CN114795444A - Guiding robot based on projection principle and bone surgery nail placing method - Google Patents
Guiding robot based on projection principle and bone surgery nail placing method Download PDFInfo
- Publication number
- CN114795444A CN114795444A CN202210411260.2A CN202210411260A CN114795444A CN 114795444 A CN114795444 A CN 114795444A CN 202210411260 A CN202210411260 A CN 202210411260A CN 114795444 A CN114795444 A CN 114795444A
- Authority
- CN
- China
- Prior art keywords
- nail
- positioning
- positioning guide
- ray
- guide nail
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000000988 bone and bone Anatomy 0.000 title claims abstract description 71
- 238000000034 method Methods 0.000 title claims abstract description 42
- 238000001356 surgical procedure Methods 0.000 title abstract description 18
- 230000005855 radiation Effects 0.000 claims abstract description 53
- 238000002601 radiography Methods 0.000 claims abstract description 30
- 230000000399 orthopedic effect Effects 0.000 claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims description 20
- 230000008569 process Effects 0.000 claims description 16
- 238000012545 processing Methods 0.000 claims description 9
- 238000005096 rolling process Methods 0.000 claims description 3
- 208000019155 Radiation injury Diseases 0.000 abstract description 4
- 238000000338 in vitro Methods 0.000 abstract description 4
- 208000002847 Surgical Wound Diseases 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 18
- 208000010392 Bone Fractures Diseases 0.000 description 9
- 206010017076 Fracture Diseases 0.000 description 8
- 230000009467 reduction Effects 0.000 description 6
- 238000011160 research Methods 0.000 description 5
- 238000010146 3D printing Methods 0.000 description 4
- 206010052428 Wound Diseases 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 4
- 230000007547 defect Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 4
- 238000003780 insertion Methods 0.000 description 4
- 230000037431 insertion Effects 0.000 description 4
- 210000003131 sacroiliac joint Anatomy 0.000 description 4
- 238000002594 fluoroscopy Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 210000003484 anatomy Anatomy 0.000 description 2
- 238000002513 implantation Methods 0.000 description 2
- 230000005865 ionizing radiation Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 206010053206 Fracture displacement Diseases 0.000 description 1
- 206010061213 Iatrogenic injury Diseases 0.000 description 1
- 206010028980 Neoplasm Diseases 0.000 description 1
- 208000028389 Nerve injury Diseases 0.000 description 1
- 210000000588 acetabulum Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 208000020089 femoral neck fracture Diseases 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008764 nerve damage Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 210000004197 pelvis Anatomy 0.000 description 1
- 230000004962 physiological condition Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 210000004872 soft tissue Anatomy 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 230000002792 vascular Effects 0.000 description 1
Images
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
- A61B17/90—Guides therefor
-
- 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
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
- A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
- A61B2034/306—Wrists with multiple vertebrae
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Radiology & Medical Imaging (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Gynecology & Obstetrics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- High Energy & Nuclear Physics (AREA)
- Optics & Photonics (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
The technical scheme of the invention discloses a guiding robot based on a projection principle and an orthopedic surgery nail placing method, which are based on the characteristics of X-ray radiation along a straight line and the principle that the radiography is not changed when an object moves along the X-ray radiation direction, and are used for respectively determining nail placing planes of surgical bone nails in two radiation directions of a 90-degree intersection angle through a first positioning guide nail, a second positioning guide nail and a third positioning guide nail, and determining the unique and optimal nail placing position through the two intersection planes. The determination of the nail placing position is finished in vitro, and only one projection in the radiation direction needs to be concerned at the same time during the positioning, so that the bone nail positioning difficulty is reduced, the operation time is shortened, and the radiation injury of the surgical wound surface and the perspective of a patient to the patient and an operator is reduced.
Description
Technical Field
The invention belongs to the field of orthopedic surgery screw-placing guides, and particularly relates to a guide robot based on a projection principle and an orthopedic surgery screw-placing method.
Background
The bone nail guiding and placing is widely applied to internal fixation of fracture, such as internal fixation of femoral neck fracture, internal fixation of sacroiliac screws, internal fixation of acetabulum anterior-posterior column fracture, positioning of inlets of various long tubular intramedullary nails and the like, and the nail placing point and the nail path direction need to be determined through repeated perspective in the bone nail guiding process so as to prevent the deviation of the placing position of the screw, which increases the X-ray exposure of patients and operators and increases the risk of ionizing radiation injury and tumor occurrence. Therefore, in order to reduce the difficulty of operation and improve the accuracy and safety of screw insertion, more and more advanced scientific research achievements are introduced into the medical field, and new auxiliary screw insertion technologies are developed, such as a three-dimensional navigation technology, a 3D technology, an orthopedic robot technology and the like, and provide new choices for auxiliary screw insertion. Based on the background, how to select and utilize a novel auxiliary nail placing technology and master a safe, effective, simple and feasible guiding method is the key point of the current research.
(1) Three-dimensional navigation auxiliary screw imbedding technology
The three-dimensional navigation system combines navigation technology, computer image processing and clinical operation, and utilizes a computer to process acquired parameters so as to obtain real-time three-dimensional images of a patient and surgical instruments in the operation, so that a doctor can know the relationship between the positions of the surgical instruments and the anatomical structures of the patient at any time, and the safety of the operation is improved.
Currently, the three-dimensional C-shaped arm navigation technology is widely applied to clinical application for assisting percutaneous screw fixation. Unlike traditional operation under fluoroscopy, the three-dimensional fluoroscopy can display high-resolution images of sagittal plane, coronal plane and transverse plane simultaneously, so that the operator can clearly observe the position relationship of the fracture line and the screw on the 3 sections and insert the screw under the guidance of the virtual guide pin. Therefore, the three-dimensional navigation has the advantages of providing high-quality images in the operation, having good operability, reducing the operation difficulty, improving the accuracy and ensuring quick and minimally invasive operation.
