CN116530966A - Intramedullary nail hole positioning device and method based on vortex thermal imaging - Google Patents
Intramedullary nail hole positioning device and method based on vortex thermal imaging Download PDFInfo
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- CN116530966A CN116530966A CN202210094189.XA CN202210094189A CN116530966A CN 116530966 A CN116530966 A CN 116530966A CN 202210094189 A CN202210094189 A CN 202210094189A CN 116530966 A CN116530966 A CN 116530966A
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- intramedullary nail
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- 238000001931 thermography Methods 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000006698 induction Effects 0.000 claims abstract description 17
- 230000005284 excitation Effects 0.000 claims abstract description 7
- 230000000694 effects Effects 0.000 claims abstract description 6
- 238000002513 implantation Methods 0.000 claims description 14
- 238000004080 punching Methods 0.000 claims description 13
- 230000010365 information processing Effects 0.000 claims description 10
- 238000010438 heat treatment Methods 0.000 claims description 7
- 230000005674 electromagnetic induction Effects 0.000 claims description 6
- 238000000338 in vitro Methods 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 abstract description 10
- 238000001514 detection method Methods 0.000 abstract description 7
- 210000000988 bone and bone Anatomy 0.000 description 7
- 239000000470 constituent Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 208000010392 Bone Fractures Diseases 0.000 description 4
- 230000014509 gene expression Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 210000001185 bone marrow Anatomy 0.000 description 2
- 238000005553 drilling Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 206010002091 Anaesthesia Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000037005 anaesthesia Effects 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 230000001808 coupling effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 210000003275 diaphysis Anatomy 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 208000026721 nail disease Diseases 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
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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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- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
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- Pathology (AREA)
- Biomedical Technology (AREA)
- Human Computer Interaction (AREA)
- Medical Informatics (AREA)
- Physics & Mathematics (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
Abstract
The invention discloses an intramedullary nail hole positioning device and method based on eddy current thermal imaging, wherein the positioning device comprises a thermal sensor and an induction coil; the induction coil is used for carrying out external excitation on an intramedullary nail placed in the intramedullary cavity and generating an eddy current effect in an intramedullary nail hole; the heat sensor can axially move along the intramedullary nail placed in the intramedullary cavity, and the temperature of the outer surface of the intramedullary nail hole is obtained by scanning, so that the three-dimensional heat distribution of the intramedullary nail hole is obtained, and the positioning of the intramedullary nail hole can be realized according to the three-dimensional heat distribution. The invention adopts the pulse eddy current thermal imaging detection technology to realize the intramedullary nail positioning technology, can effectively solve the problem that the intramedullary nail is difficult to position because of offset, and achieves the aim of accurately locking the intramedullary nail.
Description
Technical Field
The invention belongs to the technical field of intramedullary nail positioning, and particularly relates to an intramedullary nail hole positioning device and method based on vortex thermal imaging.
Background
Intramedullary nails belong to orthopaedics internal fixation devices in medical devices, and the intramedullary nail fixation is the first-choice operation mode for fixing long bone fracture of limbs. Intramedullary nails may also be used in other procedures such as bone handling. The conventional intramedullary nail structure has an intramedullary nail shaft with a proximal locking screw hole at the proximal end of the intramedullary nail shaft and a distal locking screw hole at the distal end of the intramedullary nail shaft. When the bone fracture preventing device is used, in order to prevent two parts of the bone fracture from rotating, a plurality of screws transversely penetrate through diaphysis and an intramedullary nail to lock, a doctor can combine a drilling guide device with the intramedullary nail before the intramedullary nail is inserted into a bone marrow cavity, a guide hole of the guide device is opposite to a locking screw hole of the intramedullary nail in theory, and a drill bit can directly face to the locking screw hole to drill into the locking screw hole after penetrating through the guide hole, but the drill bit is often influenced by the shape of long bones to shift the position after the intramedullary nail is inserted into the bone marrow cavity, so that the drill bit cannot be aligned with the screw hole in practical application, the locking nail is difficult, long operation time, much bleeding, long anesthesia time and the like are caused, and the bone fracture preventing device is unfavorable for recovery of patients.
The prior intramedullary nail operation is usually carried out under X-ray perspective or the intramedullary nail is installed by a mechanical aiming device, however, the intramedullary nail operation is carried out by adopting an X-ray perspective mode, so that a human body can be exposed to X-rays for a long time, and the human body can be damaged; the intramedullary nail is installed through the mechanical sighting device, so that a professional is required to aim and position, and the intramedullary nail is manually influenced, so that the positioning accuracy cannot be guaranteed.
