CN116250925A - Surgical tool navigation device and navigation drill - Google Patents
Surgical tool navigation device and navigation drill Download PDFInfo
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- CN116250925A CN116250925A CN202310327054.8A CN202310327054A CN116250925A CN 116250925 A CN116250925 A CN 116250925A CN 202310327054 A CN202310327054 A CN 202310327054A CN 116250925 A CN116250925 A CN 116250925A
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- surgical tool
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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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
-
- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Robotics (AREA)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Surgical Instruments (AREA)
Abstract
The invention discloses a surgical tool navigation device and a navigation drill. The surgical tool navigation device includes: at least one base fixed subassembly is connected with the operation instrument, and the tracer subassembly can dismantle with the fixed subassembly of base and be connected, and the tracking end of operation navigation can the real-time tracking location tracer subassembly the position gesture, and the tracer subassembly includes: the connecting bracket is detachably connected with the base fixing component, the first fixing bracket and the second fixing bracket are respectively arranged on two sides of the connecting bracket, sharp angles are formed near the sides of the connecting bracket, a plurality of marking points are distributed on the first fixing bracket and the second fixing bracket and located on the outer periphery of the connecting bracket, the surgical tool navigation device can be used for linking a traditional surgical tool with a surgical navigation robot/system, navigation of the traditional surgical tool is realized, the relative positions of the surgical tool and bones are tracked in real time in operation, doctors are guided to operate, surgical safety is improved, and radiation exposure of doctors is reduced.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a surgical tool navigation device and a navigation drill.
Background
In trauma surgery, a doctor needs to put in a holding needle and hold and reset a bone block by means of a surgical tool such as a top rod, and after the completion of the reset, the doctor needs to use a power tool to put in a screw to fix the bone after the completion of the reset. Traditional reset and fixation accuracy is mainly dependent on doctor experience and requires repeated perspective during operation. In recent years, the surgical navigation robot/system can navigate the bone blocks and the mechanical arm in real time, but the traditional surgical tool still needs to be used for assisting the surgical operation in the operation, the process still needs to rely on perspective and experience, and a device for connecting and matching the traditional surgical tool with the surgical navigation robot/system is lacking.
Disclosure of Invention
The invention aims at solving the problems that the prior art still needs to use the traditional surgical tool to assist the operation, the process still needs to rely on perspective and experience, and a device for connecting and matching the traditional surgical tool with a surgical navigation robot/system is lacking.
In order to achieve the above object, the present invention provides a surgical tool navigation device comprising:
a surgical tool navigation device, comprising:
at least one base securing assembly coupled to the surgical tool;
the tracking component is detachably connected with the base fixing component, and the tracking end of the surgical navigation system can track and position the position and the posture of the tracking component in real time;
the tracer assembly includes:
the connecting bracket is detachably connected with the base fixing component;
the first fixing support and the second fixing support are respectively arranged at two sides of the connecting support, and sharp angles are formed at the sides close to the connecting support;
the plurality of marking points are distributed on the first fixing support and the second fixing support and are located on the outer periphery of the connecting support.
Optionally, at least three mark points are captured by any capturing angle of the tracking end.
Optionally, the first fixing support and the second fixing support are respectively in a radial shape, and the plurality of marking points are respectively arranged at the radial ends of the first fixing support and the second fixing support.
Optionally, the number of emitting ends of the first fixing support and the second fixing support is not less than 3.
Optionally, the marking point includes a reflective sphere, and the reflective sphere is exposed on the first fixing support and the second fixing support.
Optionally, the first fixing support and the second fixing support are close to the side of the connecting support to form a sharp angle, and the reflective sphere is arranged on the side, away from each other, of the first fixing support and the second fixing support.
Optionally, a positioning column is disposed on the connection bracket, and the base fixing component includes:
the fixed sleeve is sleeved on the positioning column;
the first locking mechanism is arranged on the fixed sleeve and used for fixing the fixed sleeve and the positioning column;
the second locking mechanism is arranged at the lower end of the fixing sleeve and is used for fixing the surgical tool.
Optionally, the first locking mechanism includes:
the fixed knob is arranged at one end of the fixed sleeve, which is far away from the connecting bracket, and the positioning column is provided with a positioning groove matched with the fixed knob;
the inclined plane is arranged on the side, far away from the positioning groove, of the positioning column, and an inclined table matched with the inclined plane is arranged in the fixed sleeve.
Optionally, the second locking mechanism includes:
the ring body is arranged at the lower side of one end of the fixed sleeve;
and the locking ring is arranged at the lower side of the other end of the fixed sleeve.