Although the sacroiliac joint screw internal fixation under three-dimensional navigation has obvious advantages, the sacroiliac joint screw internal fixation under three-dimensional navigation has the following defects and operational difficulties: acquiring a graph and establishing a navigation system requires a lot of time, because the three-dimensional C-shaped arm acquires about 100 images by rotating 190 degrees to complete image acquisition, the times and time of X-ray perspective are increased, and the time is probably more time-consuming than that of the traditional method in the initial stage of using the three-dimensional navigation auxiliary technology; navigation needs a positioning mark, invasive operation needs to be carried out on the iliac crest during positioning, the stability of the positioning mark is different due to different parts, and the accuracy of the operation can be influenced by slight movement in the operation; the scanning range of the machine is limited, and when the two sides of the machine need to be fixed by screws, the machine is difficult to fix, and even 2 times of scanning is needed, so that the perspective amount in the operation is increased, and the operation time is prolonged; the navigation system has complex operation and longer learning curve, needs training and maintenance of professional technicians, and has certain requirements on supporting facilities, such as the volume of an operating room, a passage port, a protection plate and the like, and the characteristics of each machine need to be considered. Generally, the superiority of intraoperative three-dimensional imaging navigation in sacroiliac joint screw fixation has been proved, but at present, the defects exist, and an operator needs to master relevant anatomical knowledge and has good three-dimensional image analysis capability so as to be skilled in using navigation equipment, shorten operation time and improve the safety and accuracy of navigation.
(2)3D printing auxiliary screw imbedding technology
The 3D printing technology is based on a digital model file, and can print and quickly form the bondable material layer by layer through a digital material printer to change a model on a computer into a real object. Some scholars successfully design individualized navigation templates through 3D printing and reverse engineering techniques. Through three-dimensional reconstruction generation pelvis fracture model in the research of mulcott etc. then design out screw navigation template according to reverse engineering technique, print out fracture model and baffle, carry out the pretest before the art, match baffle and bony sign in the art, accomplish through the baffle and put the nail process. Research shows that operation can be simplified by arranging the screws by depending on the individual guide plate, and the screws can be quickly and accurately arranged.
However, the design of the navigation template has certain defects: firstly, the indications are limited, and the device is only suitable for patients with fracture without displacement or patients who can meet the requirement of reduction through closed reduction; in addition, need cut open when placing navigation template and show bony landmark, it is bigger to put the nail wound under traditional perspective, need peel off adnexed soft tissue as far as in the art, provides the gomphosis of cortex and baffle, peels off the too big risk that has to cause near vascular nerve damage of scope, and peels off the accuracy that can influence the baffle inadequately, leads to putting the nail deviation.
(3) Robot-assisted screw embedding technology
In recent years, computer-guided navigation combined with robot-assisted minimally invasive internal fixation has become accepted by more and more orthopedic surgeons. Because the operator is difficult to avoid the limitation of own physiological conditions in the operation process, errors and deviations occur due to fatigue, tiny movements and the like, and the operation precision is reduced. In order to reduce human errors and fully exert the advantages of navigation equipment, the robot-assisted surgery system is applied to bone surgery. The orthopedic robot system carries out position planning by preoperative imaging, intraoperative real-time tracking and mechanical arm assistance, ensures accurate nail placement position and is suitable for percutaneous screw internal fixation operation. At present, domestic application and related research reports are more about 3 rd generation Tirobot orthopedic robot systems independently developed in China, which are also called 'breguet' orthopedic surgical robots.
In the process of fixing fracture by guiding and nailing, an orthopedic robot system represented by Tirobot mainly has the following characteristics: the positioning is accurate: the robot system can provide accurate space positioning, the precision is 0.6-0.8 mm, and the screws are accurately, safely and stably placed into corresponding anatomical parts through the operation of the mechanical arms, so that the risk of blood vessel and neuro-iatrogenic injury is reduced. Monitoring in real time: the Tirobot can realize real-time optical tracking in the operation, repeated perspective is not needed in the operation process, and if the position in the operation deviates, the system can remind a surgeon to further calibrate. ③ the radiation quantity is low: compared with manual nail placement, the robot navigation obviously reduces the X-ray fluoroscopy times in the operation, thereby reducing the ionizing radiation damage to doctors and patients caused by radiation in the operation. Fourthly, autonomous operation: after the operator manually plans the path of the nail path, the subsequent operation can be finished by the system according to the programmed path, and the doctor is guided to finish the operation efficiently and safely. In addition, the robot system adopts modularization, miniaturization and universal design, can realize separation of operation planning and operation, and can implement remote operation through the Internet.
However, the current orthopedic robot system still has certain limitations: first, surgical robots can only solve the problem of precise positioning, and the path planning of screws still relies on the experience of the surgeon and needs to be done manually, which may have subjective errors. Secondly, good reduction is the basis of accurate positioning, and percutaneous sacroiliac joint screw fixation is suitable for patients who can obtain good reduction through closed reduction; and for patients with large fracture displacement and unsatisfactory reduction, the fixation cannot be realized in the mode. Thirdly, the orthopedic robot navigation positioning system is inexperienced in the early application, and the deviation of the guide pin can be caused. Finally, the orthopaedic robot is expensive in equipment cost, complex in operation, difficult in assembly and detection, high in maintenance cost and requires professional training, and the factors limit the clinical popularization of the orthopaedic robot.
Therefore, a guiding robot and a nail placing method for orthopedic surgery, which are simple in operation, low in cost, low in equipment requirement and less in nail placing wound, are needed to be provided.