In summary, the existing intramedullary nail hole positioning technology has the defects of long time consumption, large radiation, poor positioning precision and the like, causes great harm to health of medical staff, is not beneficial to the operation recovery of patients, and still needs a quick and accurate intramedullary nail positioning method.
Disclosure of Invention
The invention provides an intramedullary nail hole positioning device based on vortex thermal imaging, which aims to solve the problem of poor safety or accuracy of the existing intramedullary nail hole positioning. The invention utilizes the pulse eddy current thermal imaging detection technology to realize accurate locking of nails.
The invention is realized by the following technical scheme:
an intramedullary nail hole positioning device based on eddy current thermal imaging comprises a thermal sensor and an induction coil;
the induction coil is used for carrying out external excitation on an intramedullary nail placed in the intramedullary cavity and generating an eddy current effect in an intramedullary nail hole;
the heat sensor can axially move along the intramedullary nail placed in the intramedullary cavity, and the temperature of the outer surface of the intramedullary nail hole is obtained by scanning, so that the three-dimensional heat distribution of the intramedullary nail hole is obtained, and the positioning of the intramedullary nail hole can be realized according to the three-dimensional heat distribution.
At present, the intramedullary nail operation is performed in an X-ray perspective mode, so that the human body is high in strength and can be damaged when being exposed to X-rays for a long time; the manner of installing the intramedullary nail through the manipulator aiming device requires a professional to operate and is easily interfered by human factors, so that the positioning accuracy is not high. The locating device provided by the invention can be used for obtaining the heat distribution of the intramedullary nail hole by using the eddy current thermal imaging detection technology, and can accurately locate the intramedullary nail hole directly according to the heat distribution, so that the X-ray is not needed, the operation of professionals is not needed, the safety and the reliability are greatly improved, the implantation efficiency is improved, and the operation risk is reduced.
Preferably, the positioning device of the present invention is used in conjunction with an intramedullary nail implantation tool;
the intramedullary nail implantation tool comprises a handle, wherein one end of the handle is an intramedullary nail connecting end, and the other end of the handle is a fixed guide arm;
the free end of the fixed guide arm is connected with an adjustable guide arm, the adjustable guide arm can axially move along an intramedullary nail placed in the intramedullary cavity, and the free end of the adjustable guide arm is provided with a guide hole for installing a punching tool arm; the front end of the punching tool arm is opposite to the intramedullary nail and is used for positioning and punching holes;
the thermal sensor is mounted at the front end of the punch tool arm.
The positioning device of the embodiment can be directly matched with an intramedullary nail implantation tool for use without adding additional auxiliary facilities, and is easy to realize.
Preferably, the thermal sensor of the present invention employs a thermal infrared imager.
Preferably, the positioning device of the present invention further comprises an electromagnetic induction heating device;
the electromagnetic induction heating device is used for inputting alternating high-frequency current into the induction coil to perform excitation induction.
Preferably, the positioning device of the present invention further comprises an information processing device, wherein the information processing device is used for acquiring and processing the temperature information obtained by scanning the thermal sensor, so as to obtain the three-dimensional heat distribution of the intramedullary nail hole.
Preferably, the information processing apparatus of the present invention employs a PC.
In a second aspect, the present invention provides a method of an intramedullary nail hole positioning device based on eddy current thermal imaging as described above, comprising:
exciting an intramedullary nail placed in the medullary cavity in vitro through the induction coil to enable an intramedullary nail hole to generate eddy current;
acquiring the temperature of the outer surface of the intramedullary nail hole in real time by the thermal sensor and sending the temperature to information processing equipment for processing to obtain the three-dimensional heat distribution of the intramedullary nail hole;
and directly positioning the intramedullary nail hole according to the three-dimensional heat distribution of the intramedullary nail hole.
Preferably, the acquiring, by the thermal sensor, the temperature of the outer surface of the intramedullary nail hole in real time specifically includes:
firstly, moving the thermal sensor along the axial direction of the intramedullary nail, determining the position of the intramedullary nail hole, and moving the thermal sensor to the position;
the thermal sensor is then moved over the radial surface of the intramedullary nail, scanning the temperature of the outer surface of the intramedullary nail hole.
