CN116585019A - Percutaneous sacroiliac joint screw navigation device and operation method thereof - Google Patents

Abstract

The invention provides a percutaneous sacroiliac joint screw navigation device and an operation method, wherein the device comprises an X-ray machine, a laser marking instrument, a support frame, a guide rail, a first sliding block, a second sliding block, a first positioning frame and a second positioning frame; the laser striping machine is arranged on the X-ray machine; the guide rail is arranged on the support frame; the first sliding block and the second sliding block are slidably arranged on the guide rail; the first positioning frame is connected with the first sliding block; a first hollow groove is formed in the lower side wall of the first positioning frame; the second locating frame is arranged in a crossing way with the first locating frame and is connected with the second sliding block; a second hollow groove is formed in the lower side wall of the second positioning frame; a first positioning needle is arranged on the first positioning frame; a second positioning needle is arranged on the second positioning frame; a guide needle is arranged in a crossing hole formed by crossing the first hollow groove and the second hollow groove. The invention can effectively reduce the operation difficulty, reduce the irradiation times of the X-ray machine, shorten the operation time and lower the cost.

Description

Percutaneous sacroiliac joint screw navigation device and operation method thereof

Technical Field

The invention relates to the technical field of medical instruments, in particular to a percutaneous sacroiliac joint screw navigation device and an operation method thereof.

Background

Bone pelvic fracture is a common severe injury of traumatic orthopaedics, and is mostly caused by high-energy wounds, accounting for about 3% of whole-body fracture, wherein the incidence rate of unstable injury of the pelvic posterior ring is 17% -30%. Since the earliest joint report of Matta and Saucedo et al in 1989 that ilium was fixed to the S1 sacral vertebrae, the S2 sacral vertebrae with lag screws for fixation of unstable posterior pelvic ring fractures, percutaneous sacroiliac screw implantation has become a common minimally invasive procedure for fixation of unstable posterior pelvic ring injuries, in which the S1 or S2 vertebral bodies of the pelvis are ideal fixation points for the sacroiliac joint penetration screws; however, since there are very important vascular nerves around the screw channel, and serious complications may be caused by slight deviations, repeated shooting of the pelvic inlet and outlet plates is often required to confirm the position of the Kirschner wire in the operation, and the occurrence rate of nerve and vascular injury fixed by Pi Di iliac screws is high, which is reported to be 3% -15%. Navigation is used during surgery.

At present, more C-arm lower X-ray perspective positioning navigation is used, and the position of the positioning Kirschner wire in the pelvis can be known through perspective of the pelvic inlet position and the outlet position. But also have some drawbacks: the position perspective of the C-arm machine is required to be repeatedly adjusted in the operation to obtain an ideal image; repeatedly (continuously) adjusting the position and the angle of the Kirschner wire in the operation and repeatedly performing perspective; under-the-arm X-ray fluoroscopy can only provide two-dimensional images. The technique requires a skilled surgeon to operate.

Compared with the traditional C-arm X-ray perspective positioning navigation, the two-dimensional navigation system is lower in radiation according to the research of the Rogown wind and the like, the probability of nerve and blood vessel damage is reduced, the operation time is shortened, and the operation accuracy is obviously improved. But there are a number of technical limitations to this: a plurality of special body position shooting sheets are needed in the operation, and each perspective angle has errors; the overlapping effect of the two-dimensional images is difficult to avoid, and the display of fractures around joints is difficult; the two-dimensional image can not provide a three-dimensional space structure for an operator, and the operation difficulty is high; for intra-articular fracture, it is difficult to determine whether a screw has entered the joint space after implantation.

