CN116211395A - Femur osteotomy guide plate device and use method thereof - Google Patents
Femur osteotomy guide plate device and use method thereof Download PDFInfo
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- 210000000689 upper leg Anatomy 0.000 title claims abstract description 55
- 238000000034 method Methods 0.000 title claims abstract description 16
- 239000000523 sample Substances 0.000 claims abstract description 32
- 238000005259 measurement Methods 0.000 claims abstract description 21
- 210000002436 femur neck Anatomy 0.000 claims abstract description 19
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 9
- 238000002271 resection Methods 0.000 claims description 14
- 210000003141 lower extremity Anatomy 0.000 claims description 8
- 238000013461 design Methods 0.000 claims description 7
- 206010016454 Femur fracture Diseases 0.000 claims description 5
- 210000003484 anatomy Anatomy 0.000 claims description 5
- 238000001356 surgical procedure Methods 0.000 claims description 4
- 238000010146 3D printing Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 3
- 210000000588 acetabulum Anatomy 0.000 abstract description 2
- 230000002411 adverse Effects 0.000 description 2
- 210000001624 hip Anatomy 0.000 description 2
- 210000001981 hip bone Anatomy 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000002980 postoperative effect Effects 0.000 description 2
- 208000012659 Joint disease Diseases 0.000 description 1
- 238000011882 arthroplasty Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000011541 total hip replacement Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
- A61B17/1732—Guides or aligning means for drills, mills, pins or wires for bone breaking devices
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1657—Bone breaking devices
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1662—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body
- A61B17/1664—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the hip
- A61B17/1668—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the hip for the upper femur
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
- A61B17/1739—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body
- A61B17/1742—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body for the hip
- A61B17/175—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body for the hip for preparing the femur for hip prosthesis insertion
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/25—Process efficiency
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Abstract
The invention provides a femur osteotomy guide plate device and a using method thereof, and relates to the technical field of medical appliances. The femur osteotomy guide plate device comprises a guide plate body, a probe, a prosthesis measuring tool and an NDI camera; the guide plate body is provided with a plurality of guide pin fixing holes and a plurality of positioning holes for placing probes; the inner wall of the guide plate body is provided with a fitting surface which is fit with the bone surface of the patient; the side wall of the guide plate body is provided with a bone cutting guide surface; the prosthesis measurement tool is mountable on a femoral neck of a femoral prosthesis; NDI cameras can capture probes and prosthesis measurement tools. The technical effect of good matching degree of the femur prosthesis and the acetabulum prosthesis is achieved.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a femur osteotomy guide plate device and a using method thereof.
Background
Total hip replacement (total hip arthroplasty, THA) is an effective means of treating end-stage hip joint disease. With the development of robot-assisted orthopedic surgery techniques, robot-assisted THA has become a common clinical treatment tool.
THA surgery is classified into femoral side procedures and acetabular side procedures. At present, most surgical robots focus on acetabular side operation, namely accurate placement of an acetabular cup, and the technology is relatively mature and light for the femoral side.
However, the placement accuracy of the femoral prosthesis cannot be guaranteed, so that the femoral prosthesis and the acetabular prosthesis cannot be matched in an ideal state, and the risk of non-ideal postoperative recovery exists.
Disclosure of Invention
The invention aims to provide a femur osteotomy guide plate device and a using method thereof, which are used for solving the technical problem of poor matching degree of a femur prosthesis and an acetabulum prosthesis in the prior art.
In a first aspect, embodiments of the present invention provide a femoral resection guide plate device comprising a guide plate body, a probe, a prosthesis measurement tool, and an NDI camera;
the guide plate body is provided with a plurality of guide pin fixing holes and a plurality of positioning holes for placing the probes;
the inner wall of the guide plate body is provided with a fitting surface which is fit with the bone surface of a patient;
the side wall of the guide plate body is provided with an osteotomy guide surface;
the prosthesis measurement tool is mountable on a femoral neck of a femoral prosthesis;
the NDI camera can capture the probe and the prosthesis measurement tool.
With reference to the first aspect, an embodiment of the present invention provides a possible implementation manner of the first aspect, where the number of the positioning holes is not less than three.
With reference to the first aspect, an embodiment of the present invention provides a possible implementation manner of the first aspect, where the positioning hole is a taper hole.
