CN114176800A - Femoral head core decompression operation positioner and decompression method thereof - Google Patents
Femoral head core decompression operation positioner and decompression method thereof Download PDFInfo
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- CN114176800A CN114176800A CN202210003106.1A CN202210003106A CN114176800A CN 114176800 A CN114176800 A CN 114176800A CN 202210003106 A CN202210003106 A CN 202210003106A CN 114176800 A CN114176800 A CN 114176800A
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- 230000006837 decompression Effects 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000017074 necrotic cell death Effects 0.000 claims description 10
- 230000001338 necrotic effect Effects 0.000 claims description 10
- 210000000527 greater trochanter Anatomy 0.000 claims description 4
- 238000001356 surgical procedure Methods 0.000 claims description 4
- 238000009877 rendering Methods 0.000 claims description 2
- 230000001954 sterilising effect Effects 0.000 claims description 2
- 238000003384 imaging method Methods 0.000 claims 1
- 206010028851 Necrosis Diseases 0.000 description 7
- 230000000694 effects Effects 0.000 description 4
- 210000000988 bone and bone Anatomy 0.000 description 3
- 238000002594 fluoroscopy Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005553 drilling Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 206010031264 Osteonecrosis Diseases 0.000 description 1
- 230000036770 blood supply Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000003759 clinical diagnosis Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000001624 hip Anatomy 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 238000002513 implantation Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000008929 regeneration Effects 0.000 description 1
- 238000011069 regeneration method Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000011477 surgical intervention Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
- A61B17/1703—Guides or aligning means for drills, mills, pins or wires using imaging means, e.g. by X-rays
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
- A61B17/1739—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body
- A61B17/1742—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body for the hip
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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- Health & Medical Sciences (AREA)
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- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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- Heart & Thoracic Surgery (AREA)
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- Oral & Maxillofacial Surgery (AREA)
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Abstract
The invention provides a femoral head medullary core decompression operation positioner and a decompression method thereof, wherein the positioner comprises a fixed guide cylinder part and a movable guide cylinder part: the fixed guide cylinder part comprises a fixed guide plate and a fixed guide cylinder which is arranged on the fixed guide plate and is used for inserting three pre-guide pins; the movable guide cylinder part comprises a movable guide cylinder for inserting the positioning guide pin, and the movable guide cylinder is movably arranged relative to the fixed guide cylinder part. According to the positioning information provided by the three pre-guide pins, the position and the angle of the movable guide cylinder are changed, and a doctor in the operation can position the target dead zone by only arranging the positioning guide pin along the movable guide cylinder.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a femoral head core decompression operation positioner and a decompression method thereof.
Background
Femoral head necrosis is a common disease in orthopedic clinical diagnosis and treatment, and is one of the main reasons for hip joint disability in young and strong years. In 60% -80% of patients, reverse regeneration of femoral head necrosis itself is difficult to achieve by conservative treatment, requiring surgical intervention. The marrow core decompression operation is a main hip protection operation mode for treating early femoral head necrosis, and aims to improve the blood supply of the femoral head, repair osteonecrosis areas and preserve the normal functions of the femoral head through marrow core decompression under a minimally invasive channel or a combined necrotic bone removal and bone grafting technology. The conventional core decompression operation at present needs to rely on the experience of an operator and repeated X-ray fluoroscopy in the operation to determine the implantation pose and the depth of the Kirschner wire positioned in the necrotic area. Repeated fluoroscopic positioning increases radiation damage to the patient and the operating physician; even a skilled doctor may have difficulty in positioning the target to an ideal target position even after repeated fluoroscopy and many times of kirschner wire insertion. Inaccurate guide pin placement can lead to inadequate decompression of necrotic areas and incomplete cleaning of necrotic bones, which affects the surgical effect.