Disclosure of Invention
In order to overcome the defects of the background technology, the technical scheme of the invention provides a guide robot based on a projection principle, which is used for assisting the built-in bone nail in cooperation with an X-ray radiography device and comprises a guide nail placing device and an adjusting mechanism, wherein the adjusting mechanism is used for driving the guide nail placing device to move to any preset position, and a long shaft of the guide nail placing device extends along the vertical direction and is sequentially provided with a primary positioning part and a secondary positioning part from top to bottom;
the primary positioning part is provided with a shaft center hole and a positioning hole which are arranged at intervals along the long axis direction of the guiding nail placing device, a first positioning guide nail which is detachably arranged in the shaft center hole and a second positioning guide nail which is detachably arranged in the positioning hole, the first positioning guide nail and the second positioning guide nail horizontally extend to one side of an operator, the guiding nail placing device takes the shaft axis direction of the shaft center hole as a rotating shaft, is rotatably arranged on the adjusting mechanism and is guided to rotate in the direction vertical to the long axis of the adjusting mechanism, and drives the second positioning guide nail to move until the projections of the second positioning guide nail and the first positioning guide nail on the X-ray radiography equipment configured into the first radiation direction are overlapped;
the secondary positioning part is provided with a rotary clamping part, a positioning plane and a third positioning guide nail, the rotary clamping part and the primary positioning part are coaxially arranged and are provided with surgical bone nails which are positioned on the same plane with the first positioning guide nail and the second positioning guide nail, one end of the positioning plane is fixedly connected with the rotary clamping part, the other end of the positioning plane is fixedly provided with the third positioning guide nail, the third positioning guide nail and the surgical bone nails are arranged in parallel and are simultaneously driven by the rotary clamping part to move on a plane parallel to the first radiation direction until the projection of the third positioning guide nail and the surgical bone nails on the X-ray radiography equipment configured to the second radiation direction reaches the surgical position.
Furthermore, the guiding robot is also provided with an operation panel, a first driving motor, a second driving motor and a central processing unit, wherein the first driving motor is arranged corresponding to the primary positioning part, the second driving motor is arranged corresponding to the secondary positioning part, the operation panel receives operation input for operating the robot, and the central processing unit is used for processing the operation input signal and sending a control instruction to the first driving motor and the second driving motor.
Furthermore, the adjusting mechanism comprises a sliding base, a first shaft arm vertically extending and a second shaft arm horizontally extending;
the first shaft arm is fixedly installed on the sliding base and is provided with a first guide rail along the axial direction, the second shaft arm is arranged in a telescopic mode, one end of the second shaft arm is installed on the first shaft arm in a sliding mode through the first guide rail, the other end of the second shaft arm is provided with a guiding nail placing device, and the guiding nail placing device is guided to move in the horizontal direction and the vertical direction;
the sliding base is provided with a lifting platform and a rolling device and is used for driving the guiding robot arranged above the lifting platform to move to any preset spatial position.
Furthermore, the guiding robot is further provided with a third driving motor and a fourth driving motor, the third driving motor is used for driving the second shaft arm to move in the vertical direction for a preset distance, and the fourth driving motor is used for driving the second shaft arm to move in the horizontal direction for a preset distance.
Furthermore, adjustment mechanism still includes the casing of fixed mounting in sliding bottom top, and the casing top is equipped with and is used for wearing to establish first shaft arm and the first opening of shape and the radial cross-section adaptation of first shaft arm, and X ray radiography equipment display screen and operating panel are still installed at the casing top.
Further, the primary positioning portion coaxially extends downwards to form a telescopic first connecting rod, and the secondary positioning portion is fixedly installed at the bottom end of the first connecting rod.
A nail placing method for orthopedic surgery adopts a guiding robot, comprises the primary positioning and the secondary positioning of surgical bone nails, wherein the primary positioning comprises the following steps:
s101: adjusting the radiation direction of a radiation source of the X-ray radiography equipment to a first radiation direction, and controlling an adjusting mechanism to drive a guide positioning device to move to a preset space position;
s102: installing a first positioning guide pin in the shaft center hole, and controlling the first positioning guide pin to move to a pin placing position according to a perspective image of the X-ray radiography equipment configured to be in a first ray direction;
s103: installing a second positioning guide nail in the positioning hole, and controlling the guide nail placing device to rotate in the direction perpendicular to the long axis of the second positioning guide nail by taking the axis direction of the axis hole as a rotating shaft until the projection of the second positioning guide nail and the projection of the first positioning guide nail on the X-ray radiography equipment are overlapped;
the secondary positioning comprises the following steps:
s201: adjusting the radiation direction of the X-ray contrast equipment to a second radiation direction, wherein the second radiation direction is vertical to the first radiation direction;
s202: installing the surgical bone nail and a third positioning guide nail, controlling the rotary clamping part to rotate and driving the third positioning guide nail to rotate on a plane parallel to the first radiation direction, and controlling the third positioning guide nail to move to a nail placing position according to a perspective image of the X-ray radiography equipment configured to be in the second ray direction;
s203: and (4) installing the surgical bone nail, and determining the nail placing position of the surgical bone nail on the space by the first positioning guide nail, the second positioning guide nail and the third positioning guide nail.
Furthermore, the X-ray radiography equipment is a C-arm machine, the first radiation direction is the X-ray propagation direction when the C-arm machine frame is vertically placed, and the second radiation direction is the X-ray propagation direction when the C-arm machine frame is horizontally placed.
Further, the guiding and nail-placing device is configured to be correspondingly driven by a first driving motor in step S103, the rotating and clamping part is configured to be correspondingly driven by a second driving motor in step S202, and the guiding robot receives the operation input of the doctor and controls the first driving motor and the second driving motor to execute the motor on/off command.
