CN113907859B - Auxiliary screw placement device for sacroiliac joint screw navigation - Google Patents

Auxiliary screw placement device for sacroiliac joint screw navigation Download PDF

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Publication number
CN113907859B
CN113907859B CN202111041796.1A CN202111041796A CN113907859B CN 113907859 B CN113907859 B CN 113907859B CN 202111041796 A CN202111041796 A CN 202111041796A CN 113907859 B CN113907859 B CN 113907859B
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China
Prior art keywords
unit
positioning
connecting unit
rotating
illumination
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CN202111041796.1A
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Chinese (zh)
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CN113907859A (en
Inventor
郑龙坡
侯孝东
周子斐
刘俊峰
王天龙
罗怡平
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Shanghai Tenth Peoples Hospital
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Shanghai Tenth Peoples Hospital
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Publication of CN113907859A publication Critical patent/CN113907859A/en
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
    • A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
    • A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
    • A61B17/84—Fasteners therefor or fasteners being internal fixation devices
    • A61B17/86—Pins or screws or threaded wires; nuts therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
    • A61B90/13—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints guided by light, e.g. laser pointers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00—Operating tables; Auxiliary appliances therefor
    • A61G13/0036—Orthopaedic operating tables
    • A61G13/0081—Orthopaedic operating tables specially adapted for hip surgeries
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00—Operating tables; Auxiliary appliances therefor
    • A61G13/10—Parts, details or accessories
    • A61G13/101—Clamping means for connecting accessories to the operating table
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2210/00—Devices for specific treatment or diagnosis
    • A61G2210/10—Devices for specific treatment or diagnosis for orthopedics

Abstract

The invention relates to a sacroiliac joint screw navigation auxiliary nailing device which comprises a supporting unit, a first connecting unit, a first positioning unit, a second connecting unit, a third connecting unit, a second positioning unit, a first illumination unit and a second illumination unit, wherein the first connecting unit is arranged on the vertical supporting unit, the first positioning unit is arranged perpendicular to the first connecting unit, the second connecting unit is respectively connected with the first connecting unit and the third connecting unit in a rotating mode, the second positioning unit is connected with the third connecting unit in a rotating mode, the first illumination unit is arranged on the first positioning unit, and the second illumination unit is detachably arranged on the second positioning unit. The nail setting device has the advantages that the second connecting unit, the third connecting unit and the second positioning unit are utilized to rotate, so that the light rays of the first illumination unit and the second illumination unit can be focused at the position to be nailed, namely, the two-point and one-line principle is utilized to position, then, the hollow second positioning unit is utilized to perform the free-hand nail setting operation, and the nail setting accuracy is high; the device has simple structure, convenient operation, low acquisition cost and maintenance cost and is suitable for popularization and application.

Description

Auxiliary screw placement device for sacroiliac joint screw navigation
Technical Field
The invention relates to the technical field of fracture screw placement devices, in particular to a sacroiliac joint screw navigation auxiliary screw placement device.
Background
Pelvic fractures are particularly important in the selection of treatment modes due to the complex anatomy, the proximity of important vascular nerves, and the complex and variable types of fractures. The traditional incision reset internal fixation treatment can be used for performing operations such as reset fixation and the like under direct vision, thereby being beneficial to anatomical reset and firm fixation, however, the incision reset internal fixation technology has higher technical requirements on doctors, and simultaneously, due to complex operation in the exposure process and complex anatomical structure, the iatrogenic injury of vascular nerves is easily caused, and in addition, the incision reset internal fixation has larger soft tissue invasion and wound caused by the need of clear exposure of the operation field, and is unfavorable for early rehabilitation after the operation of patients.
At present, surgical treatment tends to develop minimally invasive and accurate due to the proposal of the postoperative acceleration rehabilitation surgery concept. So the percutaneous minimally invasive screw technology is becoming the mainstream of the pelvic fracture treatment mode. The screw of the sacroiliac joint is a minimally invasive screw treatment technology aiming at the unstable fracture of the posterior ring of the pelvis, and the screw vertically penetrates through the sacroiliac joint from the side of the ilium to enter the sacrum 1 or the sacrum 2 vertebral body, so that internal fixation is realized, and the screw has the advantages of small wound, less bleeding, stable biomechanics and good vertical and rotation stability.
However, this technique still has certain limitations, such as the need for repeated fluoroscopy during surgery to determine the safety of the needle insertion, resulting in a substantial increase in the radiation exposure dose for both the operator and the patient. In addition, because the safety channel is smaller, the accuracy of setting nails is severely required. At present, 2D or 3D navigation equipment is used for assisting in positioning nails, so that the operation time can be saved, the exposure of radiation dose can be reduced, the accuracy of the nails can be improved, but the navigation equipment has higher hardware conditions, is expensive and is difficult to popularize.
At present, no effective solution is proposed for the problems of expensive equipment, complex operation, low accuracy of setting nails and the like in the related technology.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a sacroiliac joint screw navigation auxiliary nail placing device which aims at solving the problems of expensive equipment, complex operation, low nail placing accuracy and the like in the related art.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a sacroiliac joint screw navigation aid placement device, comprising:
the support unit is arranged perpendicular to the operating table;
the first end of the first connecting unit is vertically connected with the supporting unit;
The first end of the first positioning unit is vertically connected with the second end of the first connecting unit;
the first end of the second connecting unit is rotationally connected with the second end of the first connecting unit;
the first end of the third connecting unit is rotationally connected with the second end of the second connecting unit;
the middle part of the second positioning unit is rotationally connected with the second end of the third connecting unit, and the second positioning unit is always parallel to the second connecting unit;
the first illumination unit is detachably arranged at the second end of the first positioning unit;
the second illumination unit is detachably arranged on the second positioning unit, and the axis of the second illumination unit is coplanar with the axis of the first illumination unit;
the fixing unit is arranged at the first end of the supporting unit and is used for being detachably connected with the operating table;
the first positioning unit is fixedly connected or detachably connected with the first connecting unit, the second connecting unit horizontally rotates and/or vertically rotates with the first connecting unit, the third connecting unit vertically rotates with the second connecting unit, and the second positioning unit vertically rotates with the third connecting unit.
