CN111281537A - Navigation system for femoral head necrosis treatment - Google Patents

Navigation system for femoral head necrosis treatment Download PDF

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Publication number
CN111281537A
CN111281537A CN201811490203.8A CN201811490203A CN111281537A CN 111281537 A CN111281537 A CN 111281537A CN 201811490203 A CN201811490203 A CN 201811490203A CN 111281537 A CN111281537 A CN 111281537A
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CN
China
Prior art keywords
navigation
femoral head
navigation system
treatment
head necrosis
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Pending
Application number
CN201811490203.8A
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Chinese (zh)
Inventor
杜新莹
刘勇
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Anhui Aikesuo Medical Robot Co ltd
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Anhui Aikesuo Medical Robot Co ltd
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Priority to CN201811490203.8A priority Critical patent/CN111281537A/en
Publication of CN111281537A publication Critical patent/CN111281537A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Robotics (AREA)
  • Gynecology & Obstetrics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Apparatus For Radiation Diagnosis (AREA)

Abstract

The invention provides a navigation system for treating femoral head necrosis, which comprises an X-ray device, a navigation control system, an optical tracking system and a robot positioning system. The X image can be processed into 2D and 3D virtual images through the navigation control system, an operator is assisted to carry out preoperative planning, surgical simulation and intraoperative real-time navigation, the robot positioning system is instructed to move the mechanical arm to a surgical planning inlet, and the angle and the position of real-time instruments can be provided. The accurate directional operation is realized, the operation accuracy and reliability are improved, the radiation frequency in the operation is reduced, the wound is small, and the postoperative recovery of a patient is facilitated.

Description

Navigation system for femoral head necrosis treatment
Technical Field
The invention belongs to the field of medical robots, and particularly relates to a navigation system for femoral head necrosis treatment.
Background
Femoral head necrosis, also known as avascular necrosis of the femoral head, is one of the clinically intractable bone diseases in orthopedics. It is a refractory disease which causes the blood supply of the femoral head to be obstructed due to multiple factors, leads chondrocytes and osteocytes in a subchondral region to be necrotic, is accompanied with local osteoporosis and finally leads to the collapse of the femoral head. The femoral head necrosis has complex pathogenesis and brings great pain to patients due to long disease course and high disability rate.
At present, the methods for treating femoral head necrosis are various, and the final purpose of treatment is to improve local blood circulation, promote regeneration, prevent osteonecrosis and prevent articular cartilage degeneration, thereby restoring tissue anatomical structures. The treatment method of femoral head necrosis mainly comprises non-operative treatment and operative treatment. Wherein, the non-operative treatment mainly aims at the primary disease to carry out active treatment, such as weight restriction, drug treatment, hyperbaric oxygen treatment, physical treatment and the like. In the surgical treatment, a plurality of hip protection treatment methods are adopted, such as core decompression, bone grafting with vascular pedicles, surface replacement, vascular bundle implantation and the like.
The traditional femoral head necrosis treatment operation completely depends on CT images and manual operation, but the femoral head is of a spherical-like structure, common CT photographing is a 2D image, the vision is limited, and misoperation is easily caused.
Disclosure of Invention
According to the shortcomings of the prior art, a navigation system for femoral head necrosis treatment is proposed, which comprises an X-ray device, a navigation control system, an optical tracking system and a robot positioning system, wherein the X-ray device is used for taking an X-ray image of a patient, the navigation system can process medical image data into 2D and virtual 3D images, the optical tracking system can track medical instruments with markers, and the robot positioning system can assist in navigation of a surgical position.
Furthermore, the navigation control system can process medical images and assist an operator in preoperative planning, surgical simulation and intraoperative real-time navigation.
Furthermore, the medical apparatus and instruments are provided with 2-6 light reflecting balls to form a specific geometrical structure, such as Y-shaped, triangular, rhombic, polygonal and the like, and the medical apparatus and instruments are marked in different forms.
Further, the medical devices include drill bits, kirschner wires, ablation probes, puncture needles, syringes, drug delivery catheters, and the like.
Furthermore, the navigation system tracks the position and posture information of the depth and the angle of the medical instrument entering the femoral head in real time through the optical mark, and provides a visual image for an operator.
Furthermore, the navigation system can assist in navigating and positioning an operation channel in femoral treatment operations such as decompression of the medullary heart, implantation of a vascular bundle, administration of stem cells, implantation of a carbon rod and the like.
The navigation system for treating femoral head necrosis has the following advantages:
1. through the accurate directional operation, the operation accuracy and reliability can be improved; 2. reducing the X-ray radiation times in the operation; 3. the wound is small, the postoperative recovery of the patient is facilitated, the cost of the patient is reduced, and the postoperative survival quality of the patient is improved.
Drawings
FIG. 1 is a flow chart of the operation of a navigation system
Detailed description of the preferred embodiment
The present invention will be described in further detail with reference to examples and drawings, but the embodiments of the present invention are not limited thereto.
The navigation system assists in the femoral head puncture surgery procedure.
Firstly, a C-arm shoots an oblique X-ray image of the femoral head of a patient.
And secondly, transmitting the DICOM image data to navigation software, and viewing 2D and virtual 3D images after software processing, so that an operator can plan preoperatively on the software and perform operation simulation through an entrance and an exit of an operation tunnel.
And thirdly, marking the puncture needle by using a Y-shaped reflective ball, commanding a mechanical arm of the robot positioning system to move to an entrance of the operation tunnel by using navigation software, inserting the puncture needle according to the navigation direction, starting the operation, and displaying the pose information of the puncture angle and the puncture direction in the operation on an operation interface in real time through the marking point, thereby being beneficial to an operator to carry out the operation.

