of entitled Rapid reset device for treating long bone fracture leads suffering limb
Draw, guide pin locator is placed on Ipsilateral operating bed and is inserted into guide pin in interchangeable sleeve 12.
X-ray is irradiated from any angle by using C-arm 3, when it obtains suitable X-ray irradiation position, defines the position
For radioactive source 1, by the manually recorded pitch angle of the C-arm three-dimensional electronic compass 2 i.e. angle α of its x' axis and XOY plane '1, horizontal
The roll angle i.e. angle β ' of its y' axis and XOY plane1And course angle i.e. its x' axis direction is in the upright projection and X-axis of XOY plane
The angle γ ' in direction1.Cosine value of the center throwing according to line and guide pin locator XYZ positive axis angles of C-arm 3 can be calculated, respectively
Forcosφ,cosθ。
Calculating process is as follows：
1) it establishes and sits initial mark system, as shown in figure 12, a rectangular coordinate system in space xyz (i.e. C is established by origin of point O
The reference axis when pitch angle and roll angle of arm three-dimensional electronic compass 2 are zero) and two three-dimensional rectangular coordinate axis XYz (lead
The reference axis of needle locator) and x'y'z'(, that is, C-arm three-dimensional electronic compass 2 reference axis).Known C-arm three-dimensional electronic compass
2 pitch angle is ∠ x'Ox, that is, α '1, roll angle is ∠ A'OB', that is, β '1, course angle is ∠ IOG, that is, γ '1.Ask z' positive axis with
The cosine value of XYZ positive axis angles, i.e.,cosφ,cosθ。
∠ BAO=∠ AOD=∠ x'Ox=α '1If the unit length of AB is a, then BO=atan α '1,
If ∠ EOG=σ, ∠ HOE=ε, then
Then
Cos φ=cos ∠ HOY=-cos (σ-γ) cos ε,
σ is substituted into, ε can be obtained
2) step 1：By remote controler adjustment (controlling corresponding synchronous motor rotation) guide pin locating point position, and adjusts and lead
Needle angle [alpha] and β make guide pin in being directed toward target location (i.e. C-arm center is thrown according on line) on x-ray image, click and confirm record guide pin
Position point coordinates (x1,y1,z1) and interchangeable sleeve direction α1、β1；
Step 2:Then, change guide pin locating point position and make guide pin in being again directed to target location on x-ray image, click
Confirm record guide pin positioning point coordinates (x2,y2,z2) and interchangeable sleeve direction α2、β2.Mesh can be obtained by processor operation
The linear equation (as detailed below) of punctuate and radioactive source 1.
Step 3：Change the angle of C-arm 3 and irradiate X-ray again, it is radiation that the position is defined when obtaining suitable position
Source 2, and pass through the pitch angle α ' of 2 manually recorded C-arm three-dimensional electronic compass 2 of C-arm three-dimensional electronic compass2, roll angle β '2, with
And course angle γ '2.Cosine value of the center throwing according to line and guide pin locator XYZ positive axis angles of C-arm 3 can be calculated, respectivelycosφ2,cosθ2。
Its derivation is samecosφ,cosθ。
Step 4：Guide pin locating point position is adjusted by remote controler, and adjusting guide pin angle [alpha] and β makes guide pin in x-ray image
Upper direction target location is clicked and confirms record guide pin positioning point coordinates (x3,y3,z3) and interchangeable sleeve direction α3、β3.Pass through place
Reason device operation can obtain the coordinate (x of target point4,y4,z4)。
Calculating process is as follows：
As shown in figure 13, guide pin anchor point when being in zero-bit using each axis of guide pin locator is origin i.e. point O, with X-axis
The direction of electric precise ball-screw slide unit I 5 is X-direction, and 7 direction of Y-axis electric precise ball-screw slide unit is Y direction, Z
8 direction of axis electric precise ball-screw slide unit is Z-direction.Establish rectangular coordinate system in space.There is any point A in space
(guide pin anchor point), it is known that the coordinate of point A is (x1,y1,z1), point D is target point, and point M is any point on straight line B ' D, connection
