CN112472319B - Vertebral pedicle positioning system for vertebral column - Google Patents
Vertebral pedicle positioning system for vertebral column Download PDFInfo
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- CN112472319B CN112472319B CN202011319596.3A CN202011319596A CN112472319B CN 112472319 B CN112472319 B CN 112472319B CN 202011319596 A CN202011319596 A CN 202011319596A CN 112472319 B CN112472319 B CN 112472319B
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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
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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
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
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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
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3904—Markers, e.g. radio-opaque or breast lesions markers specially adapted for marking specified tissue
- A61B2090/3916—Bone tissue
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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
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3937—Visible markers
Abstract
The invention provides a vertebral pedicle positioning system of a spine, which comprises a detection device, a sensing device, a positioning device, an adjusting device, a deviation correcting device, a marking device and a processor, wherein the sensing device is used for detecting the current vertebral state of a patient; the detection device is configured to detect a position of a spine of the patient; the positioning mechanism is configured to position a reference point of the spine; the adjusting device is configured to adjust a position of the detecting device; the deviation correcting device is configured to correct the position of the marking device; the marking device is configured to mark the pedicle. The sensing device and the detection device are matched for use, so that the spine position of a patient can be positioned, the movement range of the detection probe is limited based on the position information of the sensing device, the detection probe is adjusted in a smaller movement range in the detection of the pedicle of vertebral arch, and the different angles of the pedicle of vertebral arch are guaranteed to be calibrated.
Description
Technical Field
The invention relates to the field of spine auxiliary medical instruments, in particular to a vertebral pedicle positioning system.
Background
The vertebral pedicle is a part of the vertebral arch, is short and thin from the upper back of the vertebral body, is a component part for forming the intervertebral foramen, has a shallow incisure above the vertebral pedicle to form the lower wall of the intervertebral foramen, and has a deeper lower incisure below the vertebral pedicle to form the upper wall of the intervertebral foramen.
For example, in the prior art CN111643196A, when performing some spine-related operations, some pedicles need to be positioned, and in the prior art, two doctors are generally required to cooperate to perform positioning and marking, and then the positioning and marking are performed in equal proportion, so as to find the pedicle of each spine; the manual positioning mode is slow in speed and long in time consumption, and long-time manual division consumes the energy of doctors, errors are avoided, and the positioning of the pedicle of vertebral arch is very inconvenient. Another typical prior art approach disclosed in WO2019020048a1 is a spinal image generation system and spinal surgery navigation positioning system based on ultrasound topography, and a high strength bone screw base disclosed in WO2016177303a1, which have developed the SRS-Schwab classification of ASDs to help surgeons classify ASDs in this way and provide a method of radiographic analysis. A protocol that helps provide pre-operative treatment planning and post-operative assessment requires the surgeon to examine the pre-operative patient's film and measure pelvic incidence, lumbar lordosis, pelvic tilt angle, and sagittal longitudinal axis, either manually or by using pre-operative software. There is a need for systems and methods for assessing changes to these intraoperative spinal parameters.
The invention aims to solve the problems that the positioning device is absent, the positioning operation is inaccurate, the spine correction is inaccurate, the scribing work intensity is high by experience, errors are easy to occur and the like in the field.
Disclosure of Invention
The invention aims to provide a vertebral pedicle positioning system aiming at the defects existing in the prior vertebral pedicle positioning of a spine.
In order to overcome the defects of the prior art, the invention adopts the following technical scheme:
a vertebral pedicle positioning system of a spine comprises a detection device, a sensing device, a positioning device, an adjusting device, a deviation correcting device, a marking device and a processor, wherein the sensing device is used for detecting the current vertebral state of a patient; the detection device is configured to detect a position of a spine of the patient; the positioning mechanism is configured to position a reference point of the spine; the adjusting device is configured to adjust a position of the detecting device; the deviation correcting device is configured to correct the position of the marking device; the marking device is configured to mark a pedicle of a vertebra.
Optionally, the detection device includes a data acquisition unit, a detection probe and a pairing unit, and the data acquisition unit is configured to acquire data of the sensing device, the adjustment device and the deviation correction device; the detection probe is configured to detect a distance and an angle to the patient; the pairing unit is configured to pair the induction devices.
Optionally, the sensing device comprises a sensing vest, a binding mechanism and a plurality of position markers, wherein the binding mechanism is configured to adjust the tightness degree of the sensing vest, and each position marker is configured to be arranged on one side of the sensing vest close to the patient and distributed at equal intervals along the extending direction of the vest; the inductive vest is configured to acquire a physiological indication or to locate a position of a bone of the patient; the inductive vest includes an operating region configured as a region for surgical operation and a binding region configured for nesting the patient with the cinching mechanism.
