CN109893208A - One kind passing through medical image three-dimensional modeling orientation direction orthopaedics boring method - Google Patents
One kind passing through medical image three-dimensional modeling orientation direction orthopaedics boring method Download PDFInfo
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Abstract
The invention belongs to medical technology technical fields, disclose a kind of by medical image three-dimensional modeling orientation direction orthopaedics boring method, step A: to patient's progress Postural immobilization and in patient body-surface label target area；Typing patient information, identification number simultaneously, formulate surgical planning, step B: the image check data in patients target region are obtained, image check data are imported into processing system and carry out dimension reconstruction, step C: sick body model is imported and carries out dimension exploitation in Computerized three-dimensional treatment planning systems, it determines and adds and bore bone information, step D: derived three-dimensional data packet is imported and bores bone equipment and track equipment, the operating origin of adjustment track equipment is overlapped with the origin of three-dimensional coordinate in three-dimensional data packet, and step E: being aligned along laser beam and carries out brill bone.The present invention is burrowed on bone when needing that bone is fixed by boring bone equipment, convenient for the implantation of later period bone nail, to improve the precision of bone nail implantation.
Description
Technical field
The invention belongs to medical technology technical fields, and in particular to one kind passes through medical image three-dimensional modeling orientation direction bone
Section's boring method.
Background technique
With the development of science and technology and progress, osteology have very big progress in terms of diagnosis, treatment.Hand surgery
It establishes and develops, the Diagnosis Technique of hand injury is made to be popularized and be improved rapidly；The extensive development of microsurgery, makes more toes
Free Hand Reconstruction, nerve tract coincide and loosen, and identical between the parteriole of 0.2mm has no longer been mythical；Using new art formula
The diseases such as treatment scoliosis, cervical spondylosis and cervical spinal stenosis all achieve preferable osteology effect；Arthritic is taken
Various effective art formulas so that for many years bed patient stand up from newly；To treating from single for malignant bone tumor
Amputation develops to comprehensive treatment, improves the cure rate and survival rate of operation；The clinical application of knee arthroscope, not only solves
The diagnosis of some difficulty arthropathies, and realize diagnosis and the synchronous progress for the treatment of；With the development of material science, so that it is some
Complicated fracture equally can also manage it internal fixation treatment；Joint prosthesis, the function of artificial vertebral body and performance are also more perfect.In short,
The development and preclinical medicine of osteology, the development of especially experimental medicine and material science are undivided.
In orthopaedics therapy, it is often necessary to bone is bored, however, existing brill bone method has some lack in use
It falls into, for example, it is desired to which medical worker positions bore position by experience, there is drilling possibility devious.For beginner
The either insufficient medical worker of experience usually will appear the too deep problem that drills in use, so that it is damaged to tissue,
It is abnormally dangerous.
So how to design a kind of brill bone method of stability and high efficiency, becoming us will currently be solved the problems, such as.
Summary of the invention
It is an object of that present invention to provide one kind by medical image three-dimensional modeling orientation direction orthopaedics boring method, passes through increasing
Add and bore bone equipment, so that the process of bone nail implantation is more convenient, the precision of bone nail implantation simultaneously is higher.
In order to solve the above problems existing in the present technology, the technical scheme adopted by the invention is as follows:
One kind passing through medical image three-dimensional modeling orientation direction orthopaedics boring method, comprising the following steps:
Step A: Postural immobilization is carried out to patient and marks target area in patient body-surface；Typing patient information, mark simultaneously
Surgical planning is formulated in knowledge number；
Step B: obtaining the image check data in patients target region, and image check data importing processing system is tieed up
Degree is rebuild, and the sick body model for having three-dimensional system of coordinate is generated；
Step C: sick body model being imported and carries out dimension exploitation in Computerized three-dimensional treatment planning systems, is determined and is added brill
Bone information will be exported in the form of three-dimensional data packet with the sick body model for boring bone information, and the brill bone information is in sick body mould
Three-dimensional coordinate vector in type；
Step D: derived three-dimensional data packet is imported and bores bone equipment and track equipment, adjusts the operating origin of track equipment
It is overlapped with the origin of three-dimensional coordinate in three-dimensional data packet, is emitted by track equipment according to the three-dimensional coordinate vector for boring bone information and swashed
Light ray；
Step E: being aligned along laser beam and carries out brill bone.
When needing that bone is fixed, burrowed on bone by boring bone equipment, convenient for the implantation of later period bone nail, from
And improve the precision of bone nail implantation.
Further, in the step B, the image check data are the shadow by ultrasound, CT or MRI to target area
As inspection result.