In some of these embodiments, further comprising:
the first rotating unit is respectively connected with the second end of the first connecting unit and the first end of the second connecting unit;
the second connecting unit horizontally rotates and/or vertically rotates through the first rotating unit.
In some of these embodiments, the second connection unit is rotated at least in a vertical direction by the first rotation unit.
In some of these embodiments, the first rotating unit is a rotating ball or a rotating disc or a rotating shaft.
In some of these embodiments, the first rotation unit includes:
the first rotating element is rotationally connected with the second end of the first connecting unit;
a second rotating element rotatably connected to at least one of the first rotating element and the first end of the second connecting unit;
the second connecting unit rotates in the horizontal direction and in the vertical direction through the first rotating element and the second rotating element.
In some of these embodiments, further comprising:
the second rotating unit is respectively connected with the second end of the second connecting unit and the first end of the third connecting unit.
In some embodiments, the second rotating unit is a turntable or a rotating shaft.
In some of these embodiments, further comprising:
and the third rotating unit is respectively connected with the second end of the third connecting unit and the middle part of the second positioning unit.
In some embodiments, the third rotating unit is a turntable or a rotating shaft.
In some of these embodiments, further comprising:
the fourth connecting unit is respectively connected with the second connecting unit and the second positioning unit in a rotating way, and the fourth connecting unit is parallel to the third connecting unit.
In some of these embodiments, further comprising:
and the fourth rotating unit is respectively connected with the second connecting unit and the first end of the fourth connecting unit.
In some embodiments, the fourth rotating unit is a turntable or a rotating shaft.
In some of these embodiments, further comprising:
and the fifth rotating unit is respectively connected with the second ends of the second positioning unit and the fourth connecting unit.
In some embodiments, the fifth rotating unit is a turntable or a rotating shaft.
In some of these embodiments, further comprising:
the body surface auxiliary positioning unit is provided with grid lines and a plurality of positioning marks on the upper surface, and the positioning marks are arranged in an array mode.
In some of these embodiments, further comprising:
and a screw unit detachably provided through the second positioning unit in a state that the second illumination unit is removed.
In some of these embodiments, further comprising:
the fixing unit is arranged at the first end of the supporting unit and used for being detachably connected with the operating table.
Compared with the prior art, the invention has the following technical effects:
according to the sacroiliac joint screw navigation auxiliary nail placing device, the second connecting unit, the third connecting unit and the second positioning unit are utilized to rotate, so that the light rays of the first illumination unit and the second illumination unit can be focused on a position to be nailed, namely, the two-point and one-line principle is utilized for positioning, then, the hollow second positioning unit is utilized for carrying out free-hand nail placing operation, and the nail placing accuracy is high; the equipment has simple structure, convenient operation, low acquisition cost and subsequent maintenance cost, and is suitable for large-scale popularization and application.
Drawings
Fig. 1 is a schematic view (one) of a sacroiliac joint screw navigation aid placement device according to an embodiment of the invention;
fig. 2 is an exploded view (one) of a sacroiliac joint screw navigation aid placement device according to an embodiment of the invention;
FIG. 3 is a schematic view of a body surface assisted positioning unit according to an embodiment of the invention;
fig. 4A is a schematic view (a) of a use state of the sacroiliac joint screw navigation assistance device according to an embodiment of the invention (the second connecting unit and the first connecting unit are only vertically rotated);
fig. 4B is a schematic view (two) of a use state of the sacroiliac joint screw navigation assistance device according to the embodiment of the invention (the second connecting unit performs horizontal rotation and vertical rotation with the first connecting unit);
fig. 5 is a schematic view (second) of a sacroiliac joint screw navigation aid placement device according to an embodiment of the invention;
fig. 6 is an exploded view (second) of a sacroiliac joint screw navigation aid placement device according to an embodiment of the invention;
fig. 7 is a schematic view of a sacroiliac joint screw navigation aid placement device according to an embodiment of the invention (iii);
fig. 8 is an exploded view (iii) of a sacroiliac joint screw navigation aid placement device according to an embodiment of the invention;
Fig. 9 is a schematic view (fourth) of a sacroiliac joint screw navigation aid placement device according to an embodiment of the invention;
fig. 10 is an exploded view (fourth) of a sacroiliac joint screw navigation aid placement device according to an embodiment of the invention;
fig. 11 is a schematic view (fifth) of a sacroiliac joint screw navigation aid placement device according to an embodiment of the invention;
fig. 12 is an exploded view (fifth) of a sacroiliac joint screw navigation aid placement device according to an embodiment of the invention.