Optionally, the positioning device comprises an identification probe configured to identify the position of the sensing device and collect data of the sensing device, and an offset mechanism configured to adjust the angle of the identification probe; the offset mechanism includes an offset track, an offset drive mechanism, and a feedback unit configured to be disposed on the offset track; the identification probe is configured to slidingly engage the offset track and slide along the offset track upon actuation of the offset drive mechanism.
Optionally, the adjusting device includes a plurality of hinged rods, a supporting rod and a moving unit, each hinged rod is connected end to form an adjusting portion, one end of the adjusting portion is connected to the detecting device, the other end of the adjusting portion is connected to one end of the supporting rod, and the other end of the supporting rod is connected to the moving unit; the moving unit comprises a supporting plate, a plurality of moving wheels and a locking member, wherein each moving wheel is arranged on one side of the supporting plate and is connected with the supporting plate; each of the locking members is configured to be correspondingly disposed at an outer circumference of each of the moving wheels and to be locked by a user.
Optionally, the deviation correcting device includes a reference mechanism, a deviation correcting mechanism and a deviation correcting algorithm, and the reference mechanism is configured to generate a reference position based on the data pair of the sensing device; the corrective algorithm is configured to respond to a path of movement of the corrective mechanism based on the reference position; the deviation correcting mechanism is configured to correct a position of the marking device; the reference mechanism includes a number of markers, each of which is configured to mark a location of the patient's spine and to simulate a corresponding reference location based on data from each of the markers.
Optionally, the marking device comprises a deflection mechanism and an optical path display mechanism, wherein the deflection mechanism is configured to support the optical path display mechanism and correct the angle of the optical path display mechanism; the light path display mechanism is configured to collect a starting point and an end point of the sensing device and display a reference datum line of the patient spine; the deflection mechanism comprises a deflection seat, an angle detection piece and a deflection rod, one end of the supporting rod is hinged with the deflection seat, and the other end of the deflection rod is connected with the light path display mechanism; the angle detection member is configured to detect an angle of deflection of the deflection lever.
Optionally, the tightening mechanism includes an adhesive configured to be disposed on the elastic band, and the elastic band is configured to be connected to an edge of the induction vest and bind the body of the patient, and includes an inflatable bag, a deformation portion, a trigger control member, and an inflator, the deformation portion extends along a length direction of the binding band, and the inflatable bag is configured to be disposed at one side of the deformation portion; the inflator is configured to be connected to the airbag conduit and inflate the airbag, and the trigger control is configured to control an inflation timing of the inflator.
Optionally, the deviation rectifying mechanism includes a deviation rectifying base, a steering unit, a deviation rectifying rail and a deviation rectifying driving base, the deviation rectifying base is configured to be slidably connected with the deviation rectifying rail, the steering unit is configured to adjust the orientation of the deviation rectifying rail, and the deviation rectifying driving mechanism is configured to be drivingly connected with the deviation rectifying base and slide along the orientation of the deviation rectifying rail.
The beneficial effects obtained by the invention are as follows:
1. the detection device is matched with the induction device for use, and the vertebral pedicle can be accurately positioned based on detected data;
2. the induction device is matched with the detection device for use, so that the spine position of a patient can be positioned, the movement range of the detection probe is limited based on the position information of the induction device, the detection probe is adjusted in a smaller movement range in the detection of the pedicle of vertebral arch, and the adjustment operation is adjusted based on the operation of the adjustment device, so that the different angles of the pedicle of vertebral arch are guaranteed to be calibrated;
3. through adopting induction system and detection device to cooperate the use for detection device's detection position carries on spacingly, makes detection device's position can be injectd. The sensing vest is configured to be positioned over the abdomen of the patient such that the sensing probe is confined within a region;
4. by employing a spine data collection unit configured to collect spine data of a patient, the spine data of the patient needs to be previously placed into the spine data collection unit by a doctor. The identification probe follows the data of the spine of the patient and responds to the trend of the spine;
5. the offset part is formed on the fixed offset seat by adopting the steering component, the offset part is configured to be in sliding connection with the offset track, and the identification probe follows the spine under the operation of the offset driving mechanism;
6. will bulge the deformation portion at the in-process of aerifing through adopting the air pocket, form a arch of carrying out the restriction with patient's limbs, protruding messenger's response undershirt can fix a position the position mark piece, cooperates the air pocket simultaneously and carries out the in-process of aerifing with the pump, triggers the control and can adjust the gas filled degree of pump for the change of adaptation different crowds ' waistline.
Drawings
The invention will be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
FIG. 1 is a schematic control flow diagram of the present invention.
Fig. 2 is a schematic structural diagram of the adjusting device.
Fig. 3 is a schematic structural view of the induction vest.
Fig. 4 is a schematic structural view of the induction vest and a patient.
Fig. 5 is a schematic front view of the adjustment device.
Fig. 6 is a left side view of the adjusting device.
Fig. 7 is a schematic structural view of the support plate.