Further, in the step B, the sick body model passes through the image check data in patients target's regional scope
Superposition synthesis, including body surface outline data, intracorporeal organ outline data and the bone contours data in patients target region.
Further, herein the image check of ultrasound, CT or MRI is all made of contrast enhancement technology, clinical test
It sufficiently proves, resolution of the contrast enhancement technology compared to the common unenhanced influence that can improve organ and tumour significantly
Rate and diagnosis accuracy, by taking centrum CT examination as an example, the accuracy rate of plain CT is 91%, the accuracy rate of radiography Enhanced CT
It can achieve 94-98%.
Further, in the step B, the dimension rebuild the step of are as follows:
Step B1: a skin-marker OO is on patients target region；
Step B2: to sick body model foundation three-dimensional system of coordinate, the three-dimensional system of coordinate is using skin-marker OO as coordinate
Origin, to determine x-axis and y-axis as z-axis, and according to coordinate origin and z-axis by the vertical line of skin-marker OO；
Step B3: to body surface profile, intracorporeal organ profile and the bone in patients target region in three-dimensional system of coordinate
Profile carries out three-dimensional coordinate editor.
Further, in the step B, the processing system uses Arigin3D or Mimics.
Operating procedure explanation is carried out by taking Mimics as an example below:
Above-mentioned image check data are imported into Mimics by the first step, are observed by Mimics and are adjusted former image inspection
Look into the threshold value of data；
Second step chooses required picture material after obtaining the clear 3-D image of angiography, really according to the adjustment of threshold value
Surely need to carry out whole radiography images of subsequent modeling；
Third step, by cavity present in all radiography images chosen or missing place completely fill out, avoid because
Lead to model existing defects for threshold value step-up error；
4th step, establishes threedimensional model, it is generally the case that runs Calculate order in Mimics and produces three
The bitmap for tieing up figure, decides whether to handle picture according to the clear situation of picture and actual demand；
5th step exports ansys file and according to ansysareafiles model split grid, is assigned by Mimics
Value sets and automatically generates threedimensional model, i.e. sick body model after (MPa) after unit intensity (HU) and e modulus.
It is worth noting that above-mentioned, to be by taking Mimics as an example include but not to the explanation for establishing the progress of medical data model
It is limited to using the software realization other than Mimics.
Further, in the step C, the brill bone information includes boring bone number, brill bone starting point coordinate, brill bone terminal to sit
Mark bores bone depth and bores bone angle.
Further, by boring bone number, it can drill one by one in sequence, avoid the occurrence of omission, bone is bored by setting
Starting point coordinate and drilling terminal point coordinate, can not only guarantee the angle of drilling, also control the depth of drilling.
Further, in the step D, track equipment adjusts laser beam emitting head according to the coordinate information in three-dimensional data packet
The step of movement, track equipment emits laser beam are as follows:
Step D1: the laser beam emitting head for adjusting track equipment is overlapped with three-dimensional coordinate origin in three-dimensional data packet.
Step D2: according to brill bone information each in three-dimensional data packet, swashing for track equipment is sequentially adjusted according to bone number is bored
The position and direction of light emitting head make the Laser emission direction of laser beam emitting head and bore bone starting point coordinate, bore bone terminal point coordinate institute
The three-dimensional coordinate vector of composition is overlapped.
Further, in the step E, the step of brill bone, includes:
Step E1: bone equipment will be bored and be connected to track equipment.
Step E2: two alignment sheets and sleeve are closed, and so that the light beam of laser is passed through alignment hole, by adjusting so that two
The ray of the line at sight hole center, the axis of alignment hole and laser is overlapped.
Step E3: connection frame is connected to mounting plate, and makes the axis of motor shaft and the axis collinear of limit hole.
Step E4: opening two alignment sheets, and motor drives drill bit rotation, realizes the drilling to bone, while hydraulic cylinder is negative
It blames the axial of drill bit to promote, so that drill bit persistently drills, laser ranging is measured and shown to bone depth is bored.
Step E5: while bone bits are rinsed close to one end of motor injection protection liquid in drill bit.
Further, in order to guarantee bore bone during not run-off the straight the case where, can choose and use auxiliary locator
To improve the accurate positioning for boring bone.
Further, it can fix on one's sick bed or with patient (such as lead set), make in later period auxiliary locator
It is well known to those skilled in the art, current auxiliary locator has CT to connect bed body portion locating support, can be with CT machine
Bed seamless connection after CT scan determines level and inclination angle, by adjusting universal bar, can make itself and three axis rectangular co-ordinate of CT lathe
System's fusion completely, meets the needs of different directions and angle on clinical treatment, accomplishes the accurate pointing of 3 D stereo, greatly mention
The precision of high bone nail implantation.