Wherein the reference numerals are as follows: 10. a supporting unit; 20. a first connection unit; 30. a first positioning unit; 40. a second connection unit; 50. a third connection unit; 60. a second positioning unit; 70. a first illumination unit; 80. a second illumination unit; 90. a first rotating unit; 91. a first rotating element; 92. a second rotating element; 100. a second rotation unit; 110. a third rotation unit; 120. a fourth connection unit; 130. a fourth rotation unit; 140. a fifth rotation unit; 150. a body surface auxiliary positioning unit; 151. grid lines; 152. Positioning marks; 160. a screw unit; 170. and a fixing unit.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
The invention is further described below with reference to the drawings and specific examples, which are not intended to be limiting.
Example 1
In an exemplary embodiment of the present invention, as shown in fig. 1-2, a sacroiliac joint screw navigation auxiliary nailing device includes a support unit 10, a first connection unit 20, a first positioning unit 30, a second connection unit 40, a third connection unit 50, a second positioning unit 60, a first illumination unit 70 and a second illumination unit 80, wherein the support unit 10 is vertically disposed on an operating table, the first end of the first connection unit 20 is vertically connected (fixedly connected) with the second end of the support unit 10, the first end of the first positioning unit 30 is vertically connected (fixedly connected or movably connected) with the second end of the first connection unit 20, the first end of the second connection unit 40 is rotatably connected with the second end of the first connection unit 20, the middle portion of the second positioning unit 60 is rotatably connected with the second end of the third connection unit 50 and the second positioning unit 60 is always parallel to the second connection unit 40, the first illumination unit 70 is disposed on the second positioning unit 30 or the second illumination unit 80 is detachably disposed on the second illumination unit 70.
The support unit 10 is a support bar, the first end of which is disposed perpendicular to the operating table.
In some of these embodiments, the support unit 10 is made of medical stainless steel material, and is convenient to sterilize for reuse.
The first connecting unit 20 is a connecting rod, and the first end of the first connecting unit is fixedly connected with the second end of the supporting unit 10 vertically and is in an L-shaped structure, i.e. the first connecting unit 20 is always parallel to the horizontal plane of the operating table.
In some of these embodiments, the first connection unit 20 is made of medical stainless steel material, and is easily sterilized for reuse.
The first positioning unit 30 is a positioning rod, and a first end of the positioning rod is vertically connected with a second end of the first connecting unit 20 and has an L-shaped structure, i.e., the first positioning unit 30 is always parallel to the supporting unit 10.
In some embodiments, the first positioning unit 30 is fixedly connected or movably connected to the first connecting unit 20, wherein the movable connection refers to a detachable connection, including but not limited to a threaded connection, a nested connection.
In some of these embodiments, the first positioning unit 30 is disposed at a side or bottom of the second end of the first connection unit 20.
In some of these embodiments, the inner side of the second end of the first positioning unit 30 is provided with threads.
In some of these embodiments, the first positioning unit 30 is made of medical stainless steel material, which is convenient for sterilization for reuse.
The second connection unit 40 is a connection rod, a first end of which is rotatably connected to a second end of the first connection unit 20, and the second connection unit 40 rotates in a vertical direction with a connection position thereof as an axis. Specifically, the axis of the connection of the second connection unit 40 and the first connection unit 20 is taken as the Y axis, and the second connection unit 40 rotates around the Y axis.
In some of these embodiments, the second connection unit 40 is made of medical stainless steel material, and is easily sterilized for reuse.
The third connection unit 50 is a connection rod, the first end of which is rotatably connected to the second end of the second connection unit 40, and the third connection unit 50 rotates in a vertical direction with the connection position as an axis. Specifically, the axis of the connection of the third connection unit 50 and the second connection unit 40 is taken as the Y axis, and the third connection unit 50 rotates around the Y axis.
In some of these embodiments, the third connection unit 50 is made of medical stainless steel material, which is convenient for sterilization for reuse.
The second positioning unit 60 is a hollow structure, specifically a hollow sleeve, and the middle part (between the first end and the second end of the second positioning unit 60) thereof is rotatably connected to the second end of the third connecting unit 50, and the second positioning unit 60 rotates in the vertical direction about the connection position thereof. Specifically, the axis at the junction of the second positioning unit 60 and the third connecting unit 50 is taken as the Y axis, and the second positioning unit 60 rotates around the Y axis.
In some of these embodiments, the inner side of the first end and/or the second end of the second positioning unit 60 is provided with threads.
In some of these embodiments, the second positioning unit 60 is made of medical grade stainless steel material, which is convenient for sterilization for reuse.
In some of these embodiments, the axis of the second positioning unit 60 is always coplanar with the axis of the first positioning unit 30.
The first illumination unit 70 is a laser, a first end of which is a connection end, and a second end of which is an illumination end, and the first end of the first illumination unit 70 is detachably connected with the second end of the first positioning unit 30.
The second illumination unit 80 is a laser, and a first end thereof is a connection end, a second end thereof is an illumination end, and the first end of the second illumination unit 80 is detachably connected with the first end or the second end of the second positioning unit 60.
Further, the sacroiliac joint screw navigation auxiliary nailing device further comprises a first rotating unit 90, a second rotating unit 100 and a third rotating unit 110, wherein the first rotating unit 90 is respectively connected with the second end of the first connecting unit 20 and the first end of the second connecting unit 40, the second rotating unit 100 is respectively connected with the second end of the second connecting unit 40 and the first end of the third connecting unit 50, and the third rotating unit 110 is respectively connected with the second end of the third connecting unit 50 and the middle part of the second positioning unit 60.
The first rotating unit 90 is a rotating ball, and the second connecting unit 40 is rotated in the horizontal direction and the vertical direction by the first rotating unit 90.
In some embodiments, the first rotating unit 90 is rotatably connected to both the first connecting unit 20 and the second connecting unit 40.