AM, straight line AM and x, the angle of y, z positive axis are respectively δ1,η1,μ1, according to α1、β1It can obtain cos δ1=cos α1·cosβ1,
cosη1=sin α1·cosβ1, cos μ1=sin β1.The coordinate of known point G (guide pin anchor point) is (x2,y2,z2), point H is straight line
Any point on B ' D links GH, and straight line GH and x, the angle of y, z positive axis are respectively δ2,η2,μ2, according to α2、β2It can obtain cos
δ2=cos α2·cosβ2, cos η2=sin α2·cosβ2, cos μ2=sin β2.Radioactive source 1 is that point B ' respectively makees point G and point H
Central projection, on perspective plane, xoy is projected to point I and point M ' respectively；One light source point B ' makees central projection to point A and point M respectively,
On perspective plane, xoy is projected to point A ' and point M ' respectively；Line segment AM ' and line segment IM ' intersects at point M '；Link projection line B ' I, B '
M ' forms a plane B ' IM '；Link projection line B ' A ', B ' M ', forms a plane B ' A ' M ', projection line B ' M ' and x, y, z
The angle of positive axis is respectivelyφ,θ.In plane B ' IM ', made point G and be parallel to the line segment GH of line segment IM '0, shadow of trading
Line B ' M ' are in point H0.In plane B ' A ' M ', made point A and be parallel to the line segment AM of line segment A ' M '0, the hachure B ' M ' that trade are in point
M0.There are arbitrary straight line EF in space, it is known that the coordinate of point E (guide pin anchor point) is (x3,y3,z3), and known straight line EF
Angle with x, y, z positive axis is respectively δ3,η3,μ3, according to α3、β3It can obtain cos δ3=cos α3·cosβ3, cos η3=sin
α3·cosβ3, cos μ3=sin β3.Radioactive source 2 is that point B makees central projection to line segment EF, links BE, BF, forms a plane
BEF, and known straight line BD and x, the angle of y, z positive axis are respectivelyφ1,θ1.It solves：The friendship of straight line B ' M ' and plane BEF
The coordinate of point D.It proves：If line segment AM is not parallel to line segment A ' M ', the extended line of line segment AM and line segment A ' M ' meet at point N.Such as
Shown in Figure 14, then plane MNM ' and plane xoy intersects at straight line NM '.In plane MNM ', it is known that straight line AM and x, y, z are just partly
The angle of axis is respectively δ1,η1,μ1, then the unit vector of straight line AM direction vectors beIt is known straight
The angle of line B ' M ' and x, y, z positive axis is respectivelyφ, θ, then the unit vector of straight line B ' M ' direction vectors beStraight line AM and straight line B ' M ' all on plane MNM ', then lead to by straight line AM and straight line B ' M ' intersections
Cross point A (x1,y1,z1) and with the orientation vector of plane MNM 'Parallel plane MNM ' is just uniquely identified.So
It is obtained by the point position formula equation of plane：
This determinant is solved, obtains the general equation formula of plane MNM '：
If line segment AM0Line segment A ' M ' are parallel to, as shown in figure 15：
Then plane B ' A ' M ' and plane xoy intersects at straight line A ' M '.Known straight line AM0In plane B ' A ' M ', and straight line
AM0Angle with x, y, z positive axis is respectively δ1,η1,μ1, then straight line AM0The unit vector of direction vector isThe angle of known straight line B ' M ' and x, y, z positive axis is respectivelyφ, θ, then straight line B ' M ' are square
It is to the unit vector of vectorStraight line AM0With straight line B ' M ' all on plane B ' A ' M ', straight line
AM0Point M is intersected at straight line B ' M '0, then pass through point A (x1,y1,z1) and with the orientation vector of plane B ' A ' M 'Parallel
Plane B ' A ' M ' are just uniquely identified.So being obtained by the point position formula equation of plane：
This determinant is solved, obtains the general equation formula of plane B ' A ' M '：
So
Line segment AM is not parallel to or is parallel to line segment A ' M ', and the general equation formula of plane B ' A ' M ' is identical.