Further, in step E4, to boring, bone depth is measured and display includes: for laser ranging
Step E41: before boring bone, the sick body model packet of three-dimensional data is converted into 3D view；
Step E42: boring bone equipment and bring into operation, while boring bone, on 3D view the case where simultaneous display brill bone；
Step E43: when track equipment is attributed to the operating origin of own orbit, 3D view is closed.
It further, further include that voice broadcast prompt is carried out to drilling situation in 3D scene in the step E42, when
Drilling depth issues confirmation voice prompting after reaching predetermined depth.
The invention has the benefit that
(1) present invention is burrowed on bone by boring bone equipment when needing that bone is fixed, is convenient for later period bone nail
Implantation, thus improve bone nail implantation precision.
(2) present invention can drill one by one in sequence by boring bone number, avoid the occurrence of omission, bore bone by setting
Starting point coordinate and drilling terminal point coordinate, can guarantee the angle of drilling.
Detailed description of the invention
Fig. 1 is flow diagram of the invention；
Fig. 2 is structural schematic diagram of the invention；
Fig. 3 is the structural schematic diagram of Tu2Zhong bindiny mechanism；
Fig. 4 is the cross-sectional view in the direction B-B in Fig. 3；
Fig. 5 is the partial enlarged view of part A in Fig. 2；
Fig. 6 is the structural schematic diagram of alignment sheets in the present invention.
In figure: 1- connecting plate；2- hydraulic cylinder；3- mounting plate；4- motor；5- guide rod；The first fixed plate of 6-；7- sleeve；8-
Alignment sheets；9- limit hole；11- sight hole；The second fixed plate of 12-；13- drill bushing；15- supporting block；16- guide groove；17- drill core；
18- alignment hole；19- connection frame；20- bolt；21- shaft coupling.
Specific embodiment
With reference to the accompanying drawing and specific embodiment the present invention is further elaborated.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
Embodiment 1:
As shown in Figure 1, a kind of pass through medical image three-dimensional modeling orientation direction orthopaedics boring method, comprising the following steps:
Step A: Postural immobilization is carried out to patient and marks target area in patient body-surface；Typing patient information, mark simultaneously
Surgical planning is formulated in knowledge number；
Step B: obtaining the image check data in patients target region, and image check data importing processing system is tieed up
Degree is rebuild, and the sick body model for having three-dimensional system of coordinate is generated；
Step C: sick body model being imported and carries out dimension exploitation in Computerized three-dimensional treatment planning systems, is determined and is added brill
Bone information will be exported in the form of three-dimensional data packet with the sick body model for boring bone information, and the brill bone information is in sick body mould
Three-dimensional coordinate vector in type；
Step D: derived three-dimensional data packet is imported and bores bone equipment and track equipment, adjusts the operating origin of track equipment
It is overlapped with the origin of three-dimensional coordinate in three-dimensional data packet, is emitted by track equipment according to the three-dimensional coordinate vector for boring bone information and swashed
Light ray；
Step E: being aligned along laser beam and carries out brill bone.
When needing that bone is fixed, burrowed on bone by boring bone equipment, convenient for the implantation of later period bone nail, thus
Improve the precision of bone nail implantation.
Embodiment 2:
As shown in Figure 1, a kind of pass through medical image three-dimensional modeling orientation direction orthopaedics boring method, comprising the following steps:
Step A: Postural immobilization is carried out to patient and marks target area in patient body-surface；Typing patient information, mark simultaneously
Surgical planning is formulated in knowledge number；
Step B: obtaining the image check data in patients target region, and image check data importing processing system is tieed up
Degree is rebuild, and the sick body model for having three-dimensional system of coordinate is generated；
Step C: sick body model being imported and carries out dimension exploitation in Computerized three-dimensional treatment planning systems, is determined and is added brill
Bone information will be exported in the form of three-dimensional data packet with the sick body model for boring bone information, and the brill bone information is in sick body mould
Three-dimensional coordinate vector in type；
Step D: derived three-dimensional data packet is imported and bores bone equipment and track equipment, adjusts the operating origin of track equipment
It is overlapped with the origin of three-dimensional coordinate in three-dimensional data packet, is emitted by track equipment according to the three-dimensional coordinate vector for boring bone information and swashed
Light ray；
Step E: being aligned along laser beam and carries out brill bone.
When needing that bone is fixed, burrowed on bone by boring bone equipment, convenient for the implantation of later period bone nail, thus
Improve the precision of bone nail implantation.