Further, in step S202, when the third positioning guide pin needs to be fine-tuned to move the third positioning guide pin to the pin placing position, the first connecting rod, which is disposed between the primary positioning portion and the secondary positioning portion and is telescopically arranged, is correspondingly adjusted, and the length of the first connecting rod is manually adjusted by a fine tuning knob or adjusted by a motor.
The technical scheme of the invention discloses a guiding robot based on a projection principle and an orthopedic surgery nail placing method, which are based on the characteristics of X-ray radiation along a straight line and the principle that the radiography is not changed when an object moves along the X-ray radiation direction, and are used for respectively determining nail placing planes of surgical bone nails in two radiation directions of a 90-degree intersection angle through a first positioning guide nail, a second positioning guide nail and a third positioning guide nail, and determining the unique and optimal nail placing position through the two intersection planes. The determination of the nail placing position is finished in vitro, and only one projection in the radiation direction needs to be concerned at the same time during the positioning, so that the bone nail positioning difficulty is reduced, the operation time is shortened, and the radiation injury of the surgical wound surface and the perspective of a patient to the patient and an operator is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below.
FIG. 1 is a schematic view of a conventional imaging apparatus;
FIG. 2 is a schematic structural diagram of a guiding robot based on a projection principle;
FIG. 3 is a schematic structural view of the needle guiding device;
fig. 4 is a flow chart of the orthopedic surgery needle placing method.
Description of the main element symbols:
1: a guiding nail placing device; 11: a primary positioning part; 111: a shaft center hole; 112: positioning holes; 113: a first positioning guide pin; 114: a second positioning guide pin; 12: a secondary positioning part; 121: a rotating clamping part; 122: positioning a plane; 123: a third positioning guide pin;
2: an adjustment mechanism; 21: a sliding base; 22: a first shaft arm; 23: a second shaft arm;
3: surgical bone screws; 4: an operation panel; 5: a first drive motor; 6: a second drive motor; 7: a display screen; 8: a first link.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations as a sequential process, many of the operations can be performed in parallel, concurrently, or simultaneously. In addition, the order of the operations may be re-arranged. A process may be terminated when its operations are completed, but may have additional steps not included in the figure. A process may correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.
Specific structural and functional details disclosed herein are merely representative and are provided for purposes of describing example embodiments of the present invention. This invention may, however, be embodied in many alternate forms and should not be construed as limited to only the embodiments set forth herein.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Although modern orthopedic surgery requires that before internal fixation of fracture, a doctor should determine the direction of bone screw placement and the point of screw insertion as much as possible by means of auxiliary screw placement equipment, and avoid wound enlargement caused by intraoperative adjustment as much as possible, in fact, auxiliary screw placement technologies including a three-dimensional navigation technology, a 3D printing technology and an orthopedic robot technology or auxiliary screw placement technologies which depend on the experience of the doctor are high in equipment cost and large in operation difficulty, and are difficult to popularize and apply in primary hospitals.
In order to solve the technical problems, the technical scheme of the invention provides an auxiliary nail placing scheme which is low in cost, simple in operation, low in equipment requirement, easy for clinical popularization and high in nail placing accuracy.
The "bone nail" and "nail" referred to in the present invention may be a k-nail, a screw, and other rod-shaped fixtures used in internal fixation of bone fractures.
In the traditional method for guiding the nail by using the radiography device, the nail inserting point and the nail path direction need to be determined through repeated perspective in the bone nail guiding process so as to prevent the deviation of the screw inserting position, because the propagation direction of X-rays emitted by a light source of the X-ray radiography device is generally divergent (as shown in fig. 1), the projection image of the right position or the lateral position of the bone nail is changed due to the vertical or horizontal movement of the bone nail, and the requirement that a doctor needs to perform the perspective again so as to improve the accuracy of the positioning of the bone nail is met.
The guide robot and the bone surgery nail placing method provided by the technical scheme of the invention are based on the characteristic that X-rays are radiated along a straight line and the principle that radiography is not changed when an object moves along the X-ray radiation direction, can respectively determine the nail placing planes of the surgical bone nail in two radiation directions of a 90-degree intersection angle through the positioning guide nail, and determine the unique and optimal nail placing position through the two intersecting planes, wherein the nail placing position has the optimal nail inserting point and the optimal nail placing path, and the process of determining the surgical bone nail by utilizing the positioning guide nail in an auxiliary manner is completed in vitro.
Particularly, when the doctor is fixed a position in the art, first location is led the nail, second location is led nail and third location and is led the nail and should place in human near light source one side, at this moment, the doctor can observe the perspective image of location guide nail and skeleton, and simulate out the best nail point of inserting and put the nail route of operation bone nail in vitro according to perspective image, and in the operation process, the doctor only need pay close attention to the projection of operation bone nail in a radiation direction at the same moment, be favorable to reducing the bone nail location degree of difficulty, shorten operation operating time, reduce the radiation injury of patient's operation surface of a wound and perspective to patient and operative person.
The application environment of the present invention is not limited to the X-ray imaging apparatus, and in fact, any radiographic apparatus satisfying the straight line radiation characteristics may be applied.
The following describes and explains the guiding robot based on the projection principle and the bone surgery nail setting method using the guiding robot in detail with reference to the specific embodiment and the accompanying fig. 2-4.
The first embodiment of the invention:
the embodiment of the invention provides a guiding robot based on a projection principle, which is used for assisting an intraosseous built-in nail in cooperation with an X-ray radiography device and comprises a guiding nail placing device 1 and an adjusting mechanism 2, wherein the adjusting mechanism 2 is used for driving the guiding nail placing device 1 to move to any preset position, and a long shaft of the guiding nail placing device 1 extends along the vertical direction and is sequentially provided with a primary positioning part 11 and a secondary positioning part 12 from top to bottom. In the present embodiment, the primary positioning portion 11 and the secondary positioning portion 12 are used to respectively determine nail placing planes of the surgical bone nail 3 on two X-ray radiography apparatuses configured in different radiation directions, the primary positioning operation is completed under the X-ray configured in the vertical radiation direction, the obtained radiography image is a "positive plate", the secondary positioning operation is completed under the X-ray configured in the horizontal radiation direction, at this time, a "side plate" is obtained, it should be noted that, in other embodiments, the radiation direction is not limited to be horizontal or vertical, and only it needs to be satisfied that the two radiation directions are perpendicular.