The general equation formula of plane xoy：Z=0.
The general equation formula simultaneous of plane B ' A ' M ' and plane xoy obtains the equation of straight line A ' M '：
It can similarly obtain, the point position formula equation of plane B ' IM '：
This determinant is solved, obtains the general equation formula of plane B ' IM '：
Plane
The general equation formula of xoy：Z=0.
The general equation formula simultaneous of plane B ' IM ' and plane xoy obtains the equation of straight line IM '：
In plane xoy, straight line A ' M ' and straight line IM ' intersects at point M ', then equations simultaneousness:
It solves:
Wherein,
So in rectangular coordinate system in space, the coordinate of point M ' is:
On straight line B ' M ', it is known that the unit vector of straight line B ' M ' direction vectors isAnd straight line
The coordinate of point M ' on B ' M ', then the parametric equation of straight line B ' M ' is (i.e. the linear equation of target point and radioactive source)
If 2 parameters：
The angle of known straight line EF and x, y, z positive axis are respectively δ3,η3,μ3, then the unit vector of straight line EF direction vectors
ForKnown straight line BD and x, the angle of y, z positive axis are respectivelyφ1,θ1, then straight line BD
The unit vector of direction vector isStraight line EF and straight line BD is on plane BEF, straight line EF
Intersect with straight line BD, then passes through point E (x3,y3,z3) and with the orientation vector of plane BEFParallel plane BEF is just by only
One ground determines.So being obtained by the point position formula equation of plane：
This determinant is solved, obtains the general equation formula of plane BEF：
Finally, by
The parametric equation of straight line B ' M ' is
With the general equation formula of plane BEF：
It is exactly the intersection point for asking straight line B ' M ' and plane BEF to seek the coordinate of point D.The two equations simultaneousnesses, solve：
So the coordinate of point D, that is, target point is:
I.e.：
After positioning：
By adjusting guide pin positioning point coordinates (x, y, z), interchangeable sleeve 12 is made to reach ideal position.
Setting
Then make during adjustment the constantly run-home point of interchangeable sleeve 12, laser can be used in the positioning to target point
Rangefinder irradiation entry point can determine operation pathway.
2, using example scenario 2：Narrow bone channel is positioned,
It is primarily adapted for use in sacroiliac screw, fixed, pedicle nail and intra medullary nail far-end locking nail in acetabular anterior column bone fracture screw
Deng with clear and narrow bone channel or metal passage, (its target that is used is：Linear target channel).
By taking sacroiliac screw as an example.When orthopaedics non-invasive 3-D positioning method using the present invention, block can be fixed in Ipsilateral
Guide pin locator is simultaneously placed on Ipsilateral art bed and block plate by plate.Using C-arm 3 from sacrum 1 pedicle of vertebral arch axle position (i.e. bone channel
Axle position) irradiation X-ray, the bone channel of sacroiliac screw is rounded at this time, and it is three-dimensional to record C-arm by C-arm three-dimensional electronic compass 2
The pitch angle α ' of electronic compass 2, roll angle β ' and course angle γ '.It throws according to line and guide pin positioning at the center that C-arm 3 can be calculated
The cosine value of device XYZ positive axis angles, respectivelycosφ,cosθ。
Guide pin locating point position is adjusted by remote controler, and adjusts guide pin angle [alpha] and β makes guide pin in being directed toward on x-ray image
Target location (i.e. C-arm center is thrown according on line) is clicked and confirms record guide pin positioning point coordinates (x1,y1,z1) and interchangeable sleeve
Direction α1、β1；Change guide pin locating point position and guide pin is made to be again directed to target location, clicks and confirm that record guide pin anchor point is sat
Mark (x2,y2,z2) and interchangeable sleeve direction α2、β2.The axis in pedicle of vertebral arch bone channel can be obtained by processor operation
Linear equation is：
Wherein
cosδ1=cos α1·cosβ1 cosδ2=cos α2·cosβ2
cosη1=sin α1·cosβ1, cos η2=sin α2·cosβ2
cosμ1=sin β1 cosμ2=sin β2
Derivation method is the same as example scenario 1
After obtaining the linear equation, in processing system, settingβ=90 °-θ.Then make replaceable set
The axis of cylinder 12 is overlapped with the axis in pedicle of vertebral arch bone channel.T values are adjusted, make interchangeable sleeve 12 along pedicle of vertebral arch bone channel
Axis is moved to body surface.