Specifically, the second end of the first connection unit 20 is provided with a first nesting element, the first end of the second connection unit 40 is provided with a second nesting element, the first nesting element and the second nesting element are nested with each other to form a rotating cavity, the first rotating unit 90 is disposed in the rotating cavity and is respectively connected with the first nesting element and the second nesting element in a rotating manner, and at this time, the second connection unit 40 can rotate horizontally and vertically by taking the first rotating unit 90 as a center of a circle.
In some embodiments, the first rotating unit 90 is fixedly connected to one of the first and second connecting units 20 and 40, and is rotatably connected to the other of the first and second connecting units 20 and 40. Specifically, the first rotating unit 90 is fixedly connected to the second end of the first connecting unit 20 and is rotatably connected to the first end of the second connecting unit 40; or, the first rotating unit 90 is rotatably connected to the second end of the first connecting unit 20 and fixedly connected to the first end of the second connecting unit 40.
The second rotating unit 100 is a rotating shaft, and the third connecting unit 50 is rotated in a vertical direction by the second rotating unit 100.
In some of these embodiments, the second rotating unit 100 is fixedly connected to one of the second connecting unit 40 and the third connecting unit 50, and is rotatably connected to the other of the second connecting unit 40 and the third connecting unit 50. Specifically, the second rotating unit 100 is fixedly connected to the second end of the second connecting unit 40 and is rotatably connected to the first end of the third connecting unit 50; or, the second rotating unit 100 is rotatably connected to the second end of the second connecting unit 40 and fixedly connected to the first end of the third connecting unit 50.
The third rotating unit 110 is a rotating shaft, and the second positioning unit 60 is rotated in a vertical direction by the third rotating unit 110.
In some embodiments, the third rotating unit 110 is fixedly connected to one of the third connecting unit 50 and the second positioning unit 60, and is rotatably connected to the other of the third connecting unit 50 and the second positioning unit 60. Specifically, the third rotating unit 110 is fixedly connected to the second end of the third connecting unit 50 and is rotatably connected to the middle of the second positioning unit 60; or, the third rotating unit 110 is rotatably connected to the second end of the third connecting unit 50 and fixedly connected to the middle of the second positioning unit 60.
Further, the first rotation unit 90, the second rotation unit 100, and the third rotation unit 110 are rotation elements having damping.
Further, the sacroiliac joint screw navigation assisting nail placing device further comprises a body surface assisting positioning unit 150, and the body surface assisting positioning unit 150 is detachably arranged on the sacrum abdomen skin and the lateral hip skin of the patient and used for assisting positioning.
As shown in fig. 3, the body surface auxiliary positioning unit 150 includes a grid line 151 and a plurality of positioning marks 152, the grid line 151 is disposed on the upper surface of the body surface auxiliary positioning unit 150, and the plurality of positioning marks 152 are disposed on the upper surface of the body surface auxiliary positioning unit 150 in an array, wherein the positioning marks 152 are used for indicating the positions of the nails to be placed.
In some embodiments, a plurality of positioning marks 152 are disposed at the boundary positions of the grid lines 151.
In some of these embodiments, the positioning marks 152 may be the same or different in shape. The shape of the positioning mark 152 includes, but is not limited to, a circle, a polygon (including, but not limited to, a regular polygon), an ellipse, a heart. Wherein the polygons include, but are not limited to, triangles, rectangles, pentagrams.
Further, the sacroiliac joint screw navigation assistance screw placement device further includes a screw unit 160, and the screw unit 160 performs a screw placement operation through the second positioning unit 60 in the case that the first illumination unit 70 and the second illumination unit 80 perform the positioning of the position to be nailed.
Further, the sacroiliac joint screw navigation assisting nail device further includes a fixing unit 170, and the fixing unit 170 is disposed at the first end of the supporting unit 10 for connection with the operating table.
In some of these embodiments, the fixing unit 170 is a fixed base, which is placed on the operating table.
In some of these embodiments, the fixation unit 170 is a clamping element for clamping to the edge of the surgical bed.
As shown in fig. 4A to 4B, the method of using the present invention is as follows: fixing the support unit 10 (through the fixing unit 170) on an operating table, attaching the body surface auxiliary positioning unit 150 to the corresponding sacrum abdomen skin and lateral buttock skin, photographing a positive lateral position sheet by using a C-arm machine, finding out the position of the sacrum 1 (S1) or the sacrum 2 (S2) bone on the X-ray sheet, determining the position of the front end of the screw at the S1 or the S2, determining a positioning mark 152 corresponding to the position, marking the body surface position according to the positioning mark 152, and drawing a mark; then the second connecting unit 40, the third connecting unit 50 and the second positioning unit 60 are rotated, the first illumination unit 70 and the second illumination unit 80 are used for positioning, the positions of the body surface marks are respectively corresponding to the positive position (alpha ray) and the lateral position (beta ray), and then the position of the second positioning unit 60 is fixed; removing the second illumination unit 80, and performing a screw setting operation on the screw unit 160 through the second positioning unit 60;
Wherein, the setting nails are divided into parallel channel screws and non-parallel channel screws;
parallel channel screw: after determining the front end point position of the screw, determining needle insertion points through standard sacrum side position images, respectively determining ICD (ilium cortex high density line), SAS (sacrum wing slope line), sacral nerve root canal front edge and rear edge, S1/2 intervertebral disc and upper and lower edges of S1 front hole, thereby determining needle insertion points of parallel screws, finding out the needle insertion points and then corresponding to the body surface auxiliary positioning unit 150, finding out body surface projection points of the needle insertion points, rotating the third connecting unit 50, enabling laser (beta rays) emitted by the second illumination unit 80 to irradiate the body surface projection positions of the needle insertion points, removing the second illumination unit 80, and carrying out auxiliary placement of the parallel screws through the second positioning unit 60;
non-parallel channel screw: after the front end point position of the screw is determined, the angle of shooting the nonstandard sacrum side position image is obtained according to CT measurement before operation, then the needle insertion point is determined through the nonstandard sacrum side position image, namely, an oval nail placement safety area surrounded by the SAS and the sacral nerve root canal front edge line is found on the nonstandard sacrum side position image, the area is the needle insertion point of the screw, the needle insertion point is found and then corresponds to the body surface auxiliary positioning unit 150, the body surface projection point is found, then the second connecting unit 40 and the third connecting unit 50 are rotated, the body surface projection position of the needle insertion point is irradiated by laser (beta rays) emitted by the second illumination unit 80, then the second illumination unit 80 is removed, and the auxiliary placement of the parallel screw is performed through the second positioning unit 60.