With reference to the first aspect, an embodiment of the present invention provides a possible implementation manner of the first aspect, where the osteotomy guiding surface is a guiding plane.
With reference to the first aspect, an embodiment of the present invention provides a possible implementation manner of the first aspect, where the probe includes a needle shaft and a plurality of first reflective spheres;
one end of the needle bar is a tip, and the other end of the needle bar is provided with a plurality of first reflecting balls.
With reference to the first aspect, the embodiment of the present invention provides a possible implementation manner of the first aspect, wherein the prosthesis measuring tool includes a connecting rod, a plurality of second reflective balls, and a sleeve that can be disposed on a femoral prosthesis neck;
one end of the connecting rod is connected with the sleeve, and a plurality of second reflecting balls are arranged at the other end of the connecting rod.
With reference to the first aspect, an embodiment of the present invention provides a possible implementation manner of the first aspect, where the NDI camera uses a binocular tracking camera NDI.
In a second aspect, an embodiment of the present invention provides a method for using a femoral resection guide device, including the steps of:
carrying out CT shooting on the femur of a patient before operation, designing and D-printing a guide plate body according to the actual femur surface of the patient;
the joint surface of the guide plate body is reversely calculated by the ridge anatomical structure between the trochanters of the femur of the patient, so that the joint surface can be precisely jointed with the contact surface of the femur of the patient and is used for positioning and placing the osteotomy guide plate;
obtaining femur frontal plane [ normal vector ] under CT coordinate system
(A，B，C)]Femoral anatomical axis [ passing points (x, y, z), direction vector>
(a，b，c)]Spatial coordinates of knee center (X, Y, Z), pre-fracture femur length, and locating hole A, B, C on the fence body;
the patient is in place, a multifunctional osteotomy guide plate is placed in the region of the femoral trochanter ridge, and the multifunctional osteotomy guide plate is fixed by using a guide pin;
cutting the femoral neck along the osteotomy guiding surface, taking out the femoral head, performing lateral femoral reaming and reaming operations according to the traditional operation steps, and then placing a femoral prosthesis along the prepared intramedullary cavity;
mounting a sleeve of a prosthetic measurement tool over a femoral neck of a prosthetic femur;
obtaining the rotation center coordinates (Xc, yc, zc) and the femoral neck axis [ over rotation center (Xc, yc, zc) of the prosthesis, direction vector by combining the binocular tracking camera NDI and the prosthesis measuring tool
(d，e，f)]；
The binocular tracking camera NDI and the probe are matched to obtain space coordinates A (x ', y ', z '), B (x ', y ', z '), C (x ', y ', z ') of a plurality of positioning holes;
registering the marking point coordinates under the NDI coordinate system obtained by the NDI of the intraoperative binocular tracking camera with the marking point coordinates under the CT coordinate system in design, and unifying the coordinate systems, namely converting the information coordinates of all femur anatomical structures under the CT coordinate system into the NDI coordinate system or converting the information coordinates of all femur anatomical structures under the opposite NDI coordinate system into the CT coordinate system;
and calculating to obtain the femur anteversion angle, neck stem angle, eccentricity and lower limb length difference.
The beneficial effects are that:
the embodiment provides a femur osteotomy guide plate device, which comprises a guide plate body, a probe, a prosthesis measuring tool and an NDI camera; the guide plate body is provided with a plurality of guide pin fixing holes and a plurality of positioning holes for placing probes; the inner wall of the guide plate body is provided with a fitting surface which is fit with the bone surface of the patient; the side wall of the guide plate body is provided with a bone cutting guide surface; the prosthesis measurement tool is mountable on a femoral neck of a femoral prosthesis; NDI cameras can capture probes and prosthesis measurement tools.
Specifically, when the femoral head of a patient is replaced, the guide plate body is fixed on the femoral side wall of the patient, the joint surface of the guide plate body can be precisely jointed with the femoral contact surface of the patient, so that the guide plate body is positioned, then the femoral head of the patient is cut through the osteotomy guide surface of the guide plate body, the femoral head prosthesis is taken out, after the prosthesis is installed, the space coordinates of the femoral head prosthesis and the positioning hole under the NDI coordinate system are obtained through the NDI camera, the probe and the prosthesis measuring tool, and then the space coordinates are compared with preset data of the CT coordinate system, so that the forward inclination angle, the neck shaft angle, the eccentricity and the lower limb length difference of the femoral head prosthesis are calculated, and medical staff can adjust the installation of the hip bone prosthesis through the data, so that the hip bone prosthesis and the femoral prosthesis can be matched better, and the probability of adverse effects after operation is caused.