Use example scenario 3：The thicker bone channel (target of positioning：It is two endpoints of placed channel)；
It can be by taking fracture of neck of femur as an example, it is known that the distal end and proximal end of screw desired location, and need to set operation pathway.
The system and method that the present invention can be used at this time is measured by repeating using the application method of example scenario 1 respectively
Go out the distal end of screw desired location and the coordinate of proximal end to obtain operation pathway.
It, as shown in figure 16, in another embodiment of the present invention, can be in order to realize the precision of positioning and operation
Laser ranging component is added in the structure of above-described embodiment, and please refers to Fig.1 7-19, the present invention in this specific embodiment, by
The laser ranging component irradiates entry point using laser range finder in the positioning to target point, makes interchangeable sleeve automatically
Axis is overlapped with the straight line, and interchangeable sleeve head end is to determine operation road close to body surface along the linear movement to entry point
Diameter.
In this specific embodiment, the laser range finder which is used to irradiate entry point includes：Locator ball-shaped cloud platform bottom
Seat 181, locator ball-shaped cloud platform 182, locator ball-shaped cloud platform spherical shape card slot 183, locator ball-shaped cloud platform locking level 184 swash
Ligh-ranging three-dimensional electronic compass 185, ball-shaped cloud platform range finder module 186.Wherein, the ball-shaped cloud platform of ball-shaped cloud platform laser ranging component
Pedestal is fixed on Z axis electric precise ball-screw slide unit upper end, laser ranging module can be made to be directed toward by ball-shaped cloud platform arbitrary
Direction, and its direction in space is obtained by laser ranging three-dimensional electronic compass, laser source is housed in laser ranging module, is being obtained
After taking positioning point coordinates, distance, and recording laser ranging three-dimensional electronic compass space are measured after exposing to body surface ideal entry point
Direction can obtain the space coordinate of entry point whereby, to obtain 2 points of place straight lines, and make the axis of interchangeable sleeve automatically
It is overlapped with the straight line, and interchangeable sleeve head end is to obtain operation pathway close to body surface along the linear movement to entry point.
The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof, although with reference to above-described embodiment pair
The present invention is described in detail, it should be understood by a person of ordinary skill in the art that still can be to the specific of the present invention
Embodiment is modified or replaced equivalently, and without departing from any modification of spirit and scope of the invention or equivalent replacement,
It is intended to be within the scope of the claims of the invention.