Example 2
An exemplary embodiment of the present invention, as shown in fig. 5 to 6, a sacroiliac joint screw navigation auxiliary stapling apparatus, comprises a supporting unit 10, a first connecting unit 20, a first positioning unit 30, a second connecting unit 40, a third connecting unit 50, a second positioning unit 60, a first illumination unit 70, a second illumination unit 80, a first rotating unit 90, a second rotating unit 100, a third rotating unit 110, a body surface auxiliary positioning unit 150, a screw unit 160, and a fixing unit 170, wherein the supporting unit 10 is vertically disposed at an operation table, a first end of the first connecting unit 20 is vertically connected (fixedly connected) with a second end of the supporting unit 10, a first end of the first positioning unit 30 is vertically connected (fixedly connected or movably connected) with a second end of the first connecting unit 20, the first end of the second connecting unit 40 is rotatably connected with the second end of the first connecting unit 20, the first end of the third connecting unit 50 is rotatably connected with the second end of the second connecting unit 40, the middle part of the second positioning unit 60 is rotatably connected with the second end of the third connecting unit 50, the second positioning unit 60 is always parallel to the second connecting unit 40, the first illumination unit 70 is arranged at the second end (fixedly connected or movably connected) of the first positioning unit 30, the second illumination unit 80 is detachably arranged at the second positioning unit 60, the axis of the second illumination unit 80 is coplanar with the axis of the first illumination unit 70, the first rotation unit 90 is respectively connected with the second end of the first connecting unit 20 and the first end of the second connecting unit 40, the second rotation unit 100 is respectively connected with the second end of the second connecting unit 40 and the first end of the third connecting unit 50, the third rotating unit 110 is respectively connected with the second end of the third connecting unit 50 and the middle part of the second positioning unit 60, the body surface auxiliary positioning unit 150 is detachably arranged on the sacrum abdomen skin and the lateral hip skin of the patient for auxiliary positioning, the screw unit 160 passes through the second positioning unit 60 to perform the screw setting operation under the condition that the first illumination unit 70 and the second illumination unit 80 perform the positioning of the position to be nailed, and the fixing unit 170 is arranged at the first end of the supporting unit 10 for being connected with an operating table
The structures and connection relationships of the support unit 10, the first connection unit 20, the first positioning unit 30, the second connection unit 40, the third connection unit 50, the second positioning unit 60, the first illumination unit 70, the second illumination unit 80, the second rotation unit 100, the third rotation unit 110, the body surface auxiliary positioning unit 150, the screw unit 160 and the fixing unit 170 are substantially the same as those of embodiment 2, and are not repeated herein.
The first rotating unit 90 is a rotating shaft, and the second connecting unit 40 is rotated in a vertical direction by the first rotating unit 90.
In some embodiments, the first rotating unit 90 is fixedly connected to one of the first and second connecting units 20 and 40, and is rotatably connected to the other of the first and second connecting units 20 and 40. Specifically, the first rotating unit 90 is fixedly connected to the second end of the first connecting unit 20 and is rotatably connected to the first end of the second connecting unit 40; or, the first rotating unit 90 is rotatably connected to the second end of the first connecting unit 20 and fixedly connected to the first end of the second connecting unit 40.
The method of use of this embodiment is substantially the same as that of embodiment 1, and will not be described in detail here.
Example 3
This embodiment is a modified embodiment of embodiment 2.
As shown in fig. 7 to 8, a sacroiliac joint screw navigation auxiliary nailing device includes a support unit 10, a first connection unit 20, a first positioning unit 30, a second connection unit 40, a third connection unit 50, a second positioning unit 60, a first illumination unit 70, a second illumination unit 80, a first rotation unit 90, a second rotation unit 100, a third rotation unit 110, a body surface auxiliary positioning unit 150, a screw unit 160, and a fixing unit 170, wherein the support unit 10 is vertically disposed at an operating table, a first end of the first connection unit 20 is vertically connected (fixedly connected) with a second end of the support unit 10, a first end of the first positioning unit 30 is vertically connected (fixedly connected or movably connected) with a second end of the first connection unit 20, a first end of the second connection unit 40 is rotatably connected with a second end of the first connection unit 20, the first end of the third connecting unit 50 is rotationally connected with the second end of the second connecting unit 40, the middle part of the second positioning unit 60 is rotationally connected with the second end of the third connecting unit 50, the second positioning unit 60 is always parallel to the second connecting unit 40, the first illumination unit 70 is arranged at the second end (fixedly connected or movably connected) of the first positioning unit 30, the second illumination unit 80 is detachably arranged at the second positioning unit 60, the axis of the second illumination unit 80 is coplanar with the axis of the first illumination unit 70, the first rotating unit 90 is respectively connected with the second end of the first connecting unit 20 and the first end of the second connecting unit 40, the second rotating unit 100 is respectively connected with the second end of the second connecting unit 40 and the first end of the third connecting unit 50, the third rotating unit 110 is respectively connected with the second end of the third connecting unit 50, the second positioning unit 60 is connected at the middle part, the body surface auxiliary positioning unit 150 is detachably disposed on the sacrum abdomen skin and the lateral buttock skin of the patient for auxiliary positioning, the screw unit 160 passes through the second positioning unit 60 for screw setting operation under the condition that the first illumination unit 70 and the second illumination unit 80 perform the position positioning for screw setting completion, and the fixing unit 170 is disposed at the first end of the supporting unit 10 for connection with the operation table.