Specifically, the primary positioning portion 11 includes a shaft hole 111 and a positioning hole 112 arranged at intervals in the longitudinal direction of the nail guiding device 1, a first positioning guide nail 113 detachably attached to the shaft hole 111, and a second positioning guide nail 114 detachably attached to the positioning hole 112, and the first positioning guide nail 113 and the second positioning guide nail 114 are provided to extend horizontally toward the operator.
When a first nail placing plane is determined, the adjusting mechanism 2 is used for moving and guiding the nail placing device in the space until the positive perspective image of the first positioning guide nail 113 moves to the optimal nail placing position of the target bone; because the guiding nail placing device 1 is rotatably installed on the adjusting mechanism 2 by taking the axial direction of the axial hole 111 as a rotating shaft, in the process, the first positioning guide nail 113 arranged corresponding to the axial hole 111 is always located at the optimal nail placing position, the second positioning guide nail 114 is driven by the guiding nail placing device 1 to move left and right, when the X-ray perspective images of the first positioning guide nail 113 and the second positioning guide nail 114 are overlapped, the first positioning guide nail 113 and the second positioning guide nail 114 jointly determine a first nail placing plane parallel to the first radial direction, when the surgical bone nail 3 moves up and down or rotates on the plane, the perspective image is not changed, and when the lateral plate nail path is positioned, a doctor only needs to pay attention to the perspective lateral plate image of the surgical bone nail 3.
The secondary positioning portion 12 is provided with a rotary clamping portion 121, a positioning plane 122 and a third positioning guide nail 123, the rotary clamping portion 121 and the primary positioning portion 11 are coaxially arranged and provided with the surgical bone nail 3, the first positioning guide nail 113 and the second positioning guide nail 114 are located on the same plane, one end of the positioning plane 122 is fixedly connected with the rotary clamping portion 121, the other end of the positioning plane extends horizontally and is fixedly provided with the third positioning guide nail 123 arranged in parallel with the surgical bone nail 3, the third positioning guide nail 123 and the surgical bone nail 3 can be driven by the rotary clamping portion 121 to move in a direction parallel to the first radial direction until the perspective side panel image of the third positioning guide nail 123 moves to the optimal nail placement position of the target bone, and at this time, the surgical bone nail 3 is installed and the nail placement operation is executed according to the perspective image of the third positioning guide nail 123.
In the embodiment of the invention, the surgical bone nail 3 is a kirschner wire, and in order to assist a doctor to accurately insert the surgical bone nail, the first positioning guide pin 113, the second positioning guide pin 114 and the third positioning guide pin 123 are kirschner wires with the specification consistent with that of the surgical bone nail 3.
For rationalizing the structure, the adjusting mechanism 2 in the embodiment of the present invention includes: the device comprises a sliding base 21, a first shaft arm 22 arranged in a vertically extending mode and a second shaft arm 23 arranged in a horizontally extending mode.
The first shaft arm 22 is fixedly installed on the sliding base 21 and is provided with a first guide rail along the axial direction, the second shaft arm 23 is arranged in a telescopic mode, one end of the second shaft arm is installed on the first shaft arm 22 in a sliding mode through the first guide rail, the other end of the second shaft arm is provided with the guide nail placing device 1, and the guide nail placing device 1 is guided to move in the horizontal and vertical directions; in other embodiments, it may be configured to: the first shaft arm 22 is fixedly installed on the sliding base 21 and is provided with a first guide rail along the axial direction, the guiding nail placing device 1 is installed on one side, close to an operator, of the second shaft arm 23, the second shaft arm 23 is installed on the first shaft arm 22 in a sliding mode through the first guide rail, the guiding nail placing device 1 is guided to move in the vertical direction, the second shaft arm 23 is provided with a second guide rail extending in the axial direction and is installed on the first shaft arm 22 in a sliding mode through the second guide rail, the guiding nail placing device 1 is guided to move in the horizontal direction, and a doctor can manually or electrically adjust the first shaft arm 22 and the second shaft arm 23 to control the nail placing device to move horizontally and vertically;
the sliding base 21 is provided with a lifting platform and a rolling device for driving the guiding robot to a random preset spatial position.
The sliding base 21 is used for greatly moving the guiding robot and initially placing the guiding robot, the first shaft arm 22 and the second shaft arm 23 are used for finely adjusting the guiding nail-placing device 1, and a doctor can adjust the guiding nail-placing device 1 to an ideal placing position by cooperatively operating the sliding base 21, the first shaft arm 22 and the second shaft arm 23.
Considering that different bones in actual operation have different requirements on operation space, the primary positioning part 11 extends downwards and coaxially to be provided with the telescopic first connecting rod 8, and the secondary positioning part 12 is fixedly arranged at the bottom end of the first connecting rod 8, so that a doctor can automatically adjust the distance between the primary positioning part 11 and the secondary positioning part 12 according to operation needs. In other embodiments, the positioning plane 122 fixedly installed on the rotating clamping portion 121 is telescopically arranged, and/or the positioning plane 122 is rotatably installed on the rotating clamping portion 121, so that a surgeon can adjust the relative position of the third positioning guide pin and the surgical bone nail by rotating the positioning plane, thereby effectively preventing the third positioning guide pin from being blocked by the bone, and ensuring that the third positioning guide pin can provide a reference for the implantation of the surgical bone nail.