Disclosure of Invention
In order to solve the problems, the invention provides a femoral head core decompression surgery positioner, which comprises a fixed guide cylinder part and a movable guide cylinder part:
the fixed guide cylinder part comprises a fixed guide plate and three fixed guide cylinders which are arranged on the fixed guide plate and used for inserting three pre-guide pins;
the movable guide cylinder part comprises a movable guide cylinder for inserting the positioning guide pin, and the movable guide cylinder is movably arranged relative to the fixed guide cylinder part.
Preferably, the fixed guide plate is provided with a plurality of guide holes, and the fixed guide cylinders are fixedly arranged on the guide holes.
Preferably, the movable guide cylinder is movably arranged on a moving platform, and the moving platform is connected with the fixed guide plate through a connecting plate.
Preferably, the motion platform comprises at least two parallel movable parts, and the movable guide cylinders are movably connected with the movable parts through universal balls respectively;
the movable portion includes two translational degrees of freedom.
Preferably, the movable part comprises a movable platform, an assembly table and the universal ball, the universal ball is mounted on the movable platform, and the movable guide cylinder penetrates through the center of the universal ball;
the movable platform is movably connected with the assembling table and can move front and back and left and right relative to the assembling table.
Preferably, a front-back guide rail is fixedly arranged on the assembling table, a sliding block is arranged on the front-back guide rail in a sliding manner, a left-right guide rail is fixedly arranged on the movable platform, and the left-right guide rail is arranged on the sliding block in a sliding manner.
Preferably, the pre-guide pin and the positioning guide pin are both kirschner pins.
The invention also provides a decompression method of the femoral head core decompression operation positioner, which comprises the following steps:
s1, sterilizing the locator before use;
s2, driving three pre-guide pins to the femoral head greater trochanter along three fixed guide cylinders selected from the fixed guide plates in the operation;
s3, determining the position of a femoral head necrosis area, the coordinates of the three pre-guide pins and a preoperative planned path according to preoperative images and intraoperative X-ray perspective views, and determining the target position and angle of the movable guide cylinder;
s4, adjusting the movable guide cylinder to a target position and an angle;
s5, driving the positioning guide pin to drive the femoral head necrosis area along the movable guide cylinder by using an electric drill.
Preferably, in step S3, the X-ray rendering and the pre-operative CT are registered, after the registration, the coordinates of the image coordinate system of the necrotic area are known, and the coordinates of the image coordinate system of the front ends of the three pre-guide pins are also known after the registration, and since the coordinates of the locator coordinate system of the three pre-guide pins are known, the connection between the image coordinate system and the locator coordinate system can be completed according to the three pre-guide pins.
Preferably, in step S5, when the lead drilling depth reaches the drilling depth determined from the pre-operative image, the lead tip can reach the femoral head necrosis zone.
Compared with the prior art, the invention has the following technical effects:
(1) the invention provides a femoral head medullary core decompression operation positioner, which comprises a fixed guide cylinder part and a movable guide cylinder part: the fixed guide cylinder part comprises a fixed guide plate and three fixed guide cylinders which are arranged on the fixed guide plate and used for inserting three pre-guide pins; the movable guide cylinder part comprises a movable guide cylinder for inserting the positioning guide pin, and the movable guide cylinder is movably arranged relative to the fixed guide cylinder part. According to the positioning information provided by the three pre-guide pins, the position and the angle of the movable guide cylinder are changed, and a doctor in the operation can position the target dead zone by only arranging the positioning guide pin along the movable guide cylinder. The invention has simple structure, is convenient for actual operation, reduces X-ray fluoroscopy times in the operation and improves positioning accuracy, thereby reducing the radiation damage of operators and patients, shortening the operation time and improving the cleaning condition of necrotic areas;
(2) the three pre-guide pins are used as a connection bridge of the coordinate system of the positioner and the image coordinate system, so that a light-emitting ball and a camera in an optical navigation scheme are avoided, and the three pre-guide pins are minimally invasive to be placed into the femoral head of a patient, so that a large wound does not need to be added to the patient, the operation is facilitated, and the recovery of the patient is facilitated.
