CN114366301B - Navigation positioning system for hip replacement surgery and use method thereof - Google Patents
Navigation positioning system for hip replacement surgery and use method thereof Download PDFInfo
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- CN114366301B CN114366301B CN202210107945.8A CN202210107945A CN114366301B CN 114366301 B CN114366301 B CN 114366301B CN 202210107945 A CN202210107945 A CN 202210107945A CN 114366301 B CN114366301 B CN 114366301B
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- 238000001356 surgical procedure Methods 0.000 title claims abstract description 30
- 238000011540 hip replacement Methods 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title abstract description 37
- 230000003287 optical effect Effects 0.000 claims description 17
- 230000008569 process Effects 0.000 description 9
- 210000000588 acetabulum Anatomy 0.000 description 5
- 238000010009 beating Methods 0.000 description 4
- 210000004394 hip joint Anatomy 0.000 description 4
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 230000000399 orthopedic effect Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction 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
- 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
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
- A61F2/4601—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for introducing bone substitute, for implanting bone graft implants or for compacting them in the bone cavity
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
- A61F2/4603—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof
- A61F2/4609—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof of acetabular cups
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
- A61F2002/4681—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor by applying mechanical shocks, e.g. by hammering
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
- A61F2002/4687—Mechanical guides for implantation instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
- A61F2002/4688—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor having operating or control means
- A61F2002/4696—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor having operating or control means optical
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Transplantation (AREA)
- Surgery (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Medical Informatics (AREA)
- Physical Education & Sports Medicine (AREA)
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- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Vascular Medicine (AREA)
- Prostheses (AREA)
- Surgical Instruments (AREA)
Abstract
The present disclosure provides a navigation positioning method and system for hip replacement surgery, the navigation positioning system for hip replacement surgery comprises a front-end striking component, a calibration frame component, a rotating component and a handle component; the rotating assembly is respectively connected with the front end striking assembly, the calibration frame assembly and the handle assembly, the rotating assembly drives the calibration frame assembly to synchronously rotate when rotating, and the calibration frame assembly provides coordinate information of the front end striking assembly for the navigation positioning system; and one end of the handle component, which is far away from the rotating component, transmits the borne striking force to a target position through the front-end striking component under the condition of striking force. The calibration frame assembly of the hip replacement surgery navigation positioning system can rotate and has high precision.
Description
Technical Field
The disclosure relates to the technical field of positioning, in particular to a navigation positioning system for hip replacement surgery and a use method thereof.
Background
The front end tool of the orthopedic surgery robot is a medical instrument used in the orthopedic surgery process, and when an operator performs a hip joint replacement surgery, the operator needs to hammer the acetabulum by using a straight press-fit rod so that an acetabulum cup is press-fitted into the hip joint.
However, since the direct-press rod is hit for a long time, the position of the calibration frame of the direct-press rod is easily changed, and since a doctor wants to rotate the calibration frame of the direct-press rod along the handle axis in actual operation, the doctor can conveniently operate the operation.
The prior art does not provide a corresponding structure and method for solving the above problems.
The information disclosed in this background section of the application is only for enhancement of understanding of the general background of the application and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art that is already known to a person skilled in the art.
Disclosure of Invention
The disclosed embodiments provide a navigation and positioning system for hip replacement surgery and a using method thereof, which can solve at least some problems in the prior art.
In a first aspect of an embodiment of the present disclosure,
the hip replacement surgery navigation and positioning system comprises: the device comprises a front-end striking component, a calibration frame component, a rotating component and a handle component;
the rotating assembly is respectively connected with the front end striking assembly, the calibration frame assembly and the handle assembly, the rotating assembly drives the calibration frame assembly to rotate synchronously when rotating, and the calibration frame assembly provides coordinate information of the front end striking assembly for the navigation positioning system;
and one end of the handle component, which is far away from the rotating component, transmits the borne striking force to a target position through the front-end striking component under the condition of striking force.