The structures and connection relationships of the support unit 10, the first connection unit 20, the first positioning unit 30, the second connection unit 40, the third connection unit 50, the second positioning unit 60, the first illumination unit 70, the second illumination unit 80, the body surface auxiliary positioning unit 150, the screw unit 160, and the fixing unit 170 are substantially the same as those of embodiment 2, and are not described herein.
The first rotating unit 90 is a turntable, and the second connecting unit 40 is rotated in a vertical direction by the first rotating unit 90.
In some embodiments, the first rotating unit 90 is fixedly connected to one of the first and second connecting units 20 and 40, and is rotatably connected to the other of the first and second connecting units 20 and 40. Specifically, the first rotating unit 90 is fixedly connected to the second end of the first connecting unit 20 and is rotatably connected to the first end of the second connecting unit 40; or, the first rotating unit 90 is rotatably connected to the second end of the first connecting unit 20 and fixedly connected to the first end of the second connecting unit 40.
The second rotating unit 100 is a turntable, and the third connecting unit 50 is rotated in a vertical direction by the second rotating unit 100.
In some of these embodiments, the second rotating unit 100 is fixedly connected to one of the second connecting unit 40 and the third connecting unit 50, and is rotatably connected to the other of the second connecting unit 40 and the third connecting unit 50. Specifically, the second rotating unit 100 is fixedly connected to the second end of the second connecting unit 40 and is rotatably connected to the first end of the third connecting unit 50; or, the second rotating unit 100 is rotatably connected to the second end of the second connecting unit 40 and fixedly connected to the first end of the third connecting unit 50.
The third rotating unit 110 is a turntable, and the second positioning unit 60 is rotated in a vertical direction by the third rotating unit 110.
In some embodiments, the third rotating unit 110 is fixedly connected to one of the third connecting unit 50 and the second positioning unit 60, and is rotatably connected to the other of the third connecting unit 50 and the second positioning unit 60. Specifically, the third rotating unit 110 is fixedly connected to the second end of the third connecting unit 50 and is rotatably connected to the middle of the second positioning unit 60; or, the third rotating unit 110 is rotatably connected to the second end of the third connecting unit 50 and fixedly connected to the middle of the second positioning unit 60.
Further, the first rotation unit 90, the second rotation unit 100, and the third rotation unit 110 are rotation elements having damping.
The method of use of this embodiment is substantially the same as that of embodiment 2, and will not be described in detail here.
Example 4
This embodiment is a modified embodiment of embodiment 3.
As shown in fig. 9 to 10, a sacroiliac joint screw navigation auxiliary nailing device includes a support unit 10, a first connection unit 20, a first positioning unit 30, a second connection unit 40, a third connection unit 50, a second positioning unit 60, a first illumination unit 70, a second illumination unit 80, a first rotation unit 90, a second rotation unit 100, a third rotation unit 110, a fourth connection unit 120, a fourth rotation unit 130, a fifth rotation unit 140, a body surface auxiliary positioning unit 150, a screw unit 160, and a fixing unit 170, wherein the support unit 10 is vertically disposed in an operation bed, a first end of the first connection unit 20 is vertically connected (fixedly connected) with a second end of the support unit 10, a first end of the first positioning unit 30 is vertically connected (fixedly connected or movably connected) with a second end of the first connection unit 20, the first end of the second connecting unit 40 is rotatably connected with the second end of the first connecting unit 20, the first end of the third connecting unit 50 is rotatably connected with the second end of the second connecting unit 40, the middle part of the second positioning unit 60 is rotatably connected with the second end of the third connecting unit 50, the second positioning unit 60 is always parallel to the second connecting unit 40, the first illumination unit 70 is arranged at the second end (fixedly connected or movably connected) of the first positioning unit 30, the second illumination unit 80 is detachably arranged at the second positioning unit 60, the axis of the second illumination unit 80 is coplanar with the axis of the first illumination unit 70, the first rotation unit 90 is respectively connected with the second end of the first connecting unit 20 and the first end of the second connecting unit 40, the second rotation unit 100 is respectively connected with the second end of the second connecting unit 40 and the first end of the third connecting unit 50, the third rotating unit 110 is respectively connected with the second end of the third connecting unit 50 and the middle part of the second positioning unit 60, the fourth connecting unit 120 is respectively connected with the second connecting unit 40 and the second positioning unit 60 in a rotating way and is always parallel to the third connecting unit 50, the fourth rotating unit 130 is respectively connected with the second end of the second connecting unit 40 and the first end of the fourth connecting unit 120, the fifth rotating unit 140 is respectively connected with the second end of the fourth connecting unit 120 and the second positioning unit 60, the body surface auxiliary positioning unit 150 is detachably arranged on the sacrum abdomen skin and the lateral buttock skin of a patient and used for auxiliary positioning, the screw unit 160 passes through the second positioning unit 60 and is used for performing a nailing operation under the condition that the first illumination unit 70 and the second illumination unit 80 are positioned at the position to be nailed, and the fixing unit 170 is arranged at the first end of the supporting unit 10 and is used for being connected with an operating bed.