(3) The fixed guide cylinder and the movable guide cylinder are assembled together, so that the conversion between a coordinate system of a surgical instrument and a coordinate system of a human body is avoided;
(4) the four-freedom-degree requirement of the positioner is realized by the two parallel movable parts, and the positioner is small, exquisite, simple and convenient, and does not adopt a six-freedom-degree mechanical arm with functional redundancy.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. In the drawings:
FIG. 1 is an elevation view of a femoral head core decompression surgical locator provided in accordance with a preferred embodiment of the present invention;
FIG. 2 is a top view of a femoral head core decompression surgical locator according to a preferred embodiment of the present invention;
FIG. 3 is an enlarged view of the connection between the movable guide sleeve and the movable portion according to the preferred embodiment of the present invention;
FIG. 4 is an illustration of the operational principle of the movable guide sleeve provided by the preferred embodiment of the present invention;
FIG. 5 is a logic diagram of an image coordinate system and a locator coordinate system provided by a preferred embodiment of the present invention;
fig. 6 is an explanatory diagram of an image coordinate system and a locator coordinate system provided by a preferred embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Referring to fig. 1 to 3, a femoral head core decompression surgery locator includes a fixed guide cylinder part 1 and a movable guide cylinder part 3:
the fixed guide cylinder part 1 comprises a fixed guide plate 11 and three fixed guide cylinders 12 which are arranged on the fixed guide plate 11 and used for inserting three pre-guide pins, wherein the three pre-guide pins are all Kirschner wires and used for providing positioning information;
the movable guide cylinder part 3 comprises a movable guide cylinder 32 for inserting a positioning guide pin, the positioning guide pin is a Kirschner wire, and the movable guide cylinder 32 is movably arranged relative to the fixed guide cylinder part 1.
In this embodiment, the position and angle of the movable guide cylinder 32 are changed according to the positioning information provided by the three pre-guide pins, so that the physician can position the target dead zone by inserting the positioning guide pin along the movable guide cylinder 32.
Specifically, the fixed guide plate 11 is provided with a plurality of guide holes 111, and a plurality of fixed guide cylinders 12 are fixedly inserted into the plurality of guide holes 111, in this embodiment, the fixed guide plate 11 is provided with a plurality of fixed guide cylinders 12, and three fixed guide cylinders can be arbitrarily selected according to the characteristics of the femoral head of a patient during an operation, so as to conveniently drive the pre-guide pin into the greater trochanter of the femoral head.
In this embodiment, the movable guide cylinder 32 is movably disposed on a moving platform, the moving platform is connected to the fixed guide plate 11 through a connecting plate 2, and the angle and position of the movable guide cylinder 32 are controlled by the moving platform.
The present embodiment does not limit the specific structure of the motion platform, and only needs to drive the movable guide cylinder 32 to the desired pose. In the following, the motion platform is exemplified to include two parallel movable portions (the movable portion 31 and the movable portion 31').
The movable guide cylinder 32 is movably connected to the two movable portions (the movable portion 31 and the movable portion 31') through universal balls, and the two movable portions (the movable portion 31 and the movable portion 31') each include two translational degrees of freedom.
Referring to fig. 4, each of the movable portions 31 and 31' includes a movable platform 313, a mounting base 314, a bearing housing 312, and a universal ball 311, the universal ball 311 is mounted on the movable platform 313 through the bearing housing 312, and the movable guide cylinder 21 passes through the center of the universal ball 311. The assembly table 314 of one of the movable parts is fixedly connected with the fixed guide plate 11 through the connecting plate 2. The movable platform 313 is movably connected to the assembly table 314, in this embodiment, the movable platform 313 can move back and forth and left and right relative to the assembly table 314, specifically, a front and back guide rail 315 is fixedly disposed on the assembly table 314, and a sliding block 316 is slidably disposed on the front and back guide rail 315. The movable platform 313 is fixed with a left and right guide 317, and the left and right guide 137 is slidably disposed on the sliding block 316. The two parallel moving parts bring the movable guide cylinder 32 to change its position and angle.