In an alternative embodiment of the method according to the invention,
the rotating component comprises a ratchet wheel module, a rotating positioning frame and a central shaft, the ratchet wheel module comprises a ratchet wheel,
the rotary positioning frame comprises a plurality of mounting positions, the ratchet wheel is rigidly connected with the rotary positioning frame,
the ratchet wheel slides relatively along the central shaft.
In an alternative embodiment of the method according to the invention,
the rotating assembly further comprises a deep groove ball bearing, a shaft shoulder sleeve, a positioning block, a switch cap, a switch positioning block, an axial limiting block, a clearance eliminating nut, a ratchet wheel block and a rotating positioning frame;
the ratchet wheel is provided with a sliding groove which is matched with the ratchet wheel block and used for limiting the rotation of the central shaft;
the sliding grooves are uniformly distributed along the circumference of the sliding grooves,
the deep groove ball bearings are arranged at two ends of the rotary positioning frame, the outer rings of the deep groove ball bearings are matched with the rotary positioning frame, and the inner rings of the deep groove ball bearings are matched with the central shaft;
the shaft shoulder sleeve is matched with the inner ring of the deep groove ball bearing at the right end, the right end of the shaft shoulder sleeve is sequentially matched with the axial limiting block and the anti-backlash nut, and the anti-backlash nut is in threaded fit with the central shaft;
the switch cap is fixedly connected with the positioning block, and the switch positioning block is fixedly connected with the axial limiting block.
In an alternative embodiment of the method according to the invention,
when the switch cap is pressed, the positioning block moves along the rotary positioning frame, so that the positioning block is separated from the clamping groove of the rotary positioning frame, and the positioning block and the rotary positioning frame rotate relatively.
In an alternative embodiment of the method according to the invention,
the rotary positioning frame is fixedly connected with the ratchet wheel through bolts;
and the outer circle of the deep groove ball bearing is in interference fit with the rotary positioning frame.
In an alternative embodiment of the method according to the invention,
the rotating assembly includes an anti-backlash nut,
after the anti-backlash nut applies a pre-tightening force to the axial limiting block, the pre-tightening force is transmitted to the inner ring of the deep groove ball bearing;
and inner rings of the deep groove ball bearings move oppositely to eliminate the radial play of the deep groove ball bearings.
In an alternative embodiment of the method according to the invention,
the calibration frame component comprises a calibration frame, a calibration frame support rod, a reflection light ball column and a reflection light ball,
the calibration frame is connected to the rotating assembly through the calibration frame supporting rod;
the reflecting light ball columns are arranged at two ends of the calibration frame;
the reflecting light ball is arranged on the calibration frame through the reflecting light ball column;
the reflected light ball provides coordinate information.
In an alternative embodiment of the method according to the invention,
the anterior striking assembly includes a central shaft and an acetabular cup prosthesis,
the central shaft transmits force transmitted through the handle assembly to the acetabular cup prosthesis to press fit the acetabular cup prosthesis into a human acetabulum.
In a second aspect of an embodiment of the present disclosure,
there is provided a method of use for a navigation and positioning system for hip replacement surgery as described above, the method comprising:
placing the acetabular cup prosthesis of the front-end beating component in an acetabular fossa of the human body;
rotating the rotating assembly to drive the calibration frame assembly to rotate;
determining second position information of the front end striking assembly based on the first position information of the rotated calibration frame assembly;
press fitting the acetabular cup prosthesis upon determining that the second positional information satisfies a preset positional condition.
In a third aspect of an embodiment of the present disclosure,
providing a surgical robot system, which comprises an optical navigator, an optical navigator display and the hip replacement surgery navigation and positioning system as described in any one of the preceding claims, wherein the optical navigator is used for positioning the spatial position information of the calibration frame assembly and transmitting the spatial position information to the optical navigator display for displaying;
and based on the spatial position information, pressing an acetabular cup prosthesis through a central shaft of the front end striking assembly.