Optionally, the method further comprises:
the locating pin is arranged on the periphery of the locating column, and the fixing sleeve is provided with a clamping groove matched with the locating column.
The periphery of the positioning column is provided with a pre-tightening groove, and one end of the pre-tightening pin penetrates through the fixing sleeve to be clamped in the pre-tightening groove.
The invention also provides a navigation drill, which comprises the surgical tool navigation device.
The surgical tool navigation device has the beneficial effects that:
1. the surgical tool navigation device can be used for linking a traditional surgical tool with a surgical navigation robot/system, so that navigation of the traditional surgical tool is realized, the relative position of the surgical tool and bones is tracked in real time in operation, a doctor is guided to operate, the surgical safety is improved, and the radiation exposure of the doctor is reduced.
2. The surgical tool navigation device forms a double-sided tracer rack structure through the first fixed support and the second fixed support, meets the requirements of navigation effective space, navigation precision, operation space and cost, has optimized overall performance, and is convenient for doctors to operate.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The foregoing and other objects, features and advantages of the invention will be apparent from the following more particular descriptions of exemplary embodiments of the invention as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the invention.
Fig. 1 shows a schematic structural view of a surgical tool navigation device according to an embodiment of the present invention.
Fig. 2 shows a schematic structural view of a positioning column of a surgical tool navigation device according to an embodiment of the present invention.
Fig. 3 shows a cross-sectional view of a surgical tool navigation device according to one embodiment of the invention.
Reference numerals illustrate:
1. a connecting bracket; 2. marking points; 3. a fixing assembly; 4. a fixed sleeve; 5. fixing a knob; 6. an inclined plane; 7. a ring body; 8. a locking ring; 9. a positioning pin; 10. a pre-tightening pin; 11. a pre-tightening groove; 12. and positioning columns.
Detailed Description
Preferred embodiments of the present invention will be described in more detail below. While the preferred embodiments of the present invention are described below, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
As shown in fig. 1-3, a surgical tool navigation device, comprising:
a surgical tool navigation device, comprising:
at least one base fixture assembly 3 connected to the surgical tool;
the tracing component is detachably connected with the base fixing component 3, and the tracking end of the operation navigation system can track and position the position and the posture of the tracing component in real time;
the tracer assembly includes:
the connecting bracket 1 is detachably connected with the base fixing component 3;
the first fixing support and the second fixing support are respectively arranged at two sides of the connecting support 1, and sharp angles are formed at the sides close to the connecting support 1
The plurality of marking points 2 are distributed on the first fixed support and the second fixed support and are positioned outside the periphery of the connecting support 1.
Specifically, connect operation instrument and tracer subassembly through base fixed subassembly 3, realize the tracking position to traditional operation instrument, combine traditional operation instrument and operation navigation, base fixed subassembly 3 and tracer subassembly are dismantled simultaneously and are connected, adapt to and change different surgical instruments as required, need not every operation instrument and respectively allocate a tracer subassembly, reduce cost, the tracking end confirms the position gesture of tracer subassembly through the spatial position of tracking a plurality of mark points 2, and then confirm the position of operation instrument, first fixed bolster and second fixed bolster are reasonable effective to distribute mark points 2, reduce mark point 2 quantity, compare multiaspect redundant distribution more simple and efficient, have the redundant design of optimizing the multiaspect tracer frame, save cost, the effect of price/performance ratio is better.
Further, the marking point 2 is active, the marking point 2 actively transmits a position signal, and the tracking end receives the position signal of the marking point 2 for the receiving end;
the mark point 2 is passive, the tracking end actively transmits signals, and the mark point 2 receives and feeds back the signals of the tracking end;
for example: near Infrared (IR) light wireless detection device and (NDI) passive marking ball, wherein the (NDI) passive marking ball is arranged on the operation tool, and the (NDI) passive marking ball can be positioned in real time by scanning by the near Infrared (IR) light wireless detection device, so that the effect of navigation marking and tracking is achieved.
Furthermore, the base fixing component 3 is fixedly connected with the surgical tool to be navigated, and can be detachably fixed in a locking mode or a screw fastening mode, or can be detachably fixed in a welding mode, an adhesive mode, and the like.
In this embodiment, at least three marker points 2 are captured at any capture angle of the tracking end.
Specifically, three points are a plane, and two-by-two positioning and triangular positioning can be mutually calibrated through the three points in the plane.
In this embodiment, the first fixing support and the second fixing support are respectively radial, and the plurality of marking points 2 are respectively disposed at the radial ends of the first fixing support and the second fixing support.