In the step B, the image check data are the image check knot by ultrasound, CT or MRI to target area
Fruit.
In the step B, the sick body model is synthesized by the image check data investigation in patients target's regional scope,
Including body surface outline data, intracorporeal organ outline data and the bone contours data in patients target region.
The image check of ultrasound herein, CT or MRI is all made of contrast enhancement technology, and clinical test sufficiently proves,
Contrast enhancement technology is compared to the commonly resolution ratio of the unenhanced influence that can improve organ and tumour significantly and examines
Disconnected accuracy, by taking centrum CT examination as an example, the accuracy rate of plain CT is 91%, and the accuracy rate of radiography Enhanced CT can achieve
94-98%.
In the step B, the dimension rebuild the step of are as follows:
Step B1: a skin-marker OO is on patients target region；
Step B2: to sick body model foundation three-dimensional system of coordinate, the three-dimensional system of coordinate is using skin-marker OO as coordinate
Origin, to determine x-axis and y-axis as z-axis, and according to coordinate origin and z-axis by the vertical line of skin-marker OO；
Step B3: to body surface profile, intracorporeal organ profile and the bone in patients target region in three-dimensional system of coordinate
Profile carries out three-dimensional coordinate editor.
In the step B, the processing system uses Arigin3D or Mimics.
Operating procedure explanation is carried out by taking Mimics as an example below:
Above-mentioned image check data are imported into Mimics by the first step, are observed by Mimics and are adjusted former image inspection
Look into the threshold value of data；
Second step chooses required picture material after obtaining the clear 3-D image of angiography, really according to the adjustment of threshold value
Surely need to carry out whole radiography images of subsequent modeling；
Third step, by cavity present in all radiography images chosen or missing place completely fill out, avoid because
Lead to model existing defects for threshold value step-up error；
4th step, establishes threedimensional model, it is generally the case that runs Calculate order in Mimics and produces three
The bitmap for tieing up figure, decides whether to handle picture according to the clear situation of picture and actual demand；
5th step exports ansys file and according to ansysareafiles model split grid, is assigned by Mimics
Value sets and automatically generates threedimensional model, i.e. sick body model after (MPa) after unit intensity (HU) and e modulus.
It is worth noting that above-mentioned, to be by taking Mimics as an example include but not to the explanation for establishing the progress of medical data model
It is limited to using the software realization other than Mimics.
Embodiment 3:
One kind passing through medical image three-dimensional modeling orientation direction orthopaedics boring method, comprising the following steps:
Step A: Postural immobilization is carried out to patient and marks target area in patient body-surface；Typing patient information, mark simultaneously
Surgical planning is formulated in knowledge number；
Step B: obtaining the image check data in patients target region, and image check data importing processing system is tieed up
Degree is rebuild, and the sick body model for having three-dimensional system of coordinate is generated；
Step C: sick body model being imported and carries out dimension exploitation in Computerized three-dimensional treatment planning systems, is determined and is added brill
Bone information will be exported in the form of three-dimensional data packet with the sick body model for boring bone information, and the brill bone information is in sick body mould
Three-dimensional coordinate vector in type；
Step D: derived three-dimensional data packet is imported and bores bone equipment and track equipment, adjusts the operating origin of track equipment
It is overlapped with the origin of three-dimensional coordinate in three-dimensional data packet, is emitted by track equipment according to the three-dimensional coordinate vector for boring bone information and swashed
Light ray；
Step E: being aligned along laser beam and carries out brill bone.
When needing that bone is fixed, burrowed on bone by boring bone equipment, convenient for the implantation of later period bone nail, thus
Improve the precision of bone nail implantation.
In the step B, the image check data are the image check knot by ultrasound, CT or MRI to target area
Fruit.
In the step B, the sick body model is synthesized by the image check data investigation in patients target's regional scope,
Including body surface outline data, intracorporeal organ outline data and the bone contours data in patients target region.
The image check of ultrasound herein, CT or MRI is all made of contrast enhancement technology, and clinical test sufficiently proves,
Contrast enhancement technology is compared to the commonly resolution ratio of the unenhanced influence that can improve organ and tumour significantly and examines
Disconnected accuracy, by taking centrum CT examination as an example, the accuracy rate of plain CT is 91%, and the accuracy rate of radiography Enhanced CT can achieve
94-98%.
In the step B, the dimension rebuild the step of are as follows:
Step B1: a skin-marker OO is on patients target region；
Step B2: to sick body model foundation three-dimensional system of coordinate, the three-dimensional system of coordinate is using skin-marker OO as coordinate
Origin, to determine x-axis and y-axis as z-axis, and according to coordinate origin and z-axis by the vertical line of skin-marker OO；
Step B3: to body surface profile, intracorporeal organ profile and the bone in patients target region in three-dimensional system of coordinate
Profile carries out three-dimensional coordinate editor.