According to the navigation positioning system for the hip joint replacement surgery and the using method thereof, the rotating assembly can rotate and stop at a specific angle, and the calibration frame assembly can be driven to rotate by rotating the rotating assembly, so that the problem that in the prior art, the position of the calibration frame of the direct-pressure fit rod is changed due to the fact that the direct-pressure fit rod is hit for a long time, an operator cannot provide coordinate information of the front-end hitting assembly for the navigation positioning system through the calibration frame assembly, and accordingly positioning is inaccurate is solved. Furthermore, actual operating personnel can rotate the calibration frame to realize accurate positioning according to actual needs, and due to the rotatable structure, the actual operation is convenient.
Drawings
FIG. 1 is a perspective view of a navigation and positioning system for hip replacement surgery according to an embodiment of the present disclosure;
FIG. 2 is a front view of a hip replacement surgery navigation and positioning system according to an embodiment of the present disclosure;
FIG. 3 is a top view of a hip replacement surgery navigation and positioning system according to an embodiment of the present disclosure;
FIG. 4 is a left side view of a hip replacement surgery navigation positioning system according to an embodiment of the present disclosure;
FIG. 5 is a schematic cross-sectional view of a rotating assembly according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a surgical robot system according to an embodiment of the present disclosure.
Wherein:
1. a front end striking assembly; 2. calibrating the frame component; 3. a rotating assembly; 4. a handle assembly; 32. positioning a block; 33. a switch cap; 34. a switch cap compression spring; 36. a gap eliminating nut; 37. an axial stop block; 38. a switch positioning block; 39. a shaft shoulder sleeve; 40. the ratchet wheel block compresses the spring; 41. a ratchet wheel block; 42. a central shaft; 43. a locking cap; 44. a ratchet wheel; 45. a deep groove ball bearing; 46. rotating the positioning frame; 5. an optical navigator; 6. an optical navigator display; 7. the acetabulum.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present disclosure and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the disclosure described herein are capable of operation in sequences other than those illustrated or otherwise described herein.
It should be understood that, in various embodiments of the present disclosure, the sequence number of each process does not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present disclosure.
It should be understood that in the present disclosure, "including" and "having" and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be understood that in the present disclosure, "plurality" means two or more. "and/or" is merely an association relationship describing an associated object, meaning that there may be three relationships, for example, and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "comprising a, B and C", "comprising a, B, C" means that all three of a, B, C are comprised, "comprising a, B or C" means comprising one of a, B, C, "comprising a, B and/or C" means comprising any 1 or any 2 or 3 of a, B, C.
It should be understood that in the present disclosure, "B corresponding to A", "A and B
The corresponding "or" B corresponds to A "means that B is associated with A, from which B can be determined. Determining B from a does not mean determining B from a alone, but may also be determined from a and/or other information. And the matching of A and B means that the similarity of A and B is greater than or equal to a preset threshold value.
As used herein, "if" may be interpreted as "at \8230; \8230when" or "when 8230; \8230when" or "in response to a determination" or "in response to a detection", depending on the context.
The technical solution of the present disclosure is explained in detail below with specific examples. These several specific embodiments may be combined with each other below, and details of the same or similar concepts or processes may not be repeated in some embodiments.
FIGS. 1-4 are a perspective block diagram, a front view, a top view, and a left view, respectively, illustrating a navigational positioning system for hip replacement surgery in accordance with an embodiment of the present disclosure,
the hip replacement surgery navigation positioning system comprises:
the device comprises a front end striking component 1, a calibration frame component 2, a rotating component 3 and a handle component 4;
the rotating component 3 is respectively connected with the front end striking component 1, the calibration frame component 2 and the handle component 4, the rotating component 3 drives the calibration frame component 2 to synchronously rotate when rotating, and the calibration frame component 2 provides coordinate information of the front end striking component 1 for a navigation positioning system;
the handle assembly 4 is arranged at one end far away from the rotating assembly 3, and under the condition of impact force, the borne impact force is transmitted to a target position through the front-end impact assembly 1.
Illustratively, the hip replacement surgery navigation and positioning system disclosed by the invention can transmit the striking force to the acetabular cup prosthesis through the front-end striking assembly 1 by striking the tail part of the handle assembly 4 in the actual use process, so that the acetabular cup prosthesis can be press-fitted to the acetabular fossa of the human body. Alternatively, the target site referred to above may be understood as being at the acetabular fossa.