The second embodiment of the invention:
on the basis of the first embodiment, as shown in fig. 2-3, the embodiment of the invention provides an intelligent electrically-controlled guiding robot for assisting a doctor in performing an orthopedic surgery, and the guiding robot is provided with an operation panel 4, a first driving motor 5, a second driving motor 6 and a central processing unit.
The first driving motor 5 is disposed corresponding to the primary positioning portion 11, and is configured to drive the guiding nail placing device 1 to rotate by using the axial direction of the axial hole 111 as a rotation axis, and a first nail placing plane in a first radial direction is determined by the first positioning nail 113 and the second positioning nail 114; the second driving motor 6 is disposed corresponding to the secondary positioning portion 12, and is used for driving the rotating clamping portion 121 to rotate and driving the third positioning guide pin 123 and the operative bone to move in a direction parallel to the first radial direction; the operation panel 4 receives operation input for operating the robot, and the central processing unit is used for processing the operation input signal and sending a control command to the first driving motor 5 and the second driving motor 6 so as to assist a doctor to adjust the position of the surgical bone nail.
In addition, the guiding robot is further provided with a third driving motor and a fourth driving motor, the third driving motor is used for driving the second shaft arm 23 to move in the vertical direction for a preset distance, and the fourth driving motor is used for driving the second shaft arm 23 to move in the horizontal direction for a preset distance, so as to assist the medical person to integrally adjust the spatial position of the guiding nail placing device 1.
For rationalization structure, adjustment mechanism 2 still includes the casing of fixed mounting in sliding bottom 21 top, and the casing top is equipped with the first opening that is used for wearing to establish first axis arm 22 and shape and the radial cross-section adaptation of first axis arm 22, and display screen 7 and operating panel 4 that are used for showing the X ray image are still installed to the casing top.
The third embodiment of the invention:
the embodiment of the invention provides a nail placing method for orthopedic surgery on the basis of the first embodiment and the second embodiment, as shown in fig. 2-4, the nail placing method comprises the primary positioning and the secondary positioning of a surgical bone nail 3, wherein the primary positioning comprises the following steps:
s101: adjusting the radiation direction of the X-ray radiography equipment to a first radiation direction, and controlling the adjusting mechanism 2 to drive the guide positioning device to move to a preset space position;
s102: installing a first positioning guide pin 113 in the axial hole 111, and controlling the first positioning guide pin 113 to move to a pin placing position according to a perspective image of the X-ray radiography equipment configured in a first ray direction;
s103: after the spatial position of the first positioning guide nail 113 is determined, the second positioning guide nail 114 is installed in the positioning hole 112, and the guiding nail placing device 1 is controlled to rotate by taking the axial direction of the axial hole 111 as a rotating shaft until the perspective images of the second positioning guide nail 114 and the first positioning guide nail 113 on the X-ray radiography equipment are overlapped, because the surgical bone nail 3 is positioned on the plane determined by the first positioning guide nail 113 and the second positioning guide nail 114, the nail placing position of the surgical bone nail 3 in one direction is determined immediately at this time, the perspective image of the X-ray radiography equipment in the first radiation direction cannot be influenced by the rotation or translation of the surgical bone nail 3 on the first nail placing plane, so that a doctor only needs to pay attention to the perspective image in the second radiation direction in the following secondary positioning process, and the accurate positioning of the nail placing position of the surgical bone nail 3 and the optimal nail placing path are facilitated.
The secondary positioning comprises the following steps:
s201: adjusting the radiation direction of the X-ray contrast equipment to a second radiation direction, wherein the second radiation direction is perpendicular to the first radiation direction;
s202: installing a third positioning guide nail 123, controlling the rotary clamping part 121 to rotate and driving the third positioning guide nail 123 to rotate on a plane parallel to the first radial direction, and controlling the third positioning guide nail 123 to move to a nail placing position according to a perspective image of the X-ray radiography equipment configured in the second radial direction, wherein the second nail placing plane of the surgical bone nail 3 in the second radial direction is determined immediately;
s203: the surgical bone nail 3 is installed and placed in the bone, and the nail placing position of the surgical bone nail 3 in space is determined by the first positioning guide nail 113, the second positioning guide nail 114 and the third positioning guide nail 123, namely the optimal nail placing position.
In the embodiment of the invention, the X-ray radiography equipment is a C-arm machine, the first radiation direction is the X-ray propagation direction when a C-arm machine frame is vertically arranged, and the second radiation direction is the X-ray propagation direction when the C-arm machine frame is horizontally arranged. Certainly, the X-ray radiography equipment is not limited to a C-arm machine, unidirectional X-ray radiography equipment can be adopted in primary hospitals, and the nail placing scheme for the orthopedic surgery of the embodiment of the invention has low requirement on equipment and is simple to operate, thereby being beneficial to popularization in primary hospitals.
In order to assist the medical person to accurately and rapidly insert the surgical bone nails 3, the guiding nail-inserting device 1 is configured to be correspondingly driven by the first driving motor 5 in step S103, the rotary clamping portion 121 is configured to be correspondingly driven by the second driving motor 6 in step S202, and the guiding robot receives the operation input of the medical person and controls the first driving motor 5 and the second driving motor 6 to execute the motor on/off command.
When the third positioning guide pin 123 needs to be finely adjusted to translate the third positioning guide pin to the optimal pin placement position, the first connecting rod 8 which is arranged between the primary positioning portion 11 and the secondary positioning portion 12 and is telescopically arranged is correspondingly adjusted, and the length of the first connecting rod 8 is manually adjusted or adjusted by a fine adjustment knob or by a motor, so that different requirements of different bones in an actual operation on an operation space are met.