In a third aspect, the present invention provides an intramedullary nail implantation device, said intramedullary nail hole positioning being performed using a positioning device as described above.
In a fourth aspect, the present invention provides a method of intramedullary nail implantation, said intramedullary nail hole positioning being performed using a method as described above.
The invention has the following advantages and beneficial effects:
the invention adopts the pulse eddy current thermal imaging detection technology to realize the intramedullary nail hole positioning technology, can effectively solve the problem that the intramedullary nail is difficult to position because of the offset, and achieves the aim of accurately locking the nail.
Compared with the prior art, the invention avoids the high-intensity and long-time exposure of human body to X rays, and improves the safety; the aiming and positioning of the invention does not need to depend on professional staff, and the implantation efficiency is improved and the operation risk is reduced through image positioning; and reduces the interference of human subjective factors and improves the accuracy and reliability of positioning.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention. In the drawings:
fig. 1 is a schematic structural diagram of a positioning device according to an embodiment of the invention.
FIG. 2 is a schematic diagram of pulsed eddy current thermal imaging according to an embodiment of the invention.
Fig. 3 is a schematic positioning diagram of an embodiment of the present invention.
Fig. 4 is a schematic flow chart of a control process according to an embodiment of the invention.
FIG. 5 is a three-dimensional thermal profile of an embodiment of the present invention.
In the drawings, the reference numerals and corresponding part names:
1-locking screw, 2-angle encoder, 3-fixed guide arm, 4-locking screw, 5-angle encoder, 6-adjustable guide arm, 7-locking screw, 8-tool arm that punches, 9-thermal infrared imager, 10-induction coil, 11-intramedullary nail, 12-intramedullary nail hole, 13-intramedullary cavity.
Detailed Description
Hereinafter, the terms "comprises" or "comprising" as may be used in various embodiments of the present invention indicate the presence of inventive functions, operations or elements, and are not limiting of the addition of one or more functions, operations or elements. Furthermore, as used in various embodiments of the invention, the terms "comprises," "comprising," and their cognate terms are intended to refer to a particular feature, number, step, operation, element, component, or combination of the foregoing, and should not be interpreted as first excluding the existence of or increasing likelihood of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
In various embodiments of the invention, the expression "or" at least one of a or/and B "includes any or all combinations of the words listed simultaneously. For example, the expression "a or B" or "at least one of a or/and B" may include a, may include B or may include both a and B.
Expressions (such as "first", "second", etc.) used in the various embodiments of the invention may modify various constituent elements in the various embodiments, but the respective constituent elements may not be limited. For example, the above description does not limit the order and/or importance of the elements. The above description is only intended to distinguish one element from another element. For example, the first user device and the second user device indicate different user devices, although both are user devices. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of various embodiments of the present invention.
It should be noted that: if it is described to "connect" one component element to another component element, a first component element may be directly connected to a second component element, and a third component element may be "connected" between the first and second component elements. Conversely, when one constituent element is "directly connected" to another constituent element, it is understood that there is no third constituent element between the first constituent element and the second constituent element.
The terminology used in the various embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the various embodiments of the invention. As used herein, the singular is intended to include the plural as well, unless the context clearly indicates otherwise. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the invention belong. The terms (such as those defined in commonly used dictionaries) will be interpreted as having a meaning that is the same as the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in connection with the various embodiments of the invention.
For the purpose of making apparent the objects, technical solutions and advantages of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present invention and the descriptions thereof are for illustrating the present invention only and are not to be construed as limiting the present invention.
Examples
The embodiment provides an intramedullary nail hole positioning device based on vortex thermal imaging.
The intramedullary nail is inserted into the long tubular bone from the upper part of the long tubular bone of the human body through the intramedullary nail implantation tool, and the intramedullary cavity of the long tubular bone is not a cylinder due to the influence of the long tubular bone of the human body, so that after the intramedullary nail stretches into the intramedullary cavity, the stretching end of the intramedullary nail changes along with the shape of the intramedullary cavity, the direction and the position of the intramedullary nail hole are inconsistent with the direction and the position of the punching tool arm (influenced by individual differences, the displacement amount of the punching tool arm is different), the punching tool arm possibly cannot accurately position the intramedullary nail hole, and holes must be drilled on the bone again until the two holes are aligned, and bolts pass through, so that the operation time is prolonged, the wound area of a patient is increased, and the probability of causing complications is increased. The locating device of the embodiment realizes the accurate location of the intramedullary nail by using the pulse eddy current thermal imaging detection technology, the pulse eddy current thermal imaging detection is based on the coupling effect principle of multiple physical fields, has the advantages of the infrared thermal imaging technology and the pulse eddy current detection technology, can well solve the problem that the intramedullary nail is difficult to locate because of the offset, reduces the operation risk and improves the safety.