The embodiment of the invention provides a method for using a femur osteotomy guide plate device, which comprises the following steps: carrying out CT shooting on the femur of a patient before operation, and designing and 3D printing a guide plate body according to the actual femur surface of the patient; the joint surface of the guide plate body is reversely calculated by the ridge anatomical structure between the trochanters of the femur of the patient, so that the joint surface can be precisely jointed with the contact surface of the femur of the patient and is used for positioning and placing the osteotomy guide plate; obtaining femur frontal plane [ normal vector ] under CT coordinate system
(A，B，C)]Femoral anatomical axis [ passing point (x) 0 ，y 0 ，z 0 ) Direction vector->
(a，b，c)]Spatial coordinates of knee center (X, Y, Z), pre-fracture femur length, and locating hole A, B, C on the fence body; the patient is in place, a multifunctional osteotomy guide plate is placed in the region of the femoral trochanter ridge, and the multifunctional osteotomy guide plate is fixed by using a guide pin; cutting the femoral neck along the osteotomy guiding surface, taking out the femoral head, performing lateral femoral reaming and reaming operations according to the traditional operation steps, and then placing a femoral prosthesis along the prepared intramedullary cavity; mounting a sleeve of a prosthetic measurement tool over a prosthetic femoral neck; obtaining the rotation center coordinates (Xc, yc, zc) of the prosthesis and the femoral neck axis of the prosthesis [ over rotation center (Xc, yc, zc), direction vector ]>
(d，e，f)]The method comprises the steps of carrying out a first treatment on the surface of the The spatial coordinates A (x 1', y1', z1 '), B (x 2', y2', z2 '), C (x 3',y3', z 3'); registering the marking point coordinates under the NDI coordinate system obtained by the NDI of the intraoperative binocular tracking camera with the marking point coordinates under the CT coordinate system in design, and unifying the coordinate systems, namely converting the information coordinates of all femur anatomical structures under the CT coordinate system into the NDI coordinate system or converting the information coordinates of all femur anatomical structures under the opposite NDI coordinate system into the CT coordinate system; and calculating to obtain the femur anteversion angle, neck stem angle, eccentricity and lower limb length difference. The method of using the femoral osteotomy guide device has the above advantages over the prior art and is not described in detail herein.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a guide plate body in a femoral resection guide plate device according to an embodiment of the present invention;
FIG. 2 is a schematic view of a femoral resection guide according to an embodiment of the present invention mounted on a femur of a patient;
FIG. 3 is a schematic view of a femoral resection guide according to an embodiment of the present invention when installed on a femur of a patient for use;
FIG. 4 is a schematic diagram of a method of using a femoral resection guide according to an embodiment of the present invention.
Icon:
100-a guide plate body; 110-a guide pin fixing hole; 120-positioning holes; 130-an abutting surface; 140-osteotomy guide surface;
200-probe; 210-needle bar; 220-reflecting ball;
a 300-NDI camera;
400-a prosthesis measurement tool; 410-a connecting rod; 420-a second reflective sphere; 430-a sleeve;
500-femoral neck.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The invention will now be described in further detail with reference to specific examples thereof in connection with the accompanying drawings.
Referring to fig. 1, 2 and 3, the present embodiment provides a femoral resection guide assembly comprising a guide body 100, a probe 200, a prosthesis measurement tool 400 and a NDI (Northern Digital Inc) camera; the guide plate body 100 is provided with a plurality of guide pin fixing holes 110 and a plurality of positioning holes 120 for placing the probes 200; the inner wall of the guide plate body 100 is provided with an attaching surface 130 attached to the bone surface of the patient; the side wall of the guide plate body 100 is provided with an osteotomy guide surface 140; the prosthesis measurement tool 400 is mountable on a femoral neck 500 of a femoral prosthesis; the NDI camera 300 is capable of capturing both the probe 200 and the prosthesis measurement tool 400.