Claims (20)
1. a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance system, which is characterized in that it includes a guide pin locator, this is led
Needle locator includes mainly：At least one X-axis electric precise ball-screw slide unit, at least one Y-axis electric precise ball-screw
Slide unit, a Z axis electric precise ball-screw slide unit, two electric precise worm and gear turntables, a sleeve fixing bracket and can
Replace sleeve；
Wherein, the X-axis electric precise ball-screw slide unit is mutually perpendicular to be in water with the Y-axis electric precise ball-screw slide unit
Flat setting, and the Y-axis electric precise ball-screw slide unit can be moved up along X-direction in X-axis electric precise ball-screw slide unit
It is dynamic；Z axis electric precise ball-screw slide unit one end is slidedly arranged on the rolling of Y-axis electric precise by an electric precise worm and gear turntable
Ballscrew slide unit, and enable Z axis electric precise ball-screw slide unit along Y direction on Y-axis electric precise ball-screw slide unit
It moves and line can be rotated centered on Z axis；Interchangeable sleeve is fixed on another accurate electricity by the support bracket fastened other end of sleeve
Dynamic worm and gear turntable, and the electric precise worm and gear turntable is slidedly arranged on Z axis electric precise ball-screw slide unit, with
Make interchangeable sleeve is logical can move and can be rotated centered on sleeve fixing bracket along Z-direction；
By the structure, capable of making the guide pin being set in interchangeable sleeve, any point from space refers to using guide pin anchor point as the centre of sphere
To any direction.
2. a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance system according to claim 1, which is characterized in that the X
Axis electric precise ball-screw slide unit, Y-axis electric precise ball-screw slide unit and Z axis electric precise ball-screw slide unit respectively by
Slide unit stepper motor, slide unit driver, slide unit lead screw, slide unit sliding rail, slide unit sliding block, slid platform base are constituted.
3. a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance system according to claim 1, which is characterized in that the essence
Cipher telegram moves worm and gear turntable respectively by turntable shaft step motor, worm and gear turntable fuselage, worm and gear turntable
Table top is constituted.
4. a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance system according to claim 1, which is characterized in that the orthopaedics
Non-invasive guide pin three-dimensional localization guidance system further includes at least one C-arm three-dimensional electronic compass, C-arm, operating bed and processing
System.
5. a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance system according to claim 4, which is characterized in that the Y
Axis electric precise ball-screw slide unit is equipped with Y-axis slid platform base, and the C-arm three-dimensional electronic compass is positioned over Y-axis slid platform base
And/or bottom is pasted at the top of C-arm radiation end, when C-arm three-dimensional electronic compass bottom is pasted at the top of C-arm radiation end
When, Z axis is the center directions Tou Zhaoxian of C-arm 3, and major and minor axis is respectively the X-axis and Y-axis of C-arm three-dimensional electronic compass 2
The x-axis y-axis direction of 2 zero-bit of C-arm three-dimensional electronic compass is consistent with the X-axis Y direction of guide pin locator, C-arm three-dimensional electronic
When compass is positioned over Y-axis slid platform base, i.e., using XOY plane as zero-bitplane, using Y direction as course angle zero.
6. a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance system according to claim 5, which is characterized in that the Y
Axis slid platform base does not interfere the movable side of other component or the Y-axis that the accommodating C-arm three-dimensional electronic compass is arranged below
Three-dimensional electronic compass card slot；
C-arm radiates the C-arm three-dimensional electronic compass card slot for being equipped at the top of end and housing the C-arm three-dimensional electronic compass.
7. a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance system according to claim 3, which is characterized in that the system
It further include the laser range finder for irradiating entry point.
8. a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance system according to claim 7, which is characterized in that described to swash
Optar is a ball-shaped cloud platform laser ranging component, and the ball-shaped cloud platform pedestal of the ball-shaped cloud platform laser ranging component is fixed on Z
Axis electric precise ball-screw slide unit upper end passes through laser to make laser ranging module be directed toward any direction by ball-shaped cloud platform
Ranging three-dimensional electronic compass obtains its direction in space, and laser source is housed in laser ranging module, to obtain positioning point coordinates
Afterwards, distance, and recording laser ranging three-dimensional electronic compass direction in space are measured after exposing to body surface ideal entry point, can be obtained whereby
The space coordinate for going out entry point to obtain 2 points of place straight lines, and makes the axis of interchangeable sleeve be overlapped with the straight line automatically,
And interchangeable sleeve head end is close to body surface along the linear movement to entry point.