The reference numbers illustrate: 1-a support bar; 2-a hinged lever; 3-a support plate; 4-a mobile unit; 5-hollow cavity; 6-vest body; 7-binding a band; 8-viscose glue; 9-the spine; 10-offset track; 11-an offset; 12-identification of the probe; 13-an offset seat; 14-an optical path display mechanism; 15-correcting the track; 16-deflection mechanism.
Detailed Description
In order to make the objects and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the following embodiments; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Other systems, methods, and/or features of the present embodiments will become apparent to those skilled in the art upon review of the following detailed description. It is intended that all such additional systems, methods, features and advantages be included within this description, be within the scope of the invention, and be protected by the accompanying claims. Additional features of the disclosed embodiments are described in, and will be apparent from, the detailed description that follows.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper" and "lower" and "left" and "right" etc., it is only for convenience of description and simplification of the description based on the orientation or positional relationship shown in the drawings, but it is not indicated or implied that the device or assembly referred to must have a specific orientation.
The first embodiment is as follows: a vertebral pedicle positioning system of a spine comprises a detection device, a sensing device, a positioning device, an adjusting device, a deviation correcting device, a marking device and a processor, wherein the sensing device is used for detecting the current vertebral state of a patient; the detection device is configured to detect a position of a spine of the patient; the positioning mechanism is configured to position a reference point of the spine; the adjusting device is configured to adjust a position of the detecting device; the deviation correcting device is configured to correct the position of the marking device; the marking device is configured to mark a pedicle; the detection device comprises a data acquisition unit, a detection probe and a matching unit, wherein the data acquisition unit is configured to acquire data of the induction device, the adjustment device and the deviation correction device; the detection probe is configured to detect a distance and an angle to the patient; the pairing unit is configured to pair the induction devices; the induction device comprises an induction vest, a binding mechanism and a plurality of position markers, wherein the binding mechanism is used for adjusting the tightness degree of the induction vest, and each position marker is arranged on one side of the induction vest close to the patient and is distributed at equal intervals along the extending direction of the vest; the inductive vest is configured to acquire a physiological indication or to locate a position of a bone of the patient; the inductive vest comprising an operating region configured as a region for surgical operation and a binding region configured for nesting the patient with the cinching mechanism; the positioning device comprises an identification probe and a deviation mechanism, wherein the identification probe is configured to identify the position of the sensing device and collect data of the sensing device, and the deviation mechanism is configured to adjust the angle of the identification probe; the offset mechanism includes an offset track, an offset drive mechanism, and a feedback unit configured to be disposed on the offset track; the identification probe is configured to be in sliding engagement with the offset track and to slide along the offset track under the drive of the offset drive mechanism; the adjusting device comprises a plurality of hinged rods, supporting rods and a moving unit, the hinged rods are connected end to form an adjusting part, one end of the adjusting part is connected with the detecting device, the other end of the adjusting part is connected with one end of the supporting rods, and the other end of the supporting rods is connected with the moving unit; the moving unit comprises a supporting plate, a plurality of moving wheels and a locking member, wherein each moving wheel is arranged on one side of the supporting plate and is connected with the supporting plate; each locking member is configured to be correspondingly disposed at an outer periphery of each moving wheel and to be locked by a user; the deviation correcting device comprises a reference mechanism, a deviation correcting mechanism and a deviation correcting algorithm, wherein the reference mechanism is configured to generate a reference position based on the data pair of the sensing device; the corrective algorithm is configured to respond to a path of movement of the corrective mechanism based on the reference position; the deviation correcting mechanism is configured to correct a position of the marking device; the reference mechanism includes a number of markers, each marker configured to mark a location of the patient's spine and to simulate a corresponding reference location based on data of each marker; the marking device comprises a deflection mechanism and an optical path display mechanism, wherein the deflection mechanism is configured to support the optical path display mechanism and correct the angle of the optical path display mechanism; the light path display mechanism is configured to collect a starting point and an end point of the sensing device and display a reference datum line of the patient spine; the deflection mechanism comprises a deflection seat, an angle detection piece and a deflection rod, one end of the supporting rod is hinged with the deflection seat, and the other end of the deflection rod is connected with the light path display mechanism; the angle detection member is configured to detect an angle of deflection of the deflection lever; the tightening mechanism comprises an adhesive and an elastic band, the adhesive is configured to be arranged on the elastic band, the elastic band is configured to be connected with the edge of the induction vest and to bind the body of the patient, the elastic band comprises an inflatable bag, a deformation part, a trigger control part and an inflator pump, the deformation part extends along the length direction of the binding band, and the inflatable bag is configured to be arranged on one side of the deformation part; the inflator is configured to be connected to the airbag conduit and inflate the airbag, and the trigger control is configured to control an inflation timing of the inflator; the deviation rectifying mechanism comprises a deviation rectifying seat, a steering unit, a deviation rectifying rail and a deviation rectifying driving seat, wherein the deviation rectifying seat is in sliding connection with the deviation rectifying rail, the steering unit is in adjusting the orientation of the deviation rectifying rail, and the deviation rectifying driving mechanism is in driving connection with the deviation rectifying seat and slides along the orientation of the deviation rectifying rail.