Specifically, when the femoral head of the patient is replaced, the guide plate body 100 is fixed on the femoral side wall of the patient, the joint surface 130 of the guide plate body 100 can be closely jointed with the femoral contact surface of the patient, so that the guide plate body 100 is positioned, then the femoral head of the patient is cut through the osteotomy guiding surface 140 of the guide plate body 100, the femoral head prosthesis is taken out, the femoral head prosthesis is installed, after the prosthesis is installed, the spatial coordinates of the femoral head prosthesis and the positioning hole 120 under the NDI coordinate system are obtained through the NDI camera 300, the probe 200 and the prosthesis measuring tool 400, and are compared with preset data of the CT coordinate system, the anteversion angle, the neck shaft angle, the eccentricity and the length difference of the lower limb of the femoral head prosthesis are calculated, and medical staff can adjust the installation of the hip prosthesis through the data, so that the bone prosthesis and the femoral head prosthesis are matched better, and the probability of adverse effects after operation is achieved.
Wherein the number of the positioning holes 120 is not less than three.
Wherein the osteotomy guiding plane 140 is a guiding plane. So as to cut the femoral head of the patient with the saw by the user, and the medical staff is working with the saw against the osteotomy guide surface 140.
It should be noted that NDI camera 300 employs a binocular tracking camera NDI that is capable of capturing both probe 200 and prosthesis measurement tool 400.
Referring to fig. 1, 2 and 3, in an alternative embodiment of the present invention, the positioning hole 120 is a taper hole.
Specifically, the positioning hole 120 is a tapered hole, and one end of the probe 200 that is mated with the positioning hole 120 is a tapered surface, so that the positioning hole 120 is precisely mated with the probe 200.
Wherein, medical staff holds the probe 200 to place the tip of the probe 200 in the positioning hole 120 so that the tip of the probe 200 can be in contact with the taper point of the positioning hole 120 in the form of a taper hole, thereby enabling the NDI camera 300 to obtain the spatial coordinates under the NDI coordinate system of the taper point of the positioning hole 120 through the probe 200.
Referring to fig. 1, 2 and 3, in an alternative of the present embodiment, a probe 200 includes a needle bar 210 and a plurality of first reflective spheres 220; the first reflective elements are disposed at one end of the needle 210.
Wherein the end of the needle bar 210 facing away from the first reflective ball 220 is pointed.
The NDI camera 300 can identify the spatial coordinates of the first reflective spheres 220, and the probe 200 is a standard component, so that the spatial coordinates of the conical point of the positioning hole 120 in the NDI coordinate system can be obtained by conversion.
Referring to fig. 1, 2 and 3, the prosthesis measurement tool 400 includes a linkage 410, a plurality of second reflective spheres 420, and a sleeve 430 that is positionable over the femoral prosthesis neck; one end of the link 410 is connected to the sleeve 430, and the other end is provided with a plurality of second reflecting balls 420.
Specifically, a sleeve 430 is disposed at an end of the connecting rod 410 facing away from the second reflective ball 420, and the sleeve 430 can be mounted on the femoral neck 500 of the prosthetic femur, so that the NDI camera 300 can identify spatial coordinates in the NDI coordinate system of the plurality of second reflective balls 420, and the prosthetic measuring tool 400 is a standard component, and then the axial coordinate of the sleeve 430 (i.e., the coordinate of the rotational center of the prosthetic, which is the intersection point of the axis of the sleeve 430 and the axis of the connecting rod 410) can be calculated.
The design parameters of the sleeve 430 and the needle 210 are various, and before use, the medical staff pre-stores the design parameters of the sleeve 430 and the needle 210 in the processing system, so that after the NDI camera 300 recognizes the spatial coordinates of the second reflective ball 420 in the NDI coordinate system, the axis coordinate of the sleeve 430 (i.e. the rotation center coordinate of the prosthesis, which is the intersection point of the axis of the sleeve 430 and the axis of the connecting rod 410) can be obtained by calculation.