The structures and connection relationships of the support unit 10, the first connection unit 20, the first positioning unit 30, the second connection unit 40, the third connection unit 50, the second positioning unit 60, the first illumination unit 70, the second illumination unit 80, the first rotation unit 90, the second rotation unit 100, the third rotation unit 110, the body surface auxiliary positioning unit 150, the screw unit 160, and the fixing unit 170 are substantially the same as those of embodiment 2 or 3, and are not described herein.
The fourth connecting unit 120 is a connecting rod, a first end of which is rotatably connected to the second connecting unit 40, a second end of which is rotatably connected to the first end or the second end of the second positioning unit 60, and the fourth connecting unit 120 is vertically rotated about a connection position thereof as an axis. Specifically, the axis at the junction of the fourth connection unit 120 and the second connection unit 40 is taken as the Y axis, and the fourth connection unit 120 rotates around the Y axis.
In some of these embodiments, the fourth connection unit 120 is made of medical stainless steel material, which is convenient for sterilization for reuse.
The fourth rotating unit 130 is a rotating shaft or a rotating disc, and the fourth connecting unit 120 is rotated in a vertical direction by the fourth rotating unit 130.
In some embodiments, the fourth rotating unit 130 is fixedly connected to one of the second connecting unit 40 and the fourth connecting unit 120, and is rotatably connected to the other of the second connecting unit 40 and the fourth connecting unit 120. Specifically, the second rotating unit 100 is fixedly connected with the second connecting unit 40 and is rotatably connected with the first end of the fourth connecting unit 120; or, the second rotating unit 100 is rotatably connected to the second connecting unit 40 and fixedly connected to the first end of the fourth connecting unit 120.
The fifth rotating unit 140 is a rotating shaft or a rotating disc, and the second positioning unit 60 is rotated in a vertical direction by the fifth rotating unit 140.
In some embodiments, the fifth rotating unit 140 is fixedly connected to one of the fourth connecting unit 120 and the second positioning unit 60, and is rotatably connected to the other of the fourth connecting unit 120 and the second positioning unit 60. Specifically, the fifth rotating unit 140 is fixedly connected to the second end of the fourth connecting unit 120, and is rotatably connected to the first end or the second end of the second positioning unit 60; or, the fifth rotating unit 140 is rotatably coupled to the second end of the fourth connecting unit 120 and fixedly coupled to the first end or the second end of the second positioning unit 60.
Further, the fourth rotation unit 130 and the fifth rotation unit 140 are rotation elements having damping.
In the present embodiment, the fourth connection unit 120 and the third connection unit 50 are used to always maintain the parallel arrangement, thereby ensuring that the second positioning unit 60 and the second connection unit 40 always maintain the parallel arrangement.
The method of use of this embodiment is substantially the same as that of embodiment 2, and will not be described in detail here.
Example 5
This embodiment is a modified embodiment of embodiment 3.
As shown in fig. 11 to 12, a sacroiliac joint screw navigation auxiliary nailing device includes a support unit 10, a first connection unit 20, a first positioning unit 30, a second connection unit 40, a third connection unit 50, a second positioning unit 60, a first illumination unit 70, a second illumination unit 80, a first rotation unit 90, a second rotation unit 100, a third rotation unit 110, a body surface auxiliary positioning unit 150, a screw unit 160, and a fixing unit 170, wherein the support unit 10 is vertically disposed at an operating table, a first end of the first connection unit 20 is vertically connected (fixedly connected) with a second end of the support unit 10, a first end of the first positioning unit 30 is vertically connected (fixedly connected or movably connected) with a second end of the first connection unit 20, a first end of the second connection unit 40 is rotatably connected with a second end of the first connection unit 20, the first end of the third connecting unit 50 is rotationally connected with the second end of the second connecting unit 40, the middle part of the second positioning unit 60 is rotationally connected with the second end of the third connecting unit 50, the second positioning unit 60 is always parallel to the second connecting unit 40, the first illumination unit 70 is arranged at the second end (fixedly connected or movably connected) of the first positioning unit 30, the second illumination unit 80 is detachably arranged at the second positioning unit 60, the axis of the second illumination unit 80 is coplanar with the axis of the first illumination unit 70, the first rotating unit 90 is respectively connected with the second end of the first connecting unit 20 and the first end of the second connecting unit 40, the second rotating unit 100 is respectively connected with the second end of the second connecting unit 40 and the first end of the third connecting unit 50, the third rotating unit 110 is respectively connected with the second end of the third connecting unit 50, the second positioning unit 60 is connected at the middle part, the body surface auxiliary positioning unit 150 is detachably disposed on the sacrum abdomen skin and the lateral buttock skin of the patient for auxiliary positioning, the screw unit 160 passes through the second positioning unit 60 for screw setting operation under the condition that the first illumination unit 70 and the second illumination unit 80 perform the position positioning for screw setting completion, and the fixing unit 170 is disposed at the first end of the supporting unit 10 for connection with the operation table.