Rotating assembly 3 connects the front end and hits subassembly 1, marks subassembly 2 and handle assembly 4, and in the in-service use process, can drive the rotation of marking subassembly 2 through rotatory this disclosed rotating assembly 3, adjusts the position of marking subassembly 2, has improved the convenience and the practicality of operation.
When the rotating component 3 rotates, the calibration frame component 2 is driven to rotate synchronously, and the calibration frame component 2 provides coordinate information of the front-end striking component 1 for a navigation positioning system.
In an alternative embodiment of the method according to the invention,
the calibration frame assembly 2 comprises a calibration frame, a calibration frame supporting rod, a reflective light ball column and a reflective light ball,
the calibration frame is connected to the rotating component 3 through the calibration frame supporting rod;
the reflecting light ball columns are arranged at two ends of the calibration frame;
the reflecting light ball is arranged on the calibration frame through the reflecting light ball column;
the reflected light ball provides coordinate information.
Illustratively, the reflected light ball columns are distributed to 4 vertexes of the calibration frame, the reflected light ball columns are installed in internal thread holes of the calibration frame, two sides of the calibration frame are fixed through threads, and the reflected light balls are installed on the reflected light ball columns and provide position information for a navigation positioning system for hip joint replacement surgery.
In an alternative embodiment of the method according to the invention,
the rotating assembly 3 comprises a ratchet module, a rotational positioning frame 46 and a central shaft 42, the ratchet module comprises a ratchet 44,
the rotational positioning frame 46 includes a plurality of mounting positions, the ratchet 44 is rigidly connected to the rotational positioning frame 46,
the ratchet 44 slides relatively along the central shaft 42.
In an alternative embodiment of the method according to the invention,
the rotating assembly 3 further comprises a deep groove ball bearing 45, a shaft shoulder sleeve 39, a positioning block 32, a switch cap 33, a switch positioning block 38, an axial limiting block 37, an anti-backlash nut 36, a ratchet block 44 and a rotating positioning frame 46;
the ratchet wheel 44 is provided with a sliding groove which is matched with the ratchet wheel block 44 to limit the rotation of the central shaft 42;
the sliding grooves are uniformly distributed along the circumference of the sliding grooves,
the deep groove ball bearings 45 are arranged at two ends of the rotary positioning frame 46, the outer rings of the deep groove ball bearings 45 are matched with the rotary positioning frame 46, and the inner rings of the deep groove ball bearings 45 are matched with the central shaft 42;
the shaft shoulder sleeve 39 is matched with the inner ring of the right deep groove ball bearing 45, the right end of the shaft shoulder sleeve 39 is sequentially matched with the axial limiting block 37 and the anti-backlash nut 36, and the anti-backlash nut 36 is in threaded fit with the central shaft 42;
the switch cap 33 is fixedly connected with the positioning block 32, and the switch positioning block 38 is fixedly connected with the axial limiting block 37.
In an alternative embodiment of the method according to the invention,
when the switch cap 33 is pressed, the positioning block 32 moves along the rotational positioning frame 46, so that the positioning block 32 is separated from the engaging slot of the rotational positioning frame 46, and the positioning block 32 and the rotational positioning frame 46 rotate relatively.
In an alternative embodiment of the method according to the invention,
the rotary positioning frame 46 and the ratchet wheel 44 are fixedly connected through bolts;
the outer circle of the deep groove ball bearing 45 is in interference fit with the rotary positioning frame 46.
In an alternative embodiment of the method according to the invention,
the rotating assembly 3 comprises an anti-backlash nut,
after the anti-backlash nut applies a pre-tightening force to the axial limiting block 37, the pre-tightening force is transmitted to an inner ring of the deep groove ball bearing 45;
the inner rings of the deep groove ball bearings 45 move oppositely to eliminate the radial play of the deep groove ball bearings 45.
In an alternative embodiment of the method according to the invention,
the anterior striking assembly 1 includes a central shaft 42 and an acetabular cup prosthesis,
the central shaft 42 transmits forces transmitted through the handle assembly 4 to the acetabular cup prosthesis for press fitting the acetabular cup prosthesis into the acetabular socket of the human body.