Specifically, through first fixed bolster and second fixed bolster set up mark point 2 respectively, make mark point 2 distribute in the periphery outside of linking bridge 1, radial first fixed bolster and second fixed bolster can symmetry or mutual crisscross setting, guarantee to trace the end and can follow the tracer component under the different position gesture in succession.
In this embodiment, the number of emitting ends of the first fixing bracket and the second fixing bracket is not less than 3, respectively.
Specifically, the planes of the first fixing support and the second fixing support are confirmed according to the three-point one-face principle, and then reference positioning is carried out through the two planes, so that space coordinates are confirmed.
In this embodiment, the tracking end comprises at least one infrared camera and at least one infrared light source, and the marking point 2 comprises a reflective sphere, which is exposed on the first fixing support and the second fixing support.
Specifically, infrared rays with any angle are reflected by utilizing the spherical structure, infrared rays with different angles are reflected by the reflecting sphere, and then the position of the marking point 2 is confirmed by the infrared camera through the reflected infrared rays, and the exposed part of the reflecting sphere is more than half.
In this embodiment, the sides of the first fixing support and the second fixing support, which are close to the connecting support 1, form sharp corners, and the reflective spheres are disposed on the sides of the first fixing support and the second fixing support, which are far away from each other.
Specifically, reflection of light spheroid sets up and keeps away from each other the side at first fixed bolster and second fixed bolster and avoid first fixed bolster and second fixed bolster's shielding, and first fixed bolster and second fixed bolster can be close to each other and form the contained angle or be close to each other crisscross each other simultaneously to promote the mark point 2 quantity of the trackable capture of different angles.
In this embodiment, the connecting bracket 1 is provided with a positioning column 12, and the base fixing assembly 3 includes:
the fixed sleeve 4 is sleeved on the positioning column 12;
the first locking mechanism is arranged on the fixed sleeve 4 and is used for fixing the fixed sleeve 4 and the positioning column 12;
the second locking mechanism is arranged at the lower end of the fixed sleeve 4 and is used for fixing the surgical tool.
Specifically, the base fixing component 3 and the tracer component are sleeved with the fixing sleeve 4 through the positioning column 12.
Further, the second locking mechanism includes a tightening structure or a jaw structure.
In this embodiment, the first locking mechanism includes:
the fixed knob 5 is arranged at one end of the fixed sleeve 4 far away from the connecting bracket 1, and the positioning column 12 is provided with a positioning groove matched with the fixed knob 5;
the inclined plane 6 is arranged on the side of the positioning column 12 far away from the positioning groove, and an inclined table matched with the inclined plane 6 is arranged in the fixed sleeve 4.
Specifically, the fixing sleeve 4 and the positioning column 12 are extruded and fixed through the fixing knob 5, and the fixing sleeve 4 is prevented from rotating on the positioning column 12 through the matching of the inclined surface 6 and the inclined table.
Further, the locating column 12 is kept away from the one end of linking bridge 1 and is kept away from the constant head tank side and is provided with two inclined planes 6 and form the closed angle structure, and the sloping platform sets up the tail end and the closed angle structure laminating at fixed sleeve 4, avoids fixed sleeve 4 to rotate on locating column 12.
In this embodiment, the second locking mechanism includes:
a ring body 7 provided at the lower side of one end of the fixing sleeve 4;
a locking ring 8 provided at the lower side of the other end of the fixing sleeve 4.
Specifically, the surgical end of the surgical tool is exposed through the ring body 7, the grip end is fixedly connected with the locking ring 8, and the locking ring 8 is fixedly connected.
In this embodiment, further comprising:
the locating pin 9 is arranged on the periphery of the locating column 12, and the fixing sleeve 4 is provided with a clamping groove matched with the locating column 12.
The periphery of the pre-tightening pin 10 and the positioning column 12 is provided with a pre-tightening groove 11, and one end of the pre-tightening pin 10 passes through the fixed sleeve 4 and is clamped in the pre-tightening groove 11.
Specifically, the positioning pin 9 is matched with the clamping groove to perform positioning foolproof, and meanwhile, the pre-tightening pin 10 is matched with the pre-tightening groove 11 to prevent the fixed sleeve 4 from slipping off the positioning column 12.
When the surgical tool navigation device of the embodiment is used, taking assembly and use as examples,
a plurality of surgical tools are respectively connected to the respective base fixing assemblies 3.