As shown in fig. 1, the positioning device of the present embodiment includes an induction coil 10 and a thermal sensor 9. The induction coil 10 is used for exciting an intramedullary nail 11 placed in the intramedullary cavity 13 in vitro, and generating an eddy current effect around the intramedullary nail hole 12, wherein the eddy current effect enables the temperature field distribution around the intramedullary nail hole to be obviously higher than that of other parts; the temperature of the outer surface of the intramedullary nail hole 12 is obtained in real time through the thermal sensor 9, so that the heat distribution around the intramedullary nail hole 12 is obtained, and the accurate positioning of the intramedullary nail hole 12 can be performed according to the heat distribution.
The intramedullary nail implantation tool comprises a handle, one end of the handle is an intramedullary nail connecting end, the other end of the handle is a fixed guide arm 3, the free end of the fixed guide arm 3 is connected with an adjustable guide arm 6, the adjustable guide arm 6 can move along the axis direction (namely X direction) of the intramedullary nail, a guide hole is formed in the free end of the adjustable guide arm 6 and used for installing a punching tool arm 8, and the front end of the punching tool arm 8 is opposite to an intramedullary nail 11 and used for positioning and punching an intramedullary nail hole. The present embodiment mounts a thermal sensor at the front end of the punch tool arm 8.
As shown in fig. 2, the induction coil 10 of the present embodiment is used together with an electromagnetic induction heating device, and the information processing device sends a control command to control the electromagnetic induction heating device to input an alternating high-frequency current into the induction coil for excitation induction; the thermal sensor 9 of the present embodiment adopts, but is not limited to, a thermal infrared imager, which obtains object surface temperature information according to the infrared radiation condition of an object, and transmits the object surface temperature information to an information processing device for processing, thereby obtaining a three-dimensional thermal distribution map of an intramedullary nail, and the information processing device of the present embodiment adopts an electronic device such as a PC, etc. with an image algorithm built therein.
As shown in fig. 3 to 5, the working process of the positioning device in this embodiment specifically includes:
the intramedullary nail 11 is placed into the intramedullary cavity 13 by an intramedullary nail implantation tool.
By exciting the intramedullary nail 11 placed in the intramedullary cavity 13 in vitro, a vortex is induced around the intramedullary nail hole 12, the vortex effect will generate heat around the intramedullary nail hole 12 and transfer from the surface to the inside, if encountering the edge of the intramedullary nail hole 12, the trend of the vortex will be changed, resulting in a higher vortex density at the edge of the intramedullary nail hole 12, and a higher density of the vortex will generate more heat. Thus generating more heat at the edges of the intramedullary nail hole 12 after excitation to generate eddy currents. The temperature around the intramedullary nail hole 12 is obtained in real time by the thermal infrared imager and sent to the PC for processing, and a thermal distribution diagram around the intramedullary nail hole 12 is obtained, as shown in fig. 5.
At this time, the adjustable guide arm 6 is moved, so that the thermal infrared imager on the punching tool arm 8 is driven to move along the X direction outside the intramedullary canal 2, and the vicinity of the intramedullary nail hole 12 is scanned, so that a real-time heat distribution diagram on the PC can be directly observed to accurately position the intramedullary nail hole 12. In the X direction, a heat distribution map has a more obvious heating part, and the approximate position of the intramedullary nail hole can be determined in the X direction; the infrared thermal imager is moved to the position, the guide arm 3 is rotationally fixed, the specific position of the intramedullary nail hole is measured on the YOZ plane, and then the accurate positioning can be performed according to the heat distribution display result on the PC.