The decompression method of the femoral head core decompression surgical locator specifically comprises the following steps:
the locator is sterilized before use;
selecting three fixed guide cylinders 12 on a fixed guide plate 11 according to the characteristics of the femoral head of a patient, and driving three pre-guide pins to the greater trochanter of the femoral head along the three fixed guide cylinders 12;
the method comprises the steps of shooting an X-ray perspective view for a patient, registering with preoperative CT after the X-ray is shot, knowing the coordinates of an image coordinate system of a necrosis area after the registration is finished, knowing the coordinates of the image coordinate system of the front ends of the three pre-guide pins after the registration, and finishing the registration of the image coordinate system and the coordinate system of the positioner according to the three pre-guide pins because the coordinates of the coordinate system of the positioner of the three pre-guide pins are known.
Referring to fig. 5 and fig. 6, the present embodiment defines two coordinate systems: a locator coordinate system u and an image coordinate system v. u. of1,u2,u3Can be derived from the fixed design of the fixed guide 11. Coordinate system u of a positioner driven into the end point of the femur4,u5,u6Can be calculated from the pre-guide pin length and angle. Meanwhile, after the X-ray is shot, the X-ray image is registered with the preoperative CT image, and the coordinate v of the front end of the guide pin under the image coordinate system can be known4,v5,v6And because v is known from preoperative planning1And v2And v1、v2The straight line of definition, so can calculate the image coordinate system position and the angle of guide pin at skin surface department before the art, again according to coordinate system conversion, can get the income needle position and the angle of location guide pin under the locator coordinate system, move four guide rails at last and make activity guide cylinder 32 reach target position and angle, the doctor drives the location guide pin with the electric drill and drives into along activity guide cylinder 32 to the necrotic area of femoral head, alright with fixing a position the guide pin to the necrotic area, when the guide pin bores the degree of depth and reaches the perforation depth according to image determination before the art, the guide pin sharp-end alright reach the necrotic area of femoral head.
When the coordinate system is converted, the characteristic that the coordinates of the front end of the pre-guide pin are known in the coordinate system of the positioner and the image coordinate system is mainly relied on. Assume that the basis vector of the locator coordinate system is { e }1,e2,e3The base vector of the image coordinate system is { h }1,h2,h3The coordinates of the front end of the pre-guide pin under the coordinate system of the positioner are{(x1,y1,z1),(x2,y2,z2),(x3,y3,z3) Is { (a) in an image coordinate system1,b1,c1),(a2,b2,c2),(a3,b3,c3) Since the same three points are depicted under the image coordinate system and the localizer coordinate system, then:
the coordinate system transformation matrix can be obtained from the above relation.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A femoral head core decompression operation locator is characterized by comprising a fixed guide cylinder part and a movable guide cylinder part:
the fixed guide cylinder part comprises a fixed guide plate and a fixed guide cylinder which is arranged on the fixed guide plate and is used for inserting three pre-guide pins;
the movable guide cylinder part comprises a movable guide cylinder for inserting the positioning guide pin, and the movable guide cylinder is movably arranged relative to the fixed guide cylinder part.
2. The femoral head core decompression surgical locator according to claim 1, wherein a plurality of guide holes are formed in the fixed guide plate, and a plurality of the fixed guide barrels are fixedly arranged on the plurality of guide holes.
3. The femoral head core decompression surgical locator according to claim 1, wherein the movable guide sleeve is movably arranged on a moving platform, and the moving platform is connected with the fixed guide plate through a connecting plate.
4. The femoral head core decompression surgical positioner according to claim 3, wherein the motion platform comprises at least two parallel movable parts, and the movable guide cylinders are movably connected with the movable parts through universal balls respectively;
the movable portion includes two translational degrees of freedom.