Example two: this embodiment should be understood to include at least all of the features of any of the foregoing embodiments and further modifications thereon; the positioning system comprises a detection device, a sensing device, a positioning device, an adjusting device, a deviation correcting device, a marking device and a processor, wherein the sensing device is used for detecting the current vertebral state of a patient; the detection device is configured to detect a position of a spine of the patient; the positioning mechanism is configured to position a reference point of the spine; the adjusting device is configured to adjust a position of the detecting device; the deviation correcting device is configured to correct the position of the marking device; the marking device is configured to mark a pedicle; the processor is respectively in control connection with the detection device, the positioning device, the adjusting device, the deviation rectifying device and the marking device, and realizes accurate positioning operation on the position of the pedicle of vertebral arch based on the control operation of the processor; meanwhile, the detection device is matched with the induction device for use, and the pedicle of vertebral arch can be accurately positioned based on the detected data; meanwhile, the detection angle of the detection device can be adjusted based on the detection operation of the detection probe by the adjustment device, and the whole data acquisition is adjusted in detail based on the adjustment operation; the deviation correcting device and the marking device are matched for use, so that the marking device can mark the vertebral pedicle, and the marked position can be adjusted;
the detection device comprises a data acquisition unit, a detection probe and a matching unit, wherein the data acquisition unit is configured to acquire data of the induction device, the adjustment device and the deviation correction device; the detection probe is configured to detect a distance and an angle to the patient; the pairing unit is configured to pair the induction devices; the detection device is configured to collect data of the patient, and the data collection unit collects position data of the sensing device on the position of the sensing device, the adjusting device, the deviation correction device and data related to the patient; the detection probe is used for acquiring data of the distance of a patient and positioning the spine of the patient based on the distance; in addition, the sensing device is matched with the detection device for use, so that the position of the spine of the patient can be positioned, the movement range of the detection probe is limited based on the position information of the sensing device, the detection probe is adjusted within a smaller movement range in the detection of the pedicle of vertebral arch, and the adjustment operation is adjusted based on the operation of the adjustment device so as to ensure that different angles of the pedicle of vertebral arch are calibrated; meanwhile, the pairing unit establishes a data link with the adjusting device and pairs the adjusting device based on the data link so that the adjusting action of the adjusting device is roughly adjusted within a limited range; in addition, the detection probe includes, but is not limited to, the following listed several: detection cameras, distance sensors, detection radars, infrared sensors, temperature sensors, and other sensors or devices commonly used for detecting distance or temperature;
the induction device comprises an induction vest, a binding mechanism and a plurality of position markers, wherein the binding mechanism is used for adjusting the tightness degree of the induction vest, and each position marker is arranged on one side of the induction vest close to the patient and is distributed at equal intervals along the extending direction of the vest; the inductive vest is configured to acquire a physiological indication or to locate a position of a bone of the patient; the inductive vest comprising an operating region configured as a region for surgical operation and a binding region configured for nesting the patient with the cinching mechanism; the induction device is matched with the detection device for use, so that the detection position of the detection device is limited, and the position of the detection device can be limited; the inductive vest is configured to be positioned over the abdomen of the patient such that the detection probe is confined within a region; the sensing vest nests with the abdomen of the patient and locates the position of the abdomen or fiducial of the patient; each position marker is arranged on the contact surface of the induction vest and the patient to be induced and is used for acquiring physiological characteristics of the patient; in addition, the binding mechanism is used for binding the induction vest to the limbs of the patient, so that stable binding can be carried out;
the tightening mechanism comprises an adhesive and an elastic band, the adhesive is configured to be arranged on the elastic band, the elastic band is configured to be connected with the edge of the induction vest and to bind the body of the patient, the elastic band comprises an inflatable bag, a deformation part, a trigger control part and an inflator pump, the deformation part extends along the length direction of the binding band, and the inflatable bag is configured to be arranged on one side of the deformation part; the inflator is configured to be connected to the airbag conduit and inflate the airbag, and the trigger control is configured to control an inflation timing of the inflator; the induction vest comprises a vest body and a plurality of groups of binding bands, wherein each group of binding bands is connected with the edge of the vest body, and the viscose is constructed to be arranged on each group of elastic bands and distributed along the length direction of the elastic bands; the elastic band is arranged on the binding band, and the viscose glue arranged on the binding band is used for rough binding; in addition, the inflatable bag is arranged inside the elastic band, and the inflatable bag can finely bind the binding band under the action of the inflatable pump; the deformation part can be bulged by the inflatable bag in the inflating process to form a bulge for limiting the limb of the patient, and the bulge enables the sensing vest to position the position marker; in addition, in the process of inflating the inflatable bag and the inflator pump, the triggering control piece can adjust the inflating degree of the inflator pump so as to adapt to the change of waistlines of different people; at the same time, the trigger control can be released by the gas in the inflatable bag after binding is finished, so that the binding belt can release the binding operation of the patient;