The embodiment avoids the phenomenon that the fixing screw cannot be worn due to inaccurate drilling caused by deformation, simultaneously avoids the phenomenon that a human body is exposed to X rays for a long time with high strength, and can quickly and accurately realize positioning without professional staff, thereby greatly improving the operation efficiency and safety.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (10)
1. An intramedullary nail hole positioning device based on eddy current thermal imaging is characterized by comprising a thermal sensor (9) and an induction coil (10);
the induction coil (10) is used for carrying out external excitation on an intramedullary nail (11) placed in the intramedullary cavity (13) and generating an eddy current effect in an intramedullary nail hole (12);
the heat sensor (9) can axially move along the intramedullary nail (11) placed in the intramedullary cavity (13), and the temperature of the outer surface of the intramedullary nail hole (12) is obtained by scanning, so that the three-dimensional heat distribution of the intramedullary nail hole (12) is obtained, and the positioning of the intramedullary nail hole (12) can be realized according to the three-dimensional heat distribution.
2. An intramedullary nail hole positioning device based on eddy current thermal imaging according to claim 1, wherein the positioning device is used in conjunction with an intramedullary nail implantation tool;
the intramedullary nail implantation tool comprises a handle, wherein one end of the handle is an intramedullary nail connecting end, and the other end of the handle is a fixed guide arm (3);
the free end of the fixed guide arm (3) is connected with an adjustable guide arm (6), the adjustable guide arm (6) can axially move along an intramedullary nail (11) placed in the intramedullary cavity (13), and a guide hole is formed in the free end of the adjustable guide arm (6) and used for installing a punching tool arm (8); the front end of the punching tool arm (8) is opposite to the intramedullary nail (11) and is used for positioning and punching holes;
the thermal sensor is mounted at the front end of the punch tool arm (8).
3. An intramedullary nail hole positioning device based on eddy current thermal imaging according to claim 1, characterized in that the thermal sensor (9) employs a thermal infrared imager.
4. An intramedullary nail hole positioning device based on eddy current thermal imaging according to claim 1, further comprising electromagnetic induction heating means;
the electromagnetic induction heating device is used for inputting alternating high-frequency current into the induction coil to perform excitation induction.
5. An intramedullary nail hole positioning device based on eddy current thermal imaging according to claim 4, further comprising an information processing device for obtaining and processing temperature information scanned by the thermal sensor to obtain a three-dimensional heat distribution of the intramedullary nail hole (12).
6. The intramedullary nail hole positioning device based on eddy current thermal imaging according to claim 5, wherein the information processing device adopts a PC.
7. A method of eddy current thermal imaging based intramedullary nail hole positioning apparatus of any one of claims 1-6, comprising:
exciting an intramedullary nail (11) placed in the intramedullary cavity (13) in vitro through the induction coil (10) to enable an intramedullary nail hole (12) to generate eddy current;
acquiring the temperature of the outer surface of the intramedullary nail hole (12) in real time by the thermal sensor (9) and sending the temperature to information processing equipment for processing to obtain the three-dimensional heat distribution of the intramedullary nail hole (12);
the intramedullary nail holes (12) are positioned directly according to the three-dimensional heat distribution of the intramedullary nail holes (12).
8. The method according to claim 7, wherein acquiring the external surface temperature of the intramedullary nail hole (12) in real time by the thermal sensor (9) comprises in particular:
firstly, moving the thermal sensor axially along the intramedullary nail (11), determining the position of the intramedullary nail hole (12), and moving the thermal sensor to the position;
the thermal sensor is then moved over the radial face of the intramedullary nail (11), scanning the temperature of the outer surface of the intramedullary nail hole (12).
9. An intramedullary nail implantation device, characterized in that the positioning of the intramedullary nail holes (12) is performed using a positioning device according to any one of claims 1-6.
10. An intramedullary nail implantation method, characterized in that the intramedullary nail hole (12) is positioned using the method of claim 7 or 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210094189.XA CN116530966A (en) | 2022-01-26 | 2022-01-26 | Intramedullary nail hole positioning device and method based on vortex thermal imaging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210094189.XA CN116530966A (en) | 2022-01-26 | 2022-01-26 | Intramedullary nail hole positioning device and method based on vortex thermal imaging |
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| Publication Number | Publication Date |
|---|---|
| CN116530966A true CN116530966A (en) | 2023-08-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210094189.XA Pending CN116530966A (en) | 2022-01-26 | 2022-01-26 | Intramedullary nail hole positioning device and method based on vortex thermal imaging |
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| Country | Link |
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| CN (1) | CN116530966A (en) |
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- 2022-01-26 CN CN202210094189.XA patent/CN116530966A/en active Pending
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