In the step B, the processing system uses Arigin3D or Mimics.
Operating procedure explanation is carried out by taking Mimics as an example below:
Above-mentioned image check data are imported into Mimics by the first step, are observed by Mimics and are adjusted former image inspection
Look into the threshold value of data；
Second step chooses required picture material after obtaining the clear 3-D image of angiography, really according to the adjustment of threshold value
Surely need to carry out whole radiography images of subsequent modeling；
Third step, by cavity present in all radiography images chosen or missing place completely fill out, avoid because
Lead to model existing defects for threshold value step-up error；
4th step, establishes threedimensional model, it is generally the case that runs Calculate order in Mimics and produces three
The bitmap for tieing up figure, decides whether to handle picture according to the clear situation of picture and actual demand；
5th step exports ansys file and according to ansysareafiles model split grid, is assigned by Mimics
Value sets and automatically generates threedimensional model, i.e. sick body model after (MPa) after unit intensity (HU) and e modulus.
It is worth noting that above-mentioned, to be by taking Mimics as an example include but not to the explanation for establishing the progress of medical data model
It is limited to using the software realization other than Mimics.
In the step C, the brill bone information includes brill bone number, bores bone starting point coordinate, bore bone terminal point coordinate, bore bone depth
Degree and brill bone angle.
By bore bone number, can drill one by one in sequence, avoid the occurrence of omissions, by setting bore bone starting point coordinate with
Drill terminal point coordinate, can not only guarantee the angle of drilling, also control the depth of drilling.
In the step D, track equipment is mobile according to the coordinate information adjustment laser beam emitting head in three-dimensional data packet, track
Equipment emits the step of laser beam are as follows:
Step D1: the laser beam emitting head for adjusting track equipment is overlapped with three-dimensional coordinate origin in three-dimensional data packet.
Step D2: according to brill bone information each in three-dimensional data packet, swashing for track equipment is sequentially adjusted according to bone number is bored
The position and direction of light emitting head make the Laser emission direction of laser beam emitting head and bore bone starting point coordinate, bore bone terminal point coordinate institute
The three-dimensional coordinate vector of composition is overlapped.
In the step E, the step of brill bone, includes:
Step E1: bone equipment will be bored and be connected to track equipment.
Step E2: two alignment sheets 8 are closed with sleeve 7, make laser light beam pass through alignment hole 18, by adjust so that
The ray of the line at two 11 centers of sight hole, the axis of alignment hole 18 and laser is overlapped.
Step E3: being connected to mounting plate 3 for connection frame 19, and makes the axis of motor shaft and the axis collinear of limit hole 9.
Step E4: opening two alignment sheets 8, and motor 4 drives drill bit rotation, realizes the drilling to bone, while hydraulic cylinder 2
It is responsible for the axial of drill bit to promote, so that drill bit persistently drills, laser ranging is measured and shown to bone depth is bored.
Step E5: while bone bits are rinsed close to one end of motor 4 injection protection liquid in drill bit.
During in order to guarantee to bore bone the case where not run-off the straight, it can choose with auxiliary locator and improve brill bone
Accurate positioning.
It can fix in later period auxiliary locator on one's sick bed or with patient (such as lead set), as this field skill
Known to art personnel, current auxiliary locator has CT to connect bed body portion locating support, can be seamlessly connected with CT lathe,
After CT scan determines level and inclination angle, by adjusting universal bar, it can be made to merge completely with three axis rectangular coordinate system of CT lathe,
Meet the needs of different directions and angle on clinical treatment, accomplish the accurate pointing of 3 D stereo, greatly improves bone nail plant
The precision entered.
In step E4, to boring, bone depth is measured and display includes: for laser ranging
Step E41: before boring bone, the sick body model packet of three-dimensional data is converted into 3D view；
Step E42: boring bone equipment and bring into operation, while boring bone, on 3D view the case where simultaneous display brill bone；
Step E43: when track equipment is attributed to the operating origin of own orbit, 3D view is closed.
It further include that voice broadcast prompt is carried out to drilling situation in 3D scene, when drilling depth arrives in the step E42
Confirmation voice prompting is issued after up to predetermined depth.
Embodiment 4:
As shown in figures 2-6, on the basis of the above embodiments, as a preferred embodiment, boring bone equipment includes mutually interconnecting
The drill bit connect and bindiny mechanism, the bindiny mechanism include connection component, and respectively at connection component connection to prospective component
And Power Component.