9. a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance system according to claim 3, which is characterized in that described to lead
Needle locator also includes the obliquity sensor for measuring electric precise worm and gear turntable rotation angle.
10. a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance system according to claim 5, which is characterized in that Y-axis essence
Close electric ball screw slide unit is revolved by connecting plate and electric precise worm and gear respectively with Z axis electric precise ball-screw slide unit
Turntable connect, and sleeve fixing frame with Z axis electric precise ball-screw slide unit by being also to be connected by connecting plate.
11. a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance method, which is characterized in that described in any of the above-described claim
The guide pin locator of orthopaedics non-invasive 3 D positioning system is placed on Ipsilateral operating bed and is inserted into guide pin in interchangeable sleeve, with X
The direction of axis electric precise ball-screw slide unit I is guide pin locator X-direction, Y-axis electric precise ball-screw slide unit direction
For guide pin locator Y direction, Z axis electric precise ball-screw slide unit direction is guide pin locator Z-direction；With electric precise
Worm and gear turntable I reads as α, i.e., guide pin is in the projection of XOY plane and the angle of X-axis using Y direction as zero；It is accurate
Electronic worm and gear turntable II is read using XOY plane as zero as β, the i.e. angle of guide pin and XOY plane；And setting can be more
The intersection point in the axle center for changing sleeve 12 and the support bracket fastened axle center of sleeve is guide pin anchor point, and guide pin when zero-bit is in each axis
Anchor point is that origin builds three-dimensional system of coordinate, and it is (x, y, z) to record the point, then by carrying out x-ray from any two direction
Perspective, after solid geometry operation, you can the accurate three-dimensional coordinate for obtaining target point and bone channel.
12. a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance method according to claim 11, which is characterized in that setting can
The axle center for replacing sleeve is L, X-axis electric precise ball-screw slide unit I and the accurate electricity of X-axis at a distance from Z axis slide unit lead screw axle center
The displacement of dynamic ball-screw slide unit II is x', and the displacement of Y-axis electric precise ball-screw slide unit is y', Z axis electric precise ball
The displacement of screw slide is z', setting：X'=x-Lcos α, y'=y-Lsin α, z'=z, can be to lead to control guide pin
Needle anchor point is that centre of sphere any point from space is directed toward any direction；C-arm three-dimensional electronic compass is fixed on Y-axis card slot, x-axis
Y-axis direction is consistent with the X-axis Y direction of guide pin locator, and automatically records it when front direction after energization and be set to zero
Position, i.e., using XOY plane as zero-bitplane, using Y direction as course angle zero；Just C-arm three-dimensional electronic is removed after recording successfully
Compass takes another C-arm three-dimensional electronic sieve to be positioned over C-arm three-dimensional electronic compass card slot, and C-arm tune in use
The whole C-arm three-dimensional electronic compass value to when suitable position at the top of record C-arm radiation end, and it is three-dimensional according to the C-arm
Electronic compass value establishes the vector relations of C-arm and guide pin locator, and three-dimensional electronic compass Z axis is that photograph is thrown at the center of C-arm
Line direction, and its major and minor axis is respectively the X-axis and Y-axis of C-arm three-dimensional electronic compass；
When C-arm irradiates X-ray, it is radioactive source 1 to define the position, and the three-dimensional electricity of C-arm is recorded by C-arm three-dimensional electronic compass
The pitch angle α ' of sub- compass, roll angle β ' and course angle γ ', the center for calculating C-arm 3 are thrown according to line and guide pin locator XYZ
The cosine value of positive axis angle, respectivelyCos φ, cos θ, wherein：
Then, step is carried out：
1) guide pin locating point position is adjusted, and adjusting guide pin angle [alpha] and β makes guide pin in being directed toward target location on x-ray image, records
Guide pin positions point coordinates (x1,y1,z1) and interchangeable sleeve direction α1、β1；
2) change guide pin locating point position and make guide pin in being again directed to target location on x-ray image, click and confirm record guide pin
Position point coordinates (x2,y2,z2) and interchangeable sleeve direction α2、β2；
3) it can show that the linear equation of the axis in channel is by processor operation：
Wherein,
cosδ1=cos α1·cosβ1cosδ2=cos α2·cosβ2
cosη1=sin α1·cosβ1, cos η2=sin α2·cosβ2。
cosμ1=sin β1, cos μ2=sin β2
13. a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance method according to claim 12, which is characterized in that described
The processing system of positioning system is set according to the linear equation of the axis in the channelβ=90 °-θ, and control
Guide pin locator processed so that the axis of interchangeable sleeve is overlapped with the axis in the channel, and by adjustment t values, makes replaceable set
Axis of the cylinder 12 along channel is moved to body surface.