5. The femoral head core decompression surgical locator according to claim 4, wherein the movable part comprises a movable platform, a mounting table and the universal ball, the universal ball is mounted on the movable platform, and the movable guide sleeve passes through the center of the universal ball;
the movable platform is movably connected with the assembling table and can move front and back and left and right relative to the assembling table.
6. The femoral head core decompression surgery positioner according to claim 5, wherein a front-back guide rail is fixedly arranged on the assembling table, a sliding block is slidably arranged on the front-back guide rail, a left-right guide rail is fixedly arranged on the movable platform, and the left-right guide rail is slidably arranged on the sliding block.
7. The femoral head core decompression surgery positioner according to claim 1, wherein the pre-guide pin and the positioning guide pin are both kirschner wires.
8. The method for decompressing a femoral head core decompression surgical locator according to any one of claims 1 to 7, comprising the steps of:
s1, sterilizing the locator before use;
s2, driving three pre-guide pins to the femoral head greater trochanter along three fixed guide cylinders selected from the fixed guide plates in the operation;
s3, determining the position of a femoral head necrosis area, the coordinates of the three pre-guide pins and a preoperative planned path according to preoperative images and intraoperative X-ray perspective views, and determining the target position and angle of the movable guide cylinder;
s4, adjusting the movable guide cylinder to a target position and an angle;
s5, driving the positioning guide pin to drive the femoral head necrosis area along the movable guide cylinder by using an electric drill.
9. The method for decompressing the femoral head core decompression surgical locator according to claim 8, wherein in step S3, the X-ray rendering and the pre-operative CT are registered, after the registration, the coordinates of the image coordinate system of the necrotic area are known, and the coordinates of the image coordinate system of the front ends of the three pre-guide pins are also known after the registration, and since the coordinates of the locator coordinate system of the three pre-guide pins are known, the registration of the image coordinate system and the locator coordinate system can be completed according to the three pre-guide pins.
10. The method of claim 8, wherein in step S5, when the guide pin is drilled to a depth determined by pre-operative imaging, the tip of the guide pin can reach the femoral head necrosis area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210003106.1A CN114176800B (en) | 2022-01-04 | 2022-01-04 | Femoral head marrow core decompression operation positioner and decompression method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210003106.1A CN114176800B (en) | 2022-01-04 | 2022-01-04 | Femoral head marrow core decompression operation positioner and decompression method thereof |
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| CN114176800B CN114176800B (en) | 2024-01-30 |
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| CN209269800U (en) * | 2018-01-19 | 2019-08-20 | 中国人民解放军联勤保障部队第九八0医院 | Minimally invasive femoral head depressurizes locator |
| WO2021182729A1 (en) * | 2020-03-12 | 2021-09-16 | 가톨릭대학교 산학협력단 | Pin guide for medical procedures |
| CN112336413A (en) * | 2020-11-05 | 2021-02-09 | 河南省洛阳正骨医院（河南省骨科医院） | Femoral head necrosis accurate positioning micro-wound drilling in-vitro auxiliary positioning device |
| CN112220524A (en) * | 2020-11-06 | 2021-01-15 | 中国人民解放军总医院第四医学中心 | Adjustable minimally invasive decompression guiding device for femoral head necrosis in operating room |
| CN213758440U (en) * | 2020-11-06 | 2021-07-23 | 中国人民解放军总医院第四医学中心 | Adjustable minimally invasive decompression guiding device for femoral head necrosis in operating room |
| CN112315643A (en) * | 2020-12-09 | 2021-02-05 | 高良志 | Carbon fiber traction frame suitable for femoral head and lower limb orthopedic surgery |
| CN214549772U (en) * | 2020-12-09 | 2021-11-02 | 高良志 | Carbon fiber traction frame suitable for femoral head and lower limb orthopedic surgery |
| CN215349391U (en) * | 2021-02-01 | 2021-12-31 | 陈国平 | Lumbar zygopophysis fusion screw fixing positioner |
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