The connection component pierces angle device for connecting automatic adjustment.
It is described that prospective component is used to calibrate drill point.
The Power Component is connected with drill bit, and Power Component is for driving drill bit to drill.
By setting connection component, to prospective component and Power Component, bone drilling device can be connected to automatic adjustment and pierced
Angle device more automates so that boring bone, and by being arranged to prospective component, may be implemented to calibrate automatically, improve brill bone
Precision.
The connection component includes connecting plate 1, fixed plate, mounting plate 3 and two guide rods 5, the connecting plate 1 and fixed plate
Between connected by two guide rods 5, connecting plate 1, fixed plate and two guide rods 5 surround rectangular frame, and the mounting plate 3 is set to solid
Between fixed board and connecting plate 1, mounting plate 3 is slidably connected to two guide rods 5.
By setting connecting plate 1, fixed plate and guide rod 5, so that the stability of whole device is higher, while mounting plate 3
Two guide rods 5 are slidably connected to, so that the movement of mounting plate 3 is more steady.
The mounting plate 3 is connected to connecting plate 1, the axis of the hydraulic cylinder 2 and the axis of guide rod 5 by multiple hydraulic cylinders 2
Line is parallel.
When the cylinder rod of the hydraulic cylinder 2 is flexible, mounting plate 3 moves reciprocatingly along guide rod 5.
The mounting plate 3 is driven by hydraulic cylinder 2, and since hydraulic cylinder 2 is convenient for regulation, stability is high, so that boring the steady of bone
It is qualitative to greatly improve.
The fixed plate includes the first fixed plate 6 and the second fixed plate 12, first fixed plate 6 and the second fixed plate 12
It is all connected between two guide rods 5.
Described includes sleeve 7 and alignment hole 18 to prospective component, and the sleeve 7 is connected to fixed plate, the both ends difference of sleeve 7
Retractable to be connected with an alignment sheets 8, the alignment sheets 8 are equipped with the sight hole 11 of " ten " shape, and the alignment hole 18, which is set to, to be connected
Fishplate bar 1.
When two alignment sheets 8 are closed with sleeve 7, the line of the axis of alignment hole 18 and two 11 centers of sight hole
It is overlapped.
Laser can be made to pass through alignment by the way that alignment hole 18 is arranged equipped with laser since automatic adjustment pierces angle device
Sleeve 7 is calibrated in hole 18, guarantees the precision for boring bone.
By being set to sleeve 7 and alignment sheets 8, the light beam of laser is made to sequentially pass through the center of two sight holes 11, it can be with
Guarantee that the line at two 11 centers of sight hole is overlapped with the light beam of laser, guarantees to bore bone precision.
First fixed plate 6 and the second fixed plate 12 are all connected to the side wall of sleeve 7.
By being provided with two fixed plates, and two fixed plates are all connected to sleeve 7, so that the stability of sleeve 7 is more
Height avoids sleeve 7 from deviating during boring bone.
The inside of the sleeve 7 is equipped with limit hole 9, the axis of the limit hole 9 and the axis collinear of alignment hole 18.
The axis of the axis and guide rod 5 of the sleeve 7 is parallel to each other.
The axis of the limit hole 9 and the setting of the axis of alignment hole 18 is conllinear, after limit hole 9 is aligned by laser,
Position after drill bit installation is certain, is not in offset error.
The Power Component is motor 4, and the shell of the motor 4 passes through the connection frame 19 being equipped with and is removably connected to installation
Sleeve 7, and the axis collinear of the axis of motor shaft and limit hole 9 are directed toward in plate 3, the shaft end of the motor 4.
The axis of the axis of the motor shaft and limit hole 9 is kept conllinear, after drill bit installation, guarantees bit location
Accuracy.
The connection frame 19 is connected to mounting plate 3 by multiple bolts 20.
The shaft end of the motor 4 is connected with drill bit by shaft coupling 21.
Drill bit is connected by shaft coupling 21, it is ensured that the axis of drill bit and the axis collinear of motor shaft.
The drill bit includes drill bushing 13 and the drill core 17 inside drill bushing 13, is passed through between the drill bushing 13 and drill core 17
Multiple supporting blocks 15 being equipped with connect.
By setting drill bushing 13 and drill core 17, protection liquid can be injected between drill bushing 13 and drill core 17 when in use to people
Body is protected, and liquid is protected to flow between drill bushing 13 and drill core 17, will not be splashed and be caused to waste.