Referring to fig. 4, the present embodiment provides a method for using a femoral resection guide device, including the following steps: pre-operatively CT-photographing the femur of the patient, and designing and 3D-printing the guide plate body 100 according to the actual femur surface of the patient; the fitting surface 130 of the guide plate body 100 is reversely calculated by the crest anatomy structure between the trochanters of the femur of the patient, so that the fitting surface 130 can be precisely fitted with the contact surface of the femur of the patient for positioning and placing the osteotomy guide plate; obtaining femur frontal plane [ normal vector ] under CT coordinate system
(A，B，C)]Femoral anatomical axis [ passing point (x) 0 ，y 0 ，z 0 ) Direction vector->
(a，b，c)]Spatial coordinates of knee center (X, Y, Z), pre-fracture femur length, and locating hole 120A, B, C on fence body 100; the patient is in place, a multifunctional osteotomy guide plate is placed in the region of the femoral trochanter ridge, and the multifunctional osteotomy guide plate is fixed by using a guide pin; cutting the femoral neck along the osteotomy guide surface 140 and removing the femoral head, performing lateral femoral reaming and reaming operations according to conventional surgical procedures, and then placing a femoral prosthesis along the prepared intramedullary canal; fitting the sleeve 430 of the prosthetic measurement tool 400 over the femoral neck 500 of the prosthetic femur; the coordinate of the rotation center of the prosthesis (Xc, yc, zc) and the axis of the femoral neck of the prosthesis (over-rotation center (Xc, yc, zc)) are obtained by the cooperation of the binocular tracking camera NDI and the prosthesis measuring tool 400, and the direction vector +.>
(d，e，f)]The method comprises the steps of carrying out a first treatment on the surface of the The binocular tracking camera NDI and the probe 200 are matched to obtain the space coordinates A (x 1', y1', z1 '), B (x 2', y2', z 2') and C of the plurality of positioning holes 120x3', y3', z3 '); registering the marking point coordinates under the NDI coordinate system obtained by the NDI of the intraoperative binocular tracking camera with the marking point coordinates under the CT coordinate system in design, and unifying the coordinate systems, namely converting the information coordinates of all femur anatomical structures under the CT coordinate system into the NDI coordinate system or converting the information coordinates of all femur anatomical structures under the opposite NDI coordinate system into the CT coordinate system; and calculating to obtain the femur anteversion angle, neck stem angle, eccentricity and lower limb length difference.
Specifically, the rake angle: the included angle between the axis of the femoral prosthesis and the frontal plane of the femur; neck dry angle: the included angle between the axis of the femoral prosthesis and the femoral planing shaft; eccentricity: the prosthesis rotation center is vertically distant from the femur anatomical axis; lower limb length difference: the post-operative femur length (the distance from the center of rotation of the prosthesis to the center of the knee joint) is only inferior to the pre-fracture femur length.
Wherein, the spatial data A (x 1', y1', z1 ') of the positioning holes 120 under a plurality of NDI coordinate systems are measured after the femoral prosthesis is installed, B (x 2', y2', z2 '), C (x 3', y3', z3 '), when preoperatively, medical staff performs CT shooting on the patient to acquire the spatial information of the femur of the patient under the CT coordinate systems, so that the spatial data under the CT coordinate systems of the plurality of positioning holes 120 can be determined when the guide plate body 100 is reversely designed, therefore, when the data under the NDI coordinate systems are converted into the data under the CT coordinate systems, the spatial data of the plurality of positioning holes 120 can be used as a reference to convert the rotation center coordinates (Xc, yc, zc) of the prosthesis under the NDI coordinate systems and the femoral neck axes of the prosthesis (over rotation centers (Xc, yc, zc) of the direction vector
(d，e，f)]The patient is data under a CT coordinate system, unified data are completed, and then the femur anteversion angle, the neck stem angle, the eccentricity and the lower limb length difference are calculated.
It should be noted that, CT photographing is performed before the operation of the patient, so as to obtain the spatial coordinates of the patient's bone under the CT coordinates, and the design of the guide plate body 100 is performed according to the data, and the fitting surface 130 of the guide plate body 100 is obtained by inverse calculation of the crest anatomy of the trochanter of the femur of the patient, so that the fitting surface 130 can be precisely fitted to the contact surface of the femur of the patient for positioning and placing the osteotomy guide plate.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced with equivalents; such modifications and substitutions do not depart from the spirit of the technical solutions according to the embodiments of the present invention.
Claims (8)
1. A femoral osteotomy guide device, comprising: a guide plate body (100), a probe (200), a prosthesis measurement tool (400) and an NDI camera (300);
a plurality of guide pin fixing holes (110) and a plurality of positioning holes (120) for placing the probes (200) are formed in the guide plate body (100);
the inner wall of the guide plate body (100) is provided with a fitting surface (130) which is fit with the bone surface of a patient;
the side wall of the guide plate body (100) is provided with an osteotomy guide surface (140);
the prosthesis measurement tool (400) is mountable on a femoral neck (500) of a femoral prosthesis;
the NDI camera (300) is capable of capturing the probe (200) and the prosthesis measurement tool (400).