the vest comprises a vest body and is characterized in that a hollow cavity for emergency treatment is arranged in the vest body, the hollow cavity is adhered by sealing cloth in a non-use state, the edges of the hollow cavity and the sealing cloth are provided with mutually adhered adhering parts, and the sealing cloth can be connected with the hollow cavity in the non-use state through the adhering parts; the binding mechanism is arranged on the binding belt of the induction vest, and the vest presents an I-shaped or Wang-shaped structure when being unfolded;
the positioning device comprises an identification probe and a deviation mechanism, wherein the identification probe is configured to identify the position of the sensing device and collect data of the sensing device, and the deviation mechanism is configured to adjust the angle of the identification probe; the offset mechanism includes an offset track, an offset drive mechanism, and a feedback unit configured to be disposed on the offset track; the identification probe is configured to be in sliding engagement with the offset track and to slide along the offset track under the drive of the offset drive mechanism; the positioning device is configured to fine-tune the position of the identification probe so that the identification probe can be positioned on a vertebral level, and at the same time, the identification probe can also perform the determination of the position of the vertebral pedicle on two sides of the vertebral level; the offset mechanism is configured to offset or correct the position of the pedicle; the offset mechanism further comprises a spine data acquisition unit configured to acquire the spine data of the patient, the spine data of the patient requiring pre-placement of the spine data acquisition unit by a physician; the identification probe follows the data of the spine of the patient and responds to the trend of the spine; the spine data of the patient comprises parameters such as the position of the patient, the trend of the spine and the like, and the age parameter of the patient; the feedback unit of the offset mechanism is used for collecting the moving positions of the identification probe and the offset driving mechanism; meanwhile, the feedback unit is also configured to respond to the position according to the spine data of the patient, so that the identification probe can detect according to the spine trend and the like; the feedback unit comprises an offset seat and a steering component, the identification probe is configured to be fixed on the steering component, the steering component is configured to form an offset part on the offset seat, the offset part is configured to be in sliding connection with the offset track, and the identification probe can follow the spine based on the operation of the offset driving mechanism; meanwhile, the steering component is matched with the identification probe for use, so that the identification probe can shift the position of a certain section of vertebra, and the accurate positioning of the pedicle of vertebral arch is realized based on the shift; the offset track is configured to be parallel to an orientation of the patient's spine.
Example three: this embodiment should be understood to include at least all of the features of any of the foregoing embodiments and further modifications thereon; the positioning system comprises a detection device, a sensing device, a positioning device, an adjusting device, a deviation correcting device, a marking device and a processor, wherein the sensing device is used for detecting the current vertebral state of a patient; the detection device is configured to detect a position of a spine of the patient; the positioning mechanism is configured to position a reference point of the spine; the adjusting device is configured to adjust a position of the detecting device; the deviation correcting device is configured to correct the position of the marking device; the marking device is configured to mark a pedicle; the processor is respectively in control connection with the detection device, the positioning device, the adjusting device, the deviation rectifying device and the marking device, and realizes accurate positioning operation on the position of the pedicle of vertebral arch based on the control operation of the processor; meanwhile, the detection device is matched with the induction device for use, and the pedicle of vertebral arch can be accurately positioned based on the detected data; meanwhile, the detection angle of the detection device can be adjusted based on the detection operation of the detection probe by the adjustment device, and the whole data acquisition is adjusted in detail based on the adjustment operation; the deviation correcting device and the marking device are matched for use, so that the marking device can mark the vertebral pedicle, and the marked position can be adjusted;
the adjusting device comprises a plurality of hinged rods, supporting rods and a moving unit, the hinged rods are connected end to form an adjusting part, one end of the adjusting part is connected with the detecting device, the other end of the adjusting part is connected with one end of the supporting rods, and the other end of the supporting rods is connected with the moving unit; the moving unit comprises a supporting plate, a plurality of moving wheels and a locking member, wherein each moving wheel is arranged on one side of the supporting plate and is connected with the supporting plate; each locking member is configured to be correspondingly disposed at an outer periphery of each moving wheel and to be locked by a user; the detection device and the positioning device are respectively disposed on the adjustment device, which includes an apparatus support plate configured to support the positioning device and the detection device, that is: the detection device, the marking device, the deviation correcting device and the positioning device are all arranged on the supporting plate; the head end and the tail end of each hinged rod are respectively connected to form an adjusting part, one end of each adjusting part is connected with the supporting plate, the other end of each adjusting part is hinged with one end of the supporting rod, the other end of the supporting rod is vertically and fixedly connected with the moving unit, and the