Fig. 5 exemplarily shows a structural schematic diagram of a rotating assembly 3 according to an embodiment of the present disclosure, and as shown in fig. 5, the rotating assembly 3 may include:
the device comprises a central shaft 42, a ratchet block 41, a ratchet block compression spring 40, a ratchet 44, a deep groove ball bearing 45, a shaft shoulder sleeve 39, a positioning block 32, a switch cap 33, a switch cap spring, a switch positioning block 38, an axial limiting block 37, an anti-backlash nut 36, a rotary positioning frame 46, a non-disengagement sleeve, a general anti-disengagement nut and a locking cap 43.
Illustratively, taking the number of the ratchet blocks 41 as 2 as an example, the ratchet wheels 44 can be oppositely installed in the corresponding through holes of the central shaft 42, the ratchet block compression springs 40 are arranged between the ratchet wheels and the ratchet blocks 41, and 2 ratchet wheels can relatively slide along the through holes of the central shaft 42. Wherein, ratchet 44 is installed to the front end hole of rotational positioning frame 46, and the excircle of rotational positioning frame 46 can include a plurality of via holes, has the screw in the via hole and fixes with ratchet 44, and ratchet 44 and rotational positioning frame 46 rigid connection.
The ratchet 44 may be provided with a plurality of sliding grooves which may cooperate with the ratchet block 41 to restrict the rotation of the central shaft 42. Alternatively, the sliding grooves may be evenly distributed along the circumference thereof. Deep groove ball bearings 45 may be mounted to both ends of the rotational positioning frame 46, with the outer race of the deep groove ball bearings 45 mating with the rotational positioning frame 46 and the inner race mating with the central shaft 42. The shaft shoulder sleeve 39 is matched with the inner ring of the right deep groove ball bearing 45, the right end of the shaft shoulder sleeve 39 is sequentially matched with the axial limiting block 37 and the anti-backlash nut 36, and the anti-backlash nut 36 is in threaded fit with the central shaft 42. The switch cap 33 is fixedly connected with the positioning block 32 through threads, and the switch positioning block 38 is fixedly connected with the axial limiting block 37.
Alternatively, the switch positioning block 38 and the axial limiting block 37 may be fixed by interference fit or bolt connection. The rotary positioning frame 46 is provided with a plurality of clamping grooves which are uniformly distributed, the positioning block 32 can be clamped into the clamping grooves of the rotary positioning frame 46, the two clamping grooves cannot rotate relatively, after the switch cap 33 is pressed, the positioning block 32 also moves downwards along with the clamping grooves, so that the positioning block 32 is separated from the clamping grooves of the rotary positioning frame 46, and meanwhile, the two clamping grooves can rotate relatively due to the limitation of relative rotation. The locking cap 43 is fixedly connected with the central shaft 42 through threads, and the right end of the locking cap has a small gap with the end face of the rotary fixing frame, and can rotate relatively without contact.
Illustratively, the rotational positioning frame 46 is rigidly connected with the ratchet 44, wherein the rotational positioning frame 46 and the ratchet 44 may be fixed by a bolt, and the outer circle of the deep groove ball bearing 45 is in interference fit with the rotational positioning frame 46;
illustratively, the rotational positioning frame 46 can rotate relative to the central shaft 42, wherein the rotational positioning frame 46 can rotate along the central shaft 42 at an angle, wherein the specific angle can be set according to actual requirements, which is not set by the embodiment of the present disclosure.
Illustratively, the positioning block 32 may limit the rotation of the rotational positioning frame 46, when the switch cap 33 is pressed, the positioning block 32 is disengaged from the engaging groove of the rotational positioning frame 46, and the rotational positioning frame 46 may rotate along the ratchet 44 by a certain angle, wherein the specific angle may be set according to actual needs, which is not set in the embodiments of the present disclosure.