14. a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance method according to claim 12, which is characterized in that the party
Method further comprises the steps：
Change the angle of C-arm and irradiate X-ray again, it is radioactive source 2 to define the position, and passes through C-arm three-dimensional electronic compass
Record the pitch angle α ' of C-arm three-dimensional electronic compass2, roll angle β '2And course angle γ '2, and the center for calculating C-arm is thrown
Cosine value according to line and guide pin locator XYZ positive axis angles is respectively
Then, guide pin locating point position is adjusted, and adjusts guide pin angle [alpha] and β makes guide pin in being directed toward target location on x-ray image,
Record guide pin positioning point coordinates (x3,y3,z3) and interchangeable sleeve direction α3、β3；
Further, the coordinate (x of target point can be obtained by operation4,y4,z4),
Wherein：
15. a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance method according to claim 14, which is characterized in that according to
Coordinate (the x of the target point obtained4,y4,z4), by adjusting guide pin positioning point coordinates (x, y, z), pass through control system, settingSo that adjustment during guide pin sleeve direction constantly
Run-home point.
16. a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance method according to claim 14, which is characterized in that
Know two endpoints, it is thus necessary to determine that when guide pin mobile route, repeat the coordinate (x of the positioning target point4,y4,z4) method, to calculate
Two target endpoints, and guide pin mobile route is calculated so that control guide pin locator is moved by the calculation control module of positioning system
It is dynamic.
17. according to a kind of any orthopaedics non-invasive guide pin three-dimensional localization guidance methods of claim 11-16, feature exists
In when being had an X-rayed using C-arm, target location being made to be presented in picture centre, that is, is located at center and throws according on line.
18. according to a kind of any orthopaedics non-invasive guide pin three-dimensional localization guidance methods of claim 11-16, feature exists
In use laser range finder to irradiate entry point in the positioning to target point makes the axis and the straight line weight of interchangeable sleeve automatically
It closes, and interchangeable sleeve head end is to determine operation pathway close to body surface along the linear movement to entry point.
19. according to a kind of any orthopaedics non-invasive guide pin three-dimensional localization guidance methods of claim 11-16, feature exists
In the guide pin locator includes the obliquity sensor for measuring electric precise worm and gear turntable rotation angle.
20. a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance method according to claim 18, which is characterized in that described
Laser range finder is a ball-shaped cloud platform laser ranging component, and the ball-shaped cloud platform pedestal of the ball-shaped cloud platform laser ranging component is fixed on
Z axis electric precise ball-screw slide unit upper end can be made laser ranging module be directed toward any direction by ball-shaped cloud platform, and be passed through
Laser ranging three-dimensional electronic compass obtains its direction in space, and laser source is housed in laser ranging module, is sat obtaining anchor point
After mark, distance, and recording laser ranging three-dimensional electronic compass direction in space are measured after exposing to body surface ideal entry point, whereby may be used
The space coordinate for obtaining entry point to obtain 2 points of place straight lines, and makes the axis and the straight line weight of interchangeable sleeve automatically
It closes, and interchangeable sleeve head end is to obtain operation pathway close to body surface along the linear movement to entry point.
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