The structures and connection relationships of the support unit 10, the first connection unit 20, the first positioning unit 30, the second connection unit 40, the third connection unit 50, the second positioning unit 60, the first illumination unit 70, the second illumination unit 80, the second rotation unit 100, the third rotation unit 110, the body surface auxiliary positioning unit 150, the screw unit 160 and the fixing unit 170 are substantially the same as those of embodiment 2 or 3, and are not repeated herein.
The first rotating unit 90 includes a first rotating element 91 and a second rotating element 92, wherein the first rotating element 91 is connected to the second end of the first connecting unit 20, and the second rotating element 92 is connected to the first ends of the first rotating element 91 and the second connecting unit 40, respectively.
The first rotating member 91 is a turntable, and the second connecting unit 40 is rotated in a horizontal direction by the first rotating member 91.
In some of these embodiments, the first rotating element 91 is fixedly connected to one of the first connecting unit 20 and the second rotating element 92, and is rotatably connected to the other of the first connecting unit 20 and the second rotating element 92. Specifically, the first rotating member 91 is fixedly connected to the second end of the first connecting unit 20, and is rotatably connected to the first end of the second rotating member 92; or, the first rotating member 91 is rotatably connected to the second end of the first connecting unit 20 and fixedly connected to the first end of the second rotating member 92.
The second rotating member 92 is a turntable, and the second connection unit 40 is rotated in a vertical direction by the second rotating member 92.
In some of these embodiments, the second rotating element 92 is fixedly connected to one of the first rotating element 91 and the second connecting unit 40, and is rotatably connected to the other of the first rotating element 91 and the second connecting unit 40. Specifically, the second rotating member 92 is fixedly connected to the second end of the first rotating member 91 and rotatably connected to the first end of the second connecting unit 40; or, the second rotating member 92 is rotatably coupled to the second end of the first rotating member 91 and fixedly coupled to the first end of the second coupling unit 40.
In the present embodiment, the second connection unit 40 can be rotated in the horizontal direction and the vertical direction by the first rotation unit 90, and the use area is enlarged.
The method of use of this embodiment is substantially the same as that of embodiment 2 and will not be described here again.
The foregoing description is only illustrative of the preferred embodiments of the present invention and is not to be construed as limiting the scope of the invention, and it will be appreciated by those skilled in the art that equivalent substitutions and obvious variations may be made using the description and illustrations of the present invention, and are intended to be included within the scope of the present invention.

Claims (10)

1. A sacroiliac joint screw navigation aid placement device, comprising:
the support unit is arranged perpendicular to the operating table;
the first end of the first connecting unit is vertically connected with the supporting unit;
the first end of the first positioning unit is vertically connected with the second end of the first connecting unit;
the first end of the second connecting unit is rotationally connected with the second end of the first connecting unit;
the first end of the third connecting unit is rotationally connected with the second end of the second connecting unit;
the middle part of the second positioning unit is rotationally connected with the second end of the third connecting unit, and the second positioning unit is always parallel to the second connecting unit;
the first illumination unit is detachably arranged at the second end of the first positioning unit;
the second illumination unit is detachably arranged on the second positioning unit, and the axis of the second illumination unit is coplanar with the axis of the first illumination unit;
The fixing unit is arranged at the first end of the supporting unit and is used for being detachably connected with the operating table;
the first positioning unit is fixedly connected or detachably connected with the first connecting unit, the second connecting unit horizontally rotates and/or vertically rotates with the first connecting unit, the third connecting unit vertically rotates with the second connecting unit, and the second positioning unit vertically rotates with the third connecting unit.
2. The sacroiliac joint screw navigation aid placement device of claim 1, further comprising:
the first rotating unit is respectively connected with the second end of the first connecting unit and the first end of the second connecting unit;
the second connecting unit horizontally rotates and/or vertically rotates through the first rotating unit.
3. The sacroiliac joint screw navigation aid placement device of claim 2, wherein the first rotation unit is a rotation ball or shaft or dial.
4. The sacroiliac joint screw navigation aid placement device of claim 1, further comprising:
The second rotating unit is respectively connected with the second end of the second connecting unit and the first end of the third connecting unit.
5. The sacroiliac joint screw navigation aid placement device of claim 1, further comprising:
and the third rotating unit is respectively connected with the second end of the third connecting unit and the middle part of the second positioning unit.
6. The sacroiliac joint screw navigation aid placement device of claim 1, further comprising:
the fourth connecting unit is respectively connected with the second connecting unit and the second positioning unit in a rotating way, and the fourth connecting unit is parallel to the third connecting unit.
7. The sacroiliac joint screw navigation aid placement device of claim 6, further comprising:
and the fourth rotating unit is respectively connected with the second connecting unit and the first end of the fourth connecting unit.
8. The sacroiliac joint screw navigation aid placement device of claim 6, further comprising:
and the fifth rotating unit is respectively connected with the second ends of the second positioning unit and the fourth connecting unit.
9. The sacroiliac joint screw navigation aid placement device of claim 1, further comprising:
the body surface auxiliary positioning unit is provided with grid lines and a plurality of positioning marks on the upper surface, and the positioning marks are arranged in an array mode.
10. The sacroiliac joint screw navigation aid placement device of claim 1, further comprising:
and a screw unit detachably provided through the second positioning unit in a state that the second illumination unit is removed.
CN202111041796.1A 2021-09-07 2021-09-07 Auxiliary screw placement device for sacroiliac joint screw navigation Active CN113907859B (en)

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CN115444553B (en) * 2022-08-12 2023-08-29 数坤(上海)医疗科技有限公司 Needle insertion point projection method, device, equipment and storage medium

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