Optionally, after applying a certain pretightening force to the axial limiting block 37, the anti-backlash nut 36 transmits the force to the inner rings of the deep groove ball bearings 45, and after the inner rings of the two deep groove ball bearings 45 move in opposite directions, the axial play of the deep groove ball bearings 45 is eliminated, the coaxiality of the inner ring and the outer ring of the bearing is improved, the assembling frame amount of the rotary positioning frame 46 is reduced, and the positioning precision of the calibration frame is improved.
The present disclosure provides a navigational positioning system for hip replacement surgery, comprising: a front-end beating component, a calibration frame component, a rotating component and a handle component,
the rotating assembly is respectively connected with the front end striking assembly, the calibration frame assembly and the handle assembly, the rotating assembly drives the calibration frame assembly to rotate synchronously when rotating, and the calibration frame assembly provides coordinate information of the front end striking assembly for the navigation positioning system;
and one end of the handle assembly, which is far away from the rotating assembly, transmits the borne striking force to a target position through the front-end striking assembly under the condition of the striking force.
The hip replacement surgery navigation positioning system can rotate and stop at a specific angle, and the rotation component is rotated to drive the calibration frame component to rotate, so that the problem that in the prior art, due to the fact that the straight press-fit rod is hit for a long time, the position of the calibration frame of the straight press-fit rod changes, an operator cannot provide coordinate information of the front end hitting component for the navigation positioning system through the calibration frame component, and positioning is inaccurate is solved. Furthermore, actual operating personnel can rotate the calibration frame to realize accurate positioning according to actual needs, and due to the rotatable structure, the actual operation is convenient.
In a second aspect of the embodiments of the present disclosure, there is provided a method of use applied to the navigation system for hip replacement surgery as described above, the method comprising:
placing the acetabular cup prosthesis of the front-end beating component in an acetabular fossa of the human body;
rotating the rotating assembly to drive the calibration frame assembly to rotate;
determining second position information of the front end striking assembly based on the first position information of the rotated calibration frame assembly;
press-fitting the acetabular cup prosthesis upon determining that the second positional information satisfies a preset positional condition.
It should be noted that, since the position of the front end striking assembly is fixed relative to the calibration frame assembly, the actual position coordinate information (i.e. the above-mentioned second position information) of the front end striking assembly can be obtained by determining the position coordinate information of the reflective photosphere on the calibration frame assembly. Alternatively, the actual position coordinate information of the front striking assembly may be the actual position coordinate information of the acetabular cup prosthesis of which the front striking assembly is determined. After the actual position coordinate information of the front end striking component is determined, if the difference value between the actual position coordinate information and the theoretical position coordinate information is determined to be smaller than or equal to a first preset difference value (namely the second position information is determined to meet the preset position condition), the acetabular cup prosthesis can be pressed and assembled on the basis of the determined actual position coordinate information, so that the acetabular cup prosthesis can be placed in the acetabular fossa of the human body. If the difference between the actual position coordinate information and the theoretical position coordinate information is larger than a first preset difference (namely the second position information is determined not to meet the preset position condition), the position of the front end striking assembly is adjusted until the difference between the actual position coordinate information and the theoretical position coordinate information of the front end striking assembly is smaller than or equal to the first preset difference.
It can be understood that, the advantageous effects of the embodiments of the method of the present disclosure can be referred to the advantageous effects of the embodiments of the navigation and positioning system for hip replacement surgery, and the embodiments of the present disclosure are not described herein again.
In a third aspect of an embodiment of the present disclosure,
providing a surgical robot system, comprising an optical navigator 5, an optical navigator display 6 and the hip replacement surgery navigation and positioning system as described in any one of the preceding claims, wherein the optical navigator 5 is used for positioning the spatial position information of the calibration frame assembly and transmitting the spatial position information to the optical navigator display 6 for displaying;
and press-fitting a target object through the front-end beating assembly based on the spatial position information.
Illustratively, the anterior striking assembly includes a central shaft and an acetabular cup prosthesis, one end of the central shaft threadably coupled to the acetabular cup prosthesis. In the surgical robot system of the embodiment of the disclosure, the acetabular cup prosthesis of the front-end striking assembly is arranged in the acetabular socket of the acetabulum 7, and since the position information of the acetabular cup prosthesis relative to the calibration frame assembly can be obtained through coordinate conversion, the position information of the acetabular cup prosthesis can be actually obtained by obtaining the position information of the calibration frame assembly.