moving unit is configured to support each hinged rod and the supporting rod and enable the adjusting device to perform positioning operation on the vertebral pedicle of the vertebra of the patient based on the movement of the moving unit; during use, the positioning device and the detection device arranged on the adjusting device can position the position of the pedicle of vertebral arch and guide a doctor to perform a marking operation on the pedicle of vertebral arch by moving the adjusting unit to the periphery of the patient and moving the adjusting unit to the upper part or the side upper part of an affected part; in addition, the adjusting device further comprises a following mechanism, the following mechanism is configured to automatically follow the surgical position of the patient, so that the patient can act according to the actual position in the process of performing surgery on the spine at a certain position, and the automatic identification and tracking capability of the whole system is improved; the following mechanism comprises an identification member and a trigger member, the identification member being configured to cooperate with the trigger member such that the identification member can follow movement of the trigger member; in this embodiment, the identification member is disposed on the support plate, and the triggering member is disposed in a handheld structure and is triggered by a medical staff; the trigger member trigger chamber emits indicating light which can be identified by the medical staff and the identifying member, and when the identifying member detects the indicating light, the supporting plate is moved to the upper part or the side upper part of the indicating position through the action of the adjusting part; the triggering mechanism and the principle of the triggering member are technical means well known to those skilled in the art, and those skilled in the art can query a relevant technical manual or the technology, so that details are not repeated in this embodiment;
the deviation correcting device comprises a reference mechanism, a deviation correcting mechanism and a deviation correcting algorithm, wherein the reference mechanism is configured to generate a reference position based on the data pair of the sensing device; the corrective algorithm is configured to respond to a path of movement of the corrective mechanism based on the reference position; the deviation correcting mechanism is configured to correct a position of the marking device; the reference mechanism includes a number of markers, each marker configured to mark a location of the patient's spine and to simulate a corresponding reference location based on data of each marker; the deviation correcting device is matched with the marking device for use, so that the positioning device can accurately position the pedicle of vertebral arch; in addition, the deviation correcting device and the positioning device are both arranged on an adjusting plate of the adjusting device, and the positioning device is assisted to correct based on the deviation correcting operation of the deviation correcting device; the deviation rectifying algorithm is configured to guide the deviation rectifying mechanism and simultaneously carry out deviation rectifying operation based on data of the detection device and the induction device; each label piece of the reference mechanism is arranged on the induction vest and used for positioning the position of the vertebra, and is required to be attached to a specific position of the position in the positioning process and cannot exceed a specific error value, and then in an actual application scene, the experimental effect is excellent; if the error is too large, the large error exists in each marker, so that the positioning of the positioning device has deviation; each marker can be arranged on the induction vest or adhered to the starting point and the ending point of the corresponding vertebra of the patient through adhesive, so that the positioning device can be positioned; the position of each of the marker number markers includes, but is not limited to, the following list: the starting point, the ending point, the periphery of the operation position or other positions for positioning the spine, and those skilled in the art can perform adaptive adjustment according to the actual situation, and the detailed description is omitted in this embodiment;
the deviation correcting mechanism comprises a deviation correcting seat, a steering unit, a deviation correcting track and a deviation correcting driving seat, wherein the deviation correcting seat is configured to be in sliding connection with the deviation correcting track, the steering unit is configured to adjust the orientation of the deviation correcting track, and the deviation correcting driving mechanism is configured to be in driving connection with the deviation correcting seat and slide along the orientation of the deviation correcting track; the deviation correcting mechanism is used for adjusting the marking device and adjusting along the deviation correcting track, and the deviation correcting seat is configured to be connected with the deviation correcting track in a sliding mode and slide along the deviation correcting track under the driving operation of the deviation correcting driving mechanism; in addition, the deviation correcting mechanism further comprises a plurality of position markers, each position marker is configured to be distributed at equal intervals along the deviation correcting track, and each position marker is used for detecting the position of the deviation correcting seat, so that the position of the deviation correcting seat can be captured by the processor; when the position of the deviation correcting seat does not accord with the set position, the processor controls the deviation correcting driving mechanism to drive the deviation correcting seat to slide on the deviation correcting track until the deviation correcting seat moves to a specific position; the steering unit includes a steering member, a steering rail, and a steering driving mechanism provided on the steering member and adjusting an angle of the steering member, the steering member being configured to be connected to the steering rail; the marking device is arranged on the steering piece, and steering of the marking device is realized under the action of the steering driving mechanism and the steering seat; in addition, the steering unit further includes an angle recognition member configured to detect a turning angle of the steering seat and detect the turning angle of the turning seat based on a recognition operation of the angle recognition member; in the process of rotating the rotating seat, the rotating driving mechanism drives the rotating seat to rotate along the axis of the rotating seat, so that the marking device can accurately control the marked position;