Connecting the base fixing component 3 fixed with the surgical tool with the tracing component according to the requirement;
the compensation parameters of the corresponding surgical tool are called, and the compensation parameters and the gesture information of the tracer component are input into a surgical navigation system in advance;
confirming the position and the posture of the loaded surgical tool according to the position and the posture of the tracer component in the operation;
and if the surgical tool is replaced in the operation, the compensation parameters are replaced correspondingly.
According to another embodiment of the present invention, there is provided a navigation drill including the surgical tool navigation device. The navigation device of the surgical tool is arranged on the existing hand drill, so that the navigation drill with the navigation function can be obtained. The navigation drill in the operation can be tracked and positioned in real time, so that a doctor is guided to operate the hand drill, and the operation safety is improved.
The foregoing description of embodiments of the invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described.
Claims (10)
1. A surgical tool navigation device, comprising:
at least one base securing assembly coupled to the surgical tool;
the tracking component is detachably connected with the base fixing component, and the tracking end of the surgical navigation system can track and position the position and the posture of the tracking component in real time;
the tracer assembly includes:
the connecting bracket is detachably connected with the base fixing component;
the first fixing support and the second fixing support are respectively arranged at two sides of the connecting support, and sharp angles are formed at the sides close to the connecting support;
the plurality of marking points are distributed on the first fixing support and the second fixing support and are located on the outer periphery of the connecting support.
2. A surgical tool navigation device according to claim 1, wherein any capture angle of the tracking end captures at least three of the marker points.
3. The surgical tool navigation device of claim 1, wherein the first and second fixed brackets are each radial, and a plurality of the marker points are each disposed at a radial end of the first and second fixed brackets;
the number of the radiation ends of the first fixed support and the second fixed support is not less than 3 respectively.
4. A surgical tool navigation device according to claim 3, wherein the marker points comprise light-reflecting spheres disposed on the first and second fixed brackets in an exposed manner.
5. The surgical tool navigation device of claim 4, wherein the first and second fixation brackets form sharp corners on sides thereof proximate the connection bracket, and wherein the reflective spheres are disposed on sides thereof distal from each other.
6. The surgical tool navigation device of claim 2, wherein the connection bracket has a positioning post disposed thereon, and the base securing assembly includes:
the fixed sleeve is sleeved on the positioning column;
the first locking mechanism is arranged on the fixed sleeve and used for fixing the fixed sleeve and the positioning column;
the second locking mechanism is arranged at the lower end of the fixing sleeve and is used for fixing the surgical tool.
7. The surgical tool navigation device of claim 6, wherein the first locking mechanism includes:
the fixed knob is arranged at one end of the fixed sleeve, which is far away from the connecting bracket, and the positioning column is provided with a positioning groove matched with the fixed knob;
the inclined plane is arranged on the side, far away from the positioning groove, of the positioning column, and an inclined table matched with the inclined plane is arranged in the fixed sleeve.
8. A surgical tool navigation device according to claim 6, wherein the second locking mechanism includes:
the ring body is arranged at the lower side of one end of the fixed sleeve;
and the locking ring is arranged at the lower side of the other end of the fixed sleeve.
9. The surgical tool navigation device of claim 6, further comprising:
the locating pin is arranged on the periphery of the locating column, and the fixing sleeve is provided with a clamping groove matched with the locating column.
The periphery of the positioning column is provided with a pre-tightening groove, and one end of the pre-tightening pin penetrates through the fixing sleeve to be clamped in the pre-tightening groove.
10. A pilot drill, characterized by comprising a surgical tool navigation device according to any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310327054.8A CN116250925A (en) | 2023-03-30 | 2023-03-30 | Surgical tool navigation device and navigation drill |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310327054.8A CN116250925A (en) | 2023-03-30 | 2023-03-30 | Surgical tool navigation device and navigation drill |
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| Publication Number | Publication Date |
|---|---|
| CN116250925A true CN116250925A (en) | 2023-06-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310327054.8A Pending CN116250925A (en) | 2023-03-30 | 2023-03-30 | Surgical tool navigation device and navigation drill |
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| CN (1) | CN116250925A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116650119A (en) * | 2023-07-24 | 2023-08-29 | 北京维卓致远医疗科技发展有限责任公司 | Calibration reference frame for adjustable operation reference frame |
-
2023
- 2023-03-30 CN CN202310327054.8A patent/CN116250925A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116650119A (en) * | 2023-07-24 | 2023-08-29 | 北京维卓致远医疗科技发展有限责任公司 | Calibration reference frame for adjustable operation reference frame |
| CN116650119B (en) * | 2023-07-24 | 2024-03-01 | 北京维卓致远医疗科技发展有限责任公司 | Calibration reference frame for adjustable operation reference frame |
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