Through the spatial position information of the optical navigator positioning calibration frame assembly, the spatial position information is transmitted to the optical navigator display to be displayed, and actual operators can accurately acquire corresponding position information according to actual needs, so that the optical navigator positioning calibration frame assembly is convenient for actual operation.
It can be understood that, in addition to the beneficial effects of the embodiment of the navigation and positioning system for hip replacement surgery, the embodiment of the surgical robot system of the present disclosure may further include that the position information of the striking head of the front-end striking assembly relative to the calibration frame assembly is obtained through coordinate transformation, and the position information of the striking head may be actually obtained by obtaining the position information of the calibration frame assembly.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present disclosure, and not for limiting the same; while the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications or substitutions do not depart from the scope of the embodiments of the present disclosure by the essence of the corresponding technical solutions.
Claims (7)
1. A navigational positioning system for hip replacement surgery, comprising:
the device comprises a front-end striking component, a calibration frame component, a rotating component and a handle component;
the rotating assembly is respectively connected with the front end striking assembly, the calibration frame assembly and the handle assembly, the rotating assembly drives the calibration frame assembly to rotate synchronously when rotating, and the calibration frame assembly provides coordinate information of the front end striking assembly for the navigation positioning system;
one end of the handle assembly, which is far away from the rotating assembly, transmits the borne striking force to a target position through the front-end striking assembly under the condition of the striking force;
the rotating component comprises a ratchet wheel module, a rotating positioning frame and a central shaft, the ratchet wheel module comprises a ratchet wheel,
the rotary positioning frame comprises a plurality of mounting positions, the ratchet wheel is rigidly connected with the rotary positioning frame,
the ratchet wheel slides relatively along the central shaft;
the rotating assembly further comprises a deep groove ball bearing, a shaft shoulder sleeve, a positioning block, a switch cap, a switch positioning block, an axial limiting block, a clearance eliminating nut, a ratchet wheel block and a rotating positioning frame;
the ratchet wheel is provided with a sliding groove which is matched with the ratchet wheel block and used for limiting the rotation of the central shaft;
the sliding grooves are uniformly distributed along the circumference of the sliding grooves,
the deep groove ball bearings are arranged at two ends of the rotary positioning frame, the outer rings of the deep groove ball bearings are matched with the rotary positioning frame, and the inner rings of the deep groove ball bearings are matched with the central shaft;
the shaft shoulder sleeve is matched with the inner ring of the deep groove ball bearing at the right end, the right end of the shaft shoulder sleeve is sequentially matched with the axial limiting block and the anti-backlash nut, and the anti-backlash nut is in threaded fit with the central shaft;
the switch cap is fixedly connected with the positioning block, and the switch positioning block is fixedly connected with the axial limiting block.
2. The navigational positioning system of claim 1,
when the switch cap is pressed, the positioning block moves along the rotary positioning frame, so that the positioning block is separated from the clamping groove of the rotary positioning frame, and the positioning block and the rotary positioning frame rotate relatively.
3. The navigational positioning system of claim 1,
the rotary positioning frame is fixedly connected with the ratchet wheel through a bolt;
and the outer circle of the deep groove ball bearing is in interference fit with the rotary positioning frame.
4. The navigational positioning system of claim 1, wherein the rotating assembly includes an anti-backlash nut,
after the anti-backlash nut applies a pre-tightening force to the axial limiting block, the pre-tightening force is transmitted to the inner ring of the deep groove ball bearing;
and inner rings of the deep groove ball bearings move oppositely to eliminate the radial play of the deep groove ball bearings.
5. The navigational positioning system of claim 1, wherein the calibration frame assembly includes a calibration frame, a calibration frame support rod, a reflective ball post, a reflective ball,
the calibration frame is connected to the rotating component through the calibration frame supporting rod;
the reflecting light ball columns are arranged at two ends of the calibration frame;
the reflecting light ball is arranged on the calibration frame through the reflecting light ball column;
the reflected light ball provides coordinate information.