When the bone stops the third positioning guide pin 123, the doctor can adjust the length of the positioning plane 122 or adjust the external placement position of the third positioning guide pin 123 by rotating the positioning plane 122 as required, thereby ensuring that the third positioning guide pin can provide reference for the implantation of the surgical bone pin.
The guiding robot based on the projection principle and the bone surgery nail placing method provided by the technical scheme of the invention are introduced in detail, a specific example is applied in the description to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea and method of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A guide robot based on projection principle is used for matching with an auxiliary bone built-in nail of an X-ray radiography device and comprises a guide nail placing device and an adjusting mechanism, wherein the adjusting mechanism is used for driving the guide nail placing device to move to any preset position;
the primary positioning part is provided with a shaft center hole and a positioning hole which are arranged at intervals along the long axis direction of the guide nail placing device, a first positioning guide nail which is detachably arranged in the shaft center hole and a second positioning guide nail which is detachably arranged in the positioning hole, the first positioning guide nail and the second positioning guide nail horizontally extend towards one side of an operator, and the guide nail placing device takes the shaft axis direction of the shaft center hole as a rotating shaft and is rotatably arranged on the adjusting mechanism for driving the second positioning guide nail to move until the second positioning guide nail and the first positioning guide nail are overlapped in an X-ray perspective image which is configured to be in a first radiation direction;
the nail is led in secondary location portion, is equipped with rotatory clamping part, location plane, third location, rotatory clamping part just disposes operation bone nail with the coaxial setting of primary location portion, operation bone nail with nail and second location are led in the coplanar to first location, the rotatory clamping part of location plane one end fixed connection, other end level extend and fixed mounting have the third location to lead the nail, and the nail is led in the third location and is led in parallel with the operation bone nail parallel arrangement and driven by rotatory clamping part and rotate on the direction that is on a parallel with first radiation direction, and the nail arrives the operation position until the two in the X ray perspective image that disposes into the second radiation direction.
2. The guiding robot based on projection principle as claimed in claim 1, wherein the guiding robot further comprises an operation panel, a first driving motor, a second driving motor, and a central processing unit, the first driving motor correspondingly drives the primary positioning portion, the second driving motor correspondingly drives the secondary positioning portion, the operation panel receives an operation input for operating the robot, and the central processing unit is configured to process the operation input signal and send a control command to the first driving motor and the second driving motor.
3. The projection principle-based guiding robot as claimed in claim 2, wherein the adjusting mechanism comprises a sliding base, a first shaft arm extending vertically, and a second shaft arm extending horizontally;
the first shaft arm is fixedly arranged on the sliding base and is provided with a first guide rail along the axial direction, the second shaft arm is arranged in a telescopic manner, one end of the second shaft arm is slidably arranged on the first shaft arm through the first guide rail, the other end of the second shaft arm is provided with the guide nail placing device, and the guide nail placing device is guided to move in the horizontal and vertical directions;
the sliding base is provided with a lifting platform and a rolling device and used for driving the guiding robot to move to any preset spatial position.
4. A guiding robot based on projection principle as claimed in claim 3, characterized in that the guiding robot is further provided with a third driving motor for driving the second axis arm to be displaced by a preset distance in the vertical direction, and a fourth driving motor for driving the second axis arm to be displaced by a preset distance in the horizontal direction.
5. The guiding robot based on projection principle as claimed in claim 4, wherein the sliding base further comprises a housing disposed above the sliding base, the top of the housing is provided with an opening for passing through the first shaft arm and having a shape adapted to the radial section of the first shaft arm, the top of the housing is further provided with the operation panel and a display screen for displaying X-ray perspective images.
6. The guiding robot based on projection principle as claimed in claim 1, wherein the primary positioning part is provided with a first link rod which is telescopic and extends coaxially downwards, and the secondary positioning part is fixedly installed at the bottom end of the first link rod.
7. An orthopedic surgical nail placement method using the guiding robot of any one of claims 1-6, comprising a primary positioning and a secondary positioning of surgical bone nails, wherein the primary positioning comprises the steps of:
s101: adjusting the radiation direction of the X-ray radiography equipment to a first radiation direction, and controlling the adjusting mechanism to drive the guide positioning device to move to a preset space position;
s102: installing a first positioning guide pin in the shaft center hole, and controlling the first positioning guide pin to move to a pin placing position according to a perspective image of the X-ray radiography equipment configured to be in a first ray direction;
s103: installing a second positioning guide nail in the positioning hole, and controlling the guide nail placing device to rotate by taking the axial line direction of the axial hole as a rotating shaft until the second positioning guide nail and the first positioning guide nail are overlapped on a perspective image of the X-ray radiography equipment;
the secondary positioning comprises the following steps:
s201: adjusting the radiation direction of the X-ray contrast equipment to a second radiation direction, wherein the second radiation direction is perpendicular to the first radiation direction;
s202: installing a third positioning guide nail, controlling the rotary clamping part to rotate and driving the third positioning guide nail to rotate on a plane parallel to the first radiation direction, and controlling the third positioning guide nail to move to a nail placing position according to a perspective image of the X-ray radiography equipment configured in the second ray direction, wherein the second nail placing plane of the surgical bone nail in the second radiation direction is determined immediately at the moment;
s203: the surgical bone nail is installed and placed into the bone.
8. The orthopedic surgical stapling method of claim 7, wherein said X-ray radiographic apparatus is a C-arm machine, said first radial direction is a direction of X-ray propagation when the C-arm machine frame is vertically disposed, and said second radial direction is a direction of X-ray propagation when the C-arm machine frame is horizontally disposed.
9. The orthopedic surgical stapling method of claim 7, wherein the guide staple placing device is configured to be correspondingly driven by the first drive motor in step S103, the rotary clamping portion is configured to be correspondingly driven by the second drive motor in step S202, and the guide robot receives the operation input of the doctor and controls the first drive motor and the second drive motor to execute the motor on/off command.