the marking device comprises a deflection mechanism and an optical path display mechanism, wherein the deflection mechanism is configured to support the optical path display mechanism and correct the angle of the optical path display mechanism; the light path display mechanism is configured to collect a starting point and an end point of the sensing device and display a reference datum line of the patient spine; the deflection mechanism comprises a deflection seat, an angle detection piece and a deflection rod, one end of the supporting rod is hinged with the deflection seat, and the other end of the deflection rod is connected with the light path display mechanism; the angle detection member is configured to detect an angle of deflection of the deflection lever; the deflection mechanism is used for rotating the light path display mechanism, so that the light path display mechanism can guide the vertebral pedicle; the light path display mechanism comprises a display light path, the display light path is constructed to detect and display the position of the pedicle of vertebral arch, and meanwhile, the dynamic display of the position of the pedicle of vertebral arch is ensured by combining the operation of identifying the position of the pedicle of vertebral arch by the detection device; the medical nursing staff can perform operation or correction operation according to the marked pedicle; in addition, the display light path is set to be light which can be identified by human eyes, and is automatically displayed after being adjusted by the induction device, the detection device, the adjusting device and the offset device; the deflection mechanism is configured to perform angular deviation based on data of the sensing device and the detection device, and is used for supporting the optical path display mechanism, realizing rotation or deviation rectification operation of the optical path display mechanism through rotation of the deflection mechanism, and realizing accurate guidance of a display optical path;
acquiring or positioning image information of an affected part through the detection probe, performing gray level processing, randomly selecting two maximum gray values and two minimum gray values, and traversing an initial threshold value H of the image information acquired by the detection probe according to a formula (1),
wherein p islowIs the minimum gray value, pmaxIs the maximum gray value;
an image is divided into a detection position and a background according to a threshold H, and an average gray value W of the detection position and the background is obtainedpixelAnd;
wherein Q is the image acquisition area of the affected part position, and h (Q) is a local threshold function output aiming at the image acquisition area Q;
in the above formula, piThe maximum pixel density of the detection probe is defined, and m is a gray average value;
setting a reference value Rbase-valueThe value is obtained according to the following formula,
if R is presentbase-value＝Rbase-value+1, then Rbase-valueAnd controlling the positioning device to position the calculated threshold point according to the threshold point, and otherwise, returning to the formulas (2) to (5) to continue iteration.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
In summary, the vertebral pedicle positioning system of the vertebral column provided by the invention can be used by matching the detection device with the induction device, and can be used for accurately positioning the vertebral pedicle based on the detected data; the induction device is matched with the detection device for use, so that the spine position of a patient can be positioned, the movement range of the detection probe is limited based on the position information of the induction device, the detection probe is adjusted in a smaller movement range in the detection of the pedicle of vertebral arch, and the adjustment operation is adjusted based on the operation of the adjustment device, so that the different angles of the pedicle of vertebral arch are guaranteed to be calibrated; through adopting induction system and detection device to cooperate the use for detection device's detection position carries on spacingly, makes detection device's position can be injectd. The sensing vest is configured to be positioned over the abdomen of the patient such that the sensing probe is confined within a region; by employing a spine data collection unit configured to collect spine data of a patient, the spine data of the patient needs to be previously placed into the spine data collection unit by a doctor. The identification probe follows the data of the spine of the patient and responds to the trend of the spine; the offset part is formed on the fixed offset seat by adopting the steering component, the offset part is configured to be in sliding connection with the offset track, and the identification probe follows the spine under the operation of the offset driving mechanism; will bulge the deformation portion at the in-process of aerifing through adopting the air pocket, form a arch of carrying out the restriction with patient's limbs, protruding messenger's response undershirt can fix a position the position mark piece, cooperates the air pocket simultaneously and carries out the in-process of aerifing with the pump, triggers the control and can adjust the gas filled degree of pump for the change of adaptation different crowds ' waistline.
Although the invention has been described above with reference to various embodiments, it should be understood that many changes and modifications may be made without departing from the scope of the invention. That is, the methods, systems, and devices discussed above are examples. Various configurations may omit, substitute, or add various procedures or components as appropriate. For example, in alternative configurations, the methods may be performed in an order different than that described, and/or various components may be added, omitted, and/or combined. Moreover, features described with respect to certain configurations may be combined in various other configurations, as different aspects and elements of the configurations may be combined in a similar manner. Further, elements therein may be updated as technology evolves, i.e., many elements are examples and do not limit the scope of the disclosure or claims.