6. The navigational positioning system of claim 1, wherein the anterior striking assembly comprises a central shaft and an acetabular cup prosthesis coupled to one another,
the central shaft transmits force transmitted through the handle assembly to the acetabular cup prosthesis for press fitting the acetabular cup prosthesis into the acetabular socket of the human body.
7. A surgical robotic system comprising an optical navigator, an optical navigator display and a navigation and positioning system for hip replacement surgery according to any one of claims 1-6, wherein the optical navigator is used for positioning spatial position information of the calibration frame assembly and transmitting the spatial position information to the optical navigator display for display;
and based on the spatial position information, pressing an acetabular cup prosthesis through a central shaft of the front end striking assembly.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210107945.8A CN114366301B (en) | 2022-01-28 | 2022-01-28 | Navigation positioning system for hip replacement surgery and use method thereof |
| PCT/CN2023/070787 WO2023142955A1 (en) | 2022-01-28 | 2023-01-05 | Navigation and location system for hip replacement surgery, and method for using same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210107945.8A CN114366301B (en) | 2022-01-28 | 2022-01-28 | Navigation positioning system for hip replacement surgery and use method thereof |
Publications (2)
| Publication Number | Publication Date |
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| CN114366301A CN114366301A (en) | 2022-04-19 |
| CN114366301B true CN114366301B (en) | 2022-11-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210107945.8A Active CN114366301B (en) | 2022-01-28 | 2022-01-28 | Navigation positioning system for hip replacement surgery and use method thereof |
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| Country | Link |
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| CN (1) | CN114366301B (en) |
| WO (1) | WO2023142955A1 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114366301B (en) * | 2022-01-28 | 2022-11-15 | 北京长木谷医疗科技有限公司 | Navigation positioning system for hip replacement surgery and use method thereof |
| CN116370015B (en) * | 2022-07-01 | 2024-04-30 | 北京和华瑞博医疗科技有限公司 | Hip replacement surgery actuator and surgical system |
| CN116725684A (en) * | 2022-09-27 | 2023-09-12 | 北京和华瑞博医疗科技有限公司 | Joint operation device and surgical operation system |
| CN117462204B (en) * | 2023-12-22 | 2024-04-30 | 北京爱康宜诚医疗器材有限公司 | Acetabular file |
| CN117919010A (en) * | 2024-03-22 | 2024-04-26 | 北京爱康宜诚医疗器材有限公司 | Hip joint operation tool |
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| CN112971980A (en) * | 2021-03-02 | 2021-06-18 | 北京长木谷医疗科技有限公司 | Navigation power system for acetabular bruise and use method thereof |
| CN113576662B (en) * | 2021-06-28 | 2022-07-08 | 北京天智航医疗科技股份有限公司 | Hip joint replacement navigation system and navigation method |
| CN114366301B (en) * | 2022-01-28 | 2022-11-15 | 北京长木谷医疗科技有限公司 | Navigation positioning system for hip replacement surgery and use method thereof |
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- 2022-01-28 CN CN202210107945.8A patent/CN114366301B/en active Active
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| CN110037768A (en) * | 2019-04-23 | 2019-07-23 | 雅客智慧（北京）科技有限公司 | Joint replacement surgery assisted location method, positioning device and system |
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| Publication number | Publication date |
|---|---|
| WO2023142955A1 (en) | 2023-08-03 |
| CN114366301A (en) | 2022-04-19 |
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Address after: 100176 2201, 22 / F, building 1, yard 2, Ronghua South Road, Beijing Economic and Technological Development Zone, Daxing District, Beijing Patentee after: Beijing Changmugu Medical Technology Co.,Ltd. Patentee after: Zhang Yiling Address before: 100176 2201, 22 / F, building 1, yard 2, Ronghua South Road, Beijing Economic and Technological Development Zone, Daxing District, Beijing Patentee before: BEIJING CHANGMUGU MEDICAL TECHNOLOGY Co.,Ltd. Patentee before: Zhang Yiling |
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