2. The femoral resection guide according to claim 1, wherein the number of positioning holes (120) is not less than three.
3. The femoral resection guide of claim 2, wherein the locating hole (120) is a tapered hole.
4. The femoral resection guide of claim 1, wherein the resection guide (140) is a guide plane.
5. The femoral resection guide of claim 1, wherein the probe (200) comprises a needle shaft (210) and a plurality of first reflective spheres (220);
one end of the needle bar (210) is a tip, and the other end of the needle bar is provided with a plurality of first reflecting balls (220).
6. The femoral osteotomy guide device of claim 1, wherein the prosthesis measurement tool (400) includes a linkage rod (410), a plurality of second reflective spheres (420), and a sleeve (430) positionable over a femoral prosthesis neck;
one end of the connecting rod (410) is connected with the sleeve (430), and the other end of the connecting rod is provided with a plurality of second reflecting balls (420).
7. The femoral resection guide according to any one of claims 1 to 6, wherein the NDI camera (300) employs a binocular tracking camera NDI.
8. A method of using a femoral osteotomy guide plate device, comprising the steps of:
carrying out CT shooting on the femur of a patient before operation, and designing and 3D printing a guide plate body (100) according to the actual femur surface of the patient;
the joint surface (130) of the guide plate body (100) is obtained by reversely calculating the ridge anatomy structure between the trochanters of the femur of the patient, so that the joint surface (130) can be precisely jointed with the contact surface of the femur of the patient and is used for positioning and placing the osteotomy guide plate;
obtaining femur frontal plane [ normal vector ] under CT coordinate system
Femoral anatomical axis [ through point (x) 0 ，y 0 ，z 0 ) Direction vector->
Knee joint center (X, Y, Z), pre-fracture femur length, and locating hole in guide plate body (100)(120) A, B, C spatial coordinates;
the patient is in place, a multifunctional osteotomy guide plate is placed in the region of the femoral trochanter ridge, and the multifunctional osteotomy guide plate is fixed by using a guide pin;
cutting the femoral neck along an osteotomy guiding surface (140) and removing the femoral head, performing lateral femoral reaming and reaming operations according to conventional surgical procedures, and then placing a femoral prosthesis along the prepared intramedullary canal;
mounting a sleeve (430) of a prosthetic measurement tool (400) on a femoral neck (500) of a prosthetic femur;
obtaining the rotation center coordinates (Xc, yc, zc) of the prosthesis and the femoral neck axis of the prosthesis [ over rotation center (Xc, yc, zc), direction vector by using the binocular tracking camera NDI and the prosthesis measuring tool (400) in cooperation
The binocular tracking camera NDI and the probe (200) are matched to obtain space coordinates A (x 1', y1', z1 '), B (x 2', y2', z2 '), C (x 3', y3', z3 ') of the plurality of positioning holes (120);
registering the marking point coordinates under the NDI coordinate system obtained by the NDI of the intraoperative binocular tracking camera with the marking point coordinates under the CT coordinate system in design, and unifying the coordinate systems, namely converting the information coordinates of all femur anatomical structures under the CT coordinate system into the NDI coordinate system or converting the information coordinates of all femur anatomical structures under the opposite NDI coordinate system into the CT coordinate system;
and calculating to obtain the femur anteversion angle, neck stem angle, eccentricity and lower limb length difference.
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| CN112641511A (en) * | 2020-12-18 | 2021-04-13 | 北京长木谷医疗科技有限公司 | Joint replacement surgery navigation system and method |
| CN113576662A (en) * | 2021-06-28 | 2021-11-02 | 北京天智航医疗科技股份有限公司 | Hip joint replacement navigation system and navigation method |
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| CN112641511A (en) * | 2020-12-18 | 2021-04-13 | 北京长木谷医疗科技有限公司 | Joint replacement surgery navigation system and method |
| CN113576662A (en) * | 2021-06-28 | 2021-11-02 | 北京天智航医疗科技股份有限公司 | Hip joint replacement navigation system and navigation method |
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