Specific details are given in the description to provide a thorough understanding of the exemplary configurations including implementations. However, configurations may be practiced without these specific details, for example, well-known circuits, processes, algorithms, structures, and techniques have been shown without unnecessary detail in order to avoid obscuring the configurations. This description provides example configurations only, and does not limit the scope, applicability, or configuration of the claims. Rather, the foregoing description of the configurations will provide those skilled in the art with an enabling description for implementing the described techniques. Various changes may be made in the function and arrangement of elements without departing from the spirit or scope of the disclosure.
In conclusion, it is intended that the foregoing detailed description be regarded as illustrative rather than limiting, and that it be understood that these examples are illustrative only and are not intended to limit the scope of the invention. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall into the scope of the invention defined by the claims.
Claims (7)
1. A vertebral pedicle positioning system of a vertebral column is characterized by comprising a detection device, a sensing device, a positioning device, an adjusting device, a deviation correcting device, a marking device and a processor, wherein the sensing device is used for detecting the current vertebral state of a patient; the detection device is configured to detect a position of a spine of the patient; the positioning device is configured to position a reference point of the spine; the adjusting device is configured to adjust a position of the detecting device; the deviation correcting device is configured to correct the position of the marking device; the marking device is configured to mark a pedicle;
the detection device comprises a data acquisition unit, a detection probe and a matching unit, wherein the data acquisition unit is configured to acquire data of the induction device, the adjustment device and the deviation correction device; the detection probe is configured to detect a distance and an angle to the patient; the pairing unit is configured to pair the induction devices;
the induction device comprises an induction vest, a binding mechanism and a plurality of position markers, wherein the binding mechanism is used for adjusting the tightness degree of the induction vest, and each position marker is arranged on one side of the induction vest close to the patient and is distributed at equal intervals along the extending direction of the vest; the inductive vest is configured to acquire a physiological indication or to locate a position of a bone of the patient; the inductive vest includes an operating region configured as a region for surgical operation and a binding region configured for nesting the patient with the cinching mechanism.
2. The pedicle positioning system of claim 1, wherein the positioning device comprises an identification probe configured to identify the position of the sensing device and collect data from the sensing device, and an offset mechanism configured to adjust the angle of the identification probe; the offset mechanism includes an offset track, an offset drive mechanism, and a feedback unit configured to be disposed on the offset track; the identification probe is configured to slidingly engage the offset track and slide along the offset track under the drive of the offset drive mechanism.
3. The pedicle positioning system according to claim 2, wherein the adjusting device comprises a plurality of hinged rods, a support rod and a moving unit, each hinged rod is connected end to form an adjusting portion, one end of the adjusting portion is connected with the detecting device, the other end of the adjusting portion is connected with one end of the support rod, and the other end of the support rod is connected with the moving unit; the moving unit comprises a supporting plate, a plurality of moving wheels and a locking member, wherein each moving wheel is arranged on one side of the supporting plate and is connected with the supporting plate; each of the locking members is configured to be correspondingly disposed at an outer circumference of each of the moving wheels and to be locked by a user.
4. The pedicle positioning system of claim 3, wherein the deviation correction device comprises a reference mechanism configured to generate a reference position based on the data pairs of the sensing device, a deviation correction mechanism and a deviation correction algorithm; the corrective algorithm is configured to respond to a path of movement of the corrective mechanism based on the reference position; the deviation correcting mechanism is configured to correct a position of the marking device; the reference mechanism includes a number of markers, each of which is configured to mark a location of the patient's spine and to simulate a corresponding reference location based on data from each of the markers.
5. The pedicle positioning system according to claim 4, wherein the marker device includes a deflection mechanism and an optical path display mechanism, the deflection mechanism being configured to support the optical path display mechanism and correct the angle of the optical path display mechanism; the light path display mechanism is configured to collect a starting point and an end point of the sensing device and display a reference line of the patient spine; the deflection mechanism comprises a deflection seat, an angle detection piece and a deflection rod, one end of the deflection rod is hinged with the deflection seat, and the other end of the deflection rod is connected with the light path display mechanism; the angle detection member is configured to detect an angle of deflection of the deflection lever.
6. The pedicle positioning system according to claim 5, wherein the tightening mechanism comprises an adhesive configured to be disposed on the tightening strap and an elastic strap configured to be connected to an edge of the induction vest and to bind the body of the patient, the elastic strap comprising an inflatable bag, a deformation portion, a trigger control and an inflator, the deformation portion extending along a length of the elastic strap, the inflatable bag configured to be disposed on one side of the deformation portion; the inflator is configured to be connected to the airbag conduit and inflate the airbag, and the trigger control is configured to control an inflation timing of the inflator.
7. The pedicle positioning system of claim 6, wherein the deviation correction device comprises a deviation correction mount configured to slidably couple with the deviation correction rail, a steering unit configured to adjust the orientation of the deviation correction rail, and a deviation correction drive mount configured to drivingly couple with the deviation correction mount and slide along the orientation of the deviation correction rail.
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