Claims (6)

1. A navigation system for femoral head necrosis treatment comprises an X-ray device, a navigation control system, an optical tracking system and a robot positioning system, wherein the X-ray device is used for shooting an X-ray image of a patient, the navigation system can process medical image data into 2D and virtual 3D images, the optical tracking system can track medical instruments with marks, and the robot positioning system can assist in navigation of operation positions.
2. The navigation system of claim 1, wherein the navigation control system is configured to process medical images to assist an operator in pre-operative planning, surgical simulation, and real-time intraoperative navigation.
3. The navigation system for treatment of femoral head necrosis as claimed in claim 1, wherein the medical device is configured by loading 2-6 reflective balls to form a specific geometric structure such as Y-shaped, triangular, diamond-shaped, polygonal and other medical devices marked with different shapes.
4. The marked medical device of claim 1, comprising a drill bit, a kirschner wire, an ablation probe, a puncture needle, a syringe, an administration catheter, or the like.
5. The navigation system for femoral head necrosis treatment with markers of claim 2, wherein the navigation system can track the posture information such as the depth and angle of the medical instrument entering the femoral head in real time through the optical markers, so as to provide a visual image for the operator.
6. The navigation system for treatment of femoral head necrosis according to claim 1, wherein the navigation system is capable of assisting navigation and positioning of an operation channel in femoral treatment operations such as pressure reduction of a medulla, implantation of a vascular bundle, stem cell administration, and carbon rod implantation.
CN201811490203.8A 2018-12-06 2018-12-06 Navigation system for femoral head necrosis treatment Pending CN111281537A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811490203.8A CN111281537A (en) 2018-12-06 2018-12-06 Navigation system for femoral head necrosis treatment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811490203.8A CN111281537A (en) 2018-12-06 2018-12-06 Navigation system for femoral head necrosis treatment

Publications (1)

Publication Number Publication Date
CN111281537A true CN111281537A (en) 2020-06-16

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CN201811490203.8A Pending CN111281537A (en) 2018-12-06 2018-12-06 Navigation system for femoral head necrosis treatment

Country Status (1)

Country Link
CN (1) CN111281537A (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090082784A1 (en) * 2007-09-21 2009-03-26 Siemens Aktiengesellschaft Interventional medical system
CN101697869A (en) * 2009-10-19 2010-04-28 沈国芳 Fixing scaffold for surgical guidance
CN101984931A (en) * 2010-11-24 2011-03-16 上海应用技术学院 Computer-assisted navigation system for minimally invasive surgery on aseptic necrosis of femoral head
CN102319116A (en) * 2011-05-26 2012-01-18 上海交通大学 Method for increasing three-dimensional positioning accuracy of surgical instrument by using mechanical structure
CN102727232A (en) * 2011-04-08 2012-10-17 上海优益基医疗器械有限公司 Device for detecting positioning accuracy of surgical operation navigation system and method
CN104127244A (en) * 2014-08-13 2014-11-05 苏州迪凯尔医疗科技有限公司 Passive type infrared light reflection small ball and use method thereof
CN104287886A (en) * 2014-10-23 2015-01-21 上海交通大学医学院附属第九人民医院 Orbital surgical flexible tool tip positioning device for optical navigation system

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090082784A1 (en) * 2007-09-21 2009-03-26 Siemens Aktiengesellschaft Interventional medical system
CN101697869A (en) * 2009-10-19 2010-04-28 沈国芳 Fixing scaffold for surgical guidance
CN101984931A (en) * 2010-11-24 2011-03-16 上海应用技术学院 Computer-assisted navigation system for minimally invasive surgery on aseptic necrosis of femoral head
CN102727232A (en) * 2011-04-08 2012-10-17 上海优益基医疗器械有限公司 Device for detecting positioning accuracy of surgical operation navigation system and method
CN102319116A (en) * 2011-05-26 2012-01-18 上海交通大学 Method for increasing three-dimensional positioning accuracy of surgical instrument by using mechanical structure
CN104127244A (en) * 2014-08-13 2014-11-05 苏州迪凯尔医疗科技有限公司 Passive type infrared light reflection small ball and use method thereof
CN104287886A (en) * 2014-10-23 2015-01-21 上海交通大学医学院附属第九人民医院 Orbital surgical flexible tool tip positioning device for optical navigation system

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