The drill bushing 13 is the perforative hollow tube-shape in both ends, and the drill core 17 passes through drill bushing 13, the axis and brill of drill bushing 13
The axis collinear of core 17.
One end of the drill core 17 is connected to the shaft end of motor 4 by shaft coupling 21, and the side wall of drill core 17 is equipped with multiple lead
To slot 16, multiple guide grooves 16 are set to the one end of drill core 17 far from motor 4, and multiple guide grooves 16 are with the axis of drill core 17
Centered on be centrosymmetric distribution.
By be arranged guide groove 16 so that protection liquid can flow along guide groove 16 during flowing, be convenient for pair
It bores bone and carries out cleaning protection.
The length of the drill bushing 13 is less than the length of drill core 17, and the both ends of drill core 13 are pierced by by the both ends of drill bushing 17.
The one end of the drill core 13 far from motor 4 is conical structure, and the maximum gauge of drill core 13 is equal to the outer diameter of drill bushing 17.
When using the brill bone equipment, while injecting protection liquid and bone bits are cleaned.
The present invention is not limited to above-mentioned optional embodiment, anyone can show that other are various under the inspiration of the present invention
The product of form, however, make any variation in its shape or structure, it is all to fall into the claims in the present invention confining spectrum
Technical solution, be within the scope of the present invention.
Claims (10)
1. one kind passes through medical image three-dimensional modeling orientation direction orthopaedics boring method, it is characterised in that: the following steps are included:
Step A: Postural immobilization is carried out to patient and marks target area in patient body-surface；Typing patient information, identification number simultaneously,
Formulate surgical planning；
Step B: obtaining the image check data in patients target region, and image check data are imported processing system and carry out dimension weight
It builds, generates the sick body model for having three-dimensional system of coordinate；
Step C: sick body model being imported and carries out dimension exploitation in Computerized three-dimensional treatment planning systems, is determined and is added and bores bone letter
Breath will be exported in the form of three-dimensional data packet with the sick body model for boring bone information, and the brill bone information is on sick body model
Three-dimensional coordinate vector；
Step D: derived three-dimensional data packet is imported and bores bone equipment and track equipment, adjusts the operating origin and three of track equipment
The origin of three-dimensional coordinate is overlapped in dimension data packet, is emitted laser according to the three-dimensional coordinate vector for boring bone information by track equipment and is penetrated
Line；
Step E: being aligned along laser beam and carries out brill bone.
2. one kind according to claim 1 passes through medical image three-dimensional modeling orientation direction orthopaedics boring method, feature
Be: in the step B, the image check data are the image check result by ultrasound, CT or MRI to target area.
3. one kind according to claim 1 passes through medical image three-dimensional modeling orientation direction orthopaedics boring method, feature
Be: in the step B, the sick body model passes through the image check data investigation synthesis in patients target's regional scope, packet
Include body surface outline data, intracorporeal organ outline data and the bone contours data in patients target region.
4. one kind according to claim 1 passes through medical image three-dimensional modeling orientation direction orthopaedics boring method, feature
Be: in the step B, the dimension rebuild the step of are as follows:
Step B1: a skin-marker OO is on patients target region；
Step B2: to sick body model foundation three-dimensional system of coordinate, the three-dimensional system of coordinate using skin-marker OO as coordinate origin,
To determine x-axis and y-axis as z-axis, and according to coordinate origin and z-axis by the vertical line of skin-marker OO；
Step B3: to body surface profile, intracorporeal organ profile and the bone contours in patients target region in three-dimensional system of coordinate
Carry out three-dimensional coordinate editor.
5. one kind according to claim 1 passes through medical image three-dimensional modeling orientation direction orthopaedics boring method, feature
Be: in the step B, the processing system uses Arigin3D or Mimics.
6. one kind according to claim 1 passes through medical image three-dimensional modeling orientation direction orthopaedics boring method, feature
Be: in the step C, the brill bone information includes boring bone number, boring bone starting point coordinate, bore bone terminal point coordinate, bore bone depth
And bore bone angle.
7. one kind according to claim 1 passes through medical image three-dimensional modeling orientation direction orthopaedics boring method, feature
Be: in the step D, track equipment is mobile according to the coordinate information adjustment laser beam emitting head in three-dimensional data packet, and track is set
Preparation penetrates the step of laser beam are as follows:
Step D1: the laser beam emitting head for adjusting track equipment is overlapped with three-dimensional coordinate origin in three-dimensional data packet；
Step D2: it according to brill bone information each in three-dimensional data packet, is sent out according to the laser that brill bone number is sequentially adjusted in track equipment
The position and direction for penetrating head make the Laser emission direction of laser beam emitting head and bore bone starting point coordinate, brill bone terminal point coordinate is constituted
Three-dimensional coordinate vector be overlapped.