10. The orthopedic surgical nail placement method according to claim 9, wherein in step S202, when the third positioning guide nail needs to be finely tuned to translate the third positioning guide nail to the optimal nail placement position, the first connecting rod telescopically disposed between the primary positioning portion and the secondary positioning portion is correspondingly adjusted, and the length of the first connecting rod is manually adjusted by a motor adjustment or a fine tuning knob.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210411260.2A CN114795444A (en) | 2022-04-19 | 2022-04-19 | Guiding robot based on projection principle and bone surgery nail placing method |
| PCT/CN2023/089181 WO2023202611A1 (en) | 2022-04-19 | 2023-04-19 | Projection principle-based guide robot and orthopedic surgery screw placement method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210411260.2A CN114795444A (en) | 2022-04-19 | 2022-04-19 | Guiding robot based on projection principle and bone surgery nail placing method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114795444A true CN114795444A (en) | 2022-07-29 |
Family
ID=82505148
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210411260.2A Pending CN114795444A (en) | 2022-04-19 | 2022-04-19 | Guiding robot based on projection principle and bone surgery nail placing method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN114795444A (en) |
| WO (1) | WO2023202611A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023202611A1 (en) * | 2022-04-19 | 2023-10-26 | 深圳市第二人民医院 | Projection principle-based guide robot and orthopedic surgery screw placement method |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104382643B (en) * | 2014-12-12 | 2015-06-17 | 陈伟 | Kirschner wire positioner for minimally invasive fixation for fracture |
| IT201700048427A1 (en) * | 2017-05-04 | 2018-11-04 | Orthofix Srl | Targeting system for guided insertion of a guide wire or bone screw |
| CN108451631A (en) * | 2018-02-13 | 2018-08-28 | 邓婉坤 | A kind of neck of femur hollow screw guide pin positioning device and application method |
| CN112716592A (en) * | 2021-01-21 | 2021-04-30 | 上海市东方医院（同济大学附属东方医院） | Computer-aided implanted sacroiliac screw direction adjusting device and adjusting method |
| CN113907859B (en) * | 2021-09-07 | 2023-10-13 | 上海市第十人民医院 | Auxiliary screw placement device for sacroiliac joint screw navigation |
| CN114795444A (en) * | 2022-04-19 | 2022-07-29 | 深圳市第二人民医院 | Guiding robot based on projection principle and bone surgery nail placing method |
| CN218606798U (en) * | 2022-04-19 | 2023-03-14 | 深圳市第二人民医院 | Projection principle-based guide nail placing device, guide robot and integrated orthopedic surgery equipment |
-
2022
- 2022-04-19 CN CN202210411260.2A patent/CN114795444A/en active Pending
-
2023
- 2023-04-19 WO PCT/CN2023/089181 patent/WO2023202611A1/en unknown
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023202611A1 (en) * | 2022-04-19 | 2023-10-26 | 深圳市第二人民医院 | Projection principle-based guide robot and orthopedic surgery screw placement method |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2023202611A1 (en) | 2023-10-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112641510B (en) | Joint replacement surgical robot navigation positioning system and method | |
| DE69534862T2 (en) | Surgical navigation arrangement including reference and location systems | |
| Hohlweg-Majert et al. | Navigational maxillofacial surgery using virtual models | |
| Wu et al. | Guidance for the treatment of femoral neck fracture with precise minimally invasive internal fixation based on the orthopaedic surgery robot positioning system | |
| US11026855B2 (en) | System and method for patient positioning in an automated surgery | |
| EP2790597B1 (en) | A method and a device for computer assisted surgery | |
| CN105916463A (en) | Detachable-mountable arc-shaped precise positioning equipment | |
| WO2017050201A1 (en) | Minimally invasive medical robot system | |
| IL119545A (en) | Method and device for precise invasive procedures | |
| Esteban et al. | Robotic ultrasound-guided facet joint insertion | |
| WO2017017443A1 (en) | Apparatus for performing fracture reduction | |
| EP1742584B1 (en) | Automatic pointing device for correct positioning of the distal locking screws of an intramedullary nail | |
| CN218606798U (en) | Projection principle-based guide nail placing device, guide robot and integrated orthopedic surgery equipment | |
| WO2023202611A1 (en) | Projection principle-based guide robot and orthopedic surgery screw placement method | |
| EP3197379B1 (en) | Device for repositioning bone fracture fragments | |
| CN113907859B (en) | Auxiliary screw placement device for sacroiliac joint screw navigation | |
| CN107595406B (en) | Electromagnetic guiding system for fracture closed reduction treatment | |
| US20240081836A1 (en) | Lockable surgical system | |
| CN116350349B (en) | Hip-protecting operation treatment system and device based on CJFH typing | |
| US20080013678A1 (en) | Device for Placing Instruments or Implants in Body Organs | |
| CN108478273A (en) | Pedicle nail location adjusting device | |
| EP4088683A1 (en) | Medical multipurpose laser pointing device | |
| WO2023108625A1 (en) | Puncture positioning system and control method therefor | |
| Simpson et al. | Computer–Assisted deformity correction using the ilizarov method | |
| CN117462252A (en) | Medical navigation equipment and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20240206 Address after: 518110, Building 1, B206, Yinxing Zhijie Phase II, No. 1301, Sightseeing Road, Xinlan Community, Guanlan Street, Longhua District, Shenzhen City, Guangdong Province Applicant after: Shenzhen Jixing Medical Technology Co.,Ltd. Country or region after: China Address before: 518000 No. 3002 West Sungang Road, Shenzhen, Guangdong, Futian District Applicant before: SHENZHEN SECOND PEOPLE'S Hospital Country or region before: China |
|
| TA01 | Transfer of patent application right |