8. one kind according to claim 1 passes through medical image three-dimensional modeling orientation direction orthopaedics boring method, feature
Be: in the step E, the step of brill bone, includes:
Step E1: bone equipment will be bored and be connected to track equipment；
Step E2: two alignment sheets (8) for boring bone equipment and sleeve (7) are closed, and the light beam of laser is made to pass through alignment hole (18),
By adjusting so that the ray of the line at two sight hole (11) centers, the axis of alignment hole (18) and laser is overlapped；
Step E3: being connected to mounting plate (3) for connection frame (19), and makes the axis of motor shaft and the axis collinear of limit hole (9)；
Step E4: opening two alignment sheets (8), and motor (4) drives drill bit rotation, realizes the drilling to bone, while hydraulic cylinder
(2) it is responsible for the axial of drill bit to promote, so that drill bit persistently drills, laser ranging is measured and shown to bone depth is bored；
Step E5: while bone bits are rinsed close to one end of motor (4) injection protection liquid in drill bit.
9. one kind according to claim 8 passes through medical image three-dimensional modeling orientation direction orthopaedics boring method, feature
Be: in step E4, to boring, bone depth is measured and display includes: for laser ranging
Step E41: before boring bone, the sick body model packet of three-dimensional data is converted into 3D view；
Step E42: boring bone equipment and bring into operation, while boring bone, on 3D view the case where simultaneous display brill bone；
Step E43: when track equipment is attributed to the operating origin of own orbit, 3D view is closed.
10. one kind according to claim 9 passes through medical image three-dimensional modeling orientation direction orthopaedics boring method, feature
It is: further includes that voice broadcast prompt is carried out to drilling situation in 3D scene in the step E42, when drilling depth reaches
Confirmation voice prompting is issued after predetermined depth.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109893203A (en) * | 2019-02-28 | 2019-06-18 | 成都真实维度科技有限公司 | It is a kind of for automatically adjusting the bone drilling device pierced on angle device |
| CN112155737A (en) * | 2020-10-16 | 2021-01-01 | 华志微创医疗科技（北京）有限公司 | System and method for implanting detection device into cranium |
| CN112308964A (en) * | 2019-12-23 | 2021-02-02 | 首都医科大学附属北京友谊医院 | Spatial data processing and positioning method, device and equipment for unilateral temporal bone |
| CN113100934A (en) * | 2021-04-06 | 2021-07-13 | 德智鸿(上海)机器人有限责任公司 | Operation assisting method, device, computer equipment and storage medium |
| CN113100939A (en) * | 2021-04-06 | 2021-07-13 | 德智鸿(上海)机器人有限责任公司 | Orthopedic surgery navigation method, device, computer equipment, system and storage medium |
| CN113413189A (en) * | 2019-04-12 | 2021-09-21 | 北京诺亦腾科技有限公司 | Punching control method based on virtual reality technology |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109893203A (en) * | 2019-02-28 | 2019-06-18 | 成都真实维度科技有限公司 | It is a kind of for automatically adjusting the bone drilling device pierced on angle device |
| CN113413189A (en) * | 2019-04-12 | 2021-09-21 | 北京诺亦腾科技有限公司 | Punching control method based on virtual reality technology |
| CN113413189B (en) * | 2019-04-12 | 2022-07-19 | 北京诺亦腾科技有限公司 | Non-treatment purpose punching control method based on virtual reality technology |
| CN112308964A (en) * | 2019-12-23 | 2021-02-02 | 首都医科大学附属北京友谊医院 | Spatial data processing and positioning method, device and equipment for unilateral temporal bone |
| CN112308964B (en) * | 2019-12-23 | 2021-07-06 | 首都医科大学附属北京友谊医院 | Spatial data processing and positioning method, device and equipment for unilateral temporal bone |
| CN112155737A (en) * | 2020-10-16 | 2021-01-01 | 华志微创医疗科技（北京）有限公司 | System and method for implanting detection device into cranium |
| CN112155737B (en) * | 2020-10-16 | 2022-04-22 | 惟精医疗器械(天津)有限公司 | System and method for implanting detection device into cranium |
| CN113100934A (en) * | 2021-04-06 | 2021-07-13 | 德智鸿(上海)机器人有限责任公司 | Operation assisting method, device, computer equipment and storage medium |
| CN113100939A (en) * | 2021-04-06 | 2021-07-13 | 德智鸿(上海)机器人有限责任公司 | Orthopedic surgery navigation method, device, computer equipment, system and storage medium |
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