Liang Guosui et al report that three-dimensional navigation systems have unique image advantages: the three-dimensional perspective imaging in the operation can simultaneously display images on a sagittal plane, a coronal plane and a transverse plane on a display, thereby being beneficial to an operator to monitor whether the screw position is optimal on 3 tangential planes; the three-dimensional perspective tomographic image similar to the tomographic CT can clearly display the position relationship of the fracture line, the screw and the fracture block; the three-dimensional reconstruction enables an operator to implant the screw more intuitively under the direction of the virtual guide pin. Therefore, the three-dimensional navigation has the advantages of providing high-quality intraoperative images, having good operability, reducing the operation difficulty, improving the accuracy and enabling the operation to be quick and minimally invasive. Although there are significant advantages to the internal fixation of the sacroiliac joint screw in three-dimensional navigation, there are also some drawbacks and operational difficulties: acquiring images and establishing a navigation system requires a lot of time, because the three-dimensional C-shaped arm acquires about 100 images by rotating 190 degrees to complete image acquisition, which increases the times and time of X-ray fluoroscopy, so that the time can be more time-consuming than the traditional method in the initial stage of using the three-dimensional navigation auxiliary technology; the navigation system has complex operation, long learning curve, needs the training and maintenance of professional technicians, and has certain requirements on supporting facilities, such as the capacity of an operating room, a passage port, a protection plate and the like, and the characteristics of each machine must be considered.

The orthopedic robot system represented by Tirobot has the following characteristics mainly in the process of assisting the fixation of sacroiliac joint screws to treat pelvic posterior ring fracture: the positioning is accurate: the robot system can provide accurate space positioning with the accuracy of 0.6-0.8mm, and screws are accurately, safely and stably placed in corresponding anatomical parts through the operation of the mechanical arm, so that the risk of vascular and neuroiatrogenic injury is reduced. And (3) real-time monitoring: tirobot can realize real-time optical tracking in operation, repeated perspective is not needed in the operation process, and if the position in the operation is deviated, the system can remind the operator of further calibration. The radiation amount is low: compared with X-ray fluoroscopy under the C arm, the robot navigation obviously reduces the X-ray fluoroscopy times in operation, thereby reducing the ionizing radiation damage to doctors and patients caused by the radiation in operation. Autonomous operation: after the operator manually plans the nail path, the follow-up operation can be completed programmatically by the system according to the planned path, and the doctor is guided to efficiently and safely complete the operation. In addition, the robot system adopts modularized, miniaturized and universal design, can realize separation of operation planning and operation, and implements remote operation through the Internet. However, the current orthopedic robot system still has certain limitations: first, surgical robots can only solve the problem of accurate positioning, while the path planning of the screws still depends on the experience of the surgeon, which needs to be done manually, which may have subjective errors. Again, the lack of experience in the initial application of the orthopedic robotic navigation and positioning system may result in the k-wire shifting. Finally, instruments and equipment are expensive, complex to operate, difficult to assemble and detect, require specialized personnel to train, and have high maintenance and maintenance costs, and these factors limit the clinical popularization and popularization of the orthopedic robot.

To sum up, at present, the percutaneous sacroiliac screw is put into under the perspective of the C-arm X-ray machine to be operated with high difficulty, the X-ray radiation is big in the art, and the operation time is long, and technologies such as two-dimensional navigation, three-dimensional navigation, bone surgery robot need high equipment, professional equipment operating personnel, and the operation cost is high at every turn.

Disclosure of Invention

In order to solve the problems, the invention aims to provide a percutaneous sacroiliac joint screw navigation device and an operation method thereof, which can effectively reduce the operation difficulty, reduce the irradiation times of a C-arm X-ray machine, shorten the operation time and have low cost.

The aim of the invention is achieved by the following technical scheme:

a percutaneous sacroiliac joint screw navigation device comprises an X-ray machine, a laser marking instrument, a supporting frame, a guide rail, a first sliding block, a second sliding block, a first positioning frame, a second positioning frame, a first positioning needle, a second positioning needle and a guide needle; the X-ray machine comprises an X-ray emitter, an X-ray receiver and a horn; the laser marking instrument is arranged on a horn of the X-ray machine, the emitting end of the laser marking instrument can emit a beam of planar laser beam towards the position between the X-ray emitter and the X-ray receiver, the laser beam coincides with the symmetrical cross section of the X-ray machine, meanwhile, the laser beam forms a visible laser marking at the longitudinal midline of the emitting end of the X-ray emitter and the longitudinal midline of the receiving end of the X-ray receiver respectively, and the longitudinal midline of the emitting end of the X-ray emitter and the longitudinal midline of the receiving end of the X-ray receiver are positioned on the symmetrical cross section of the X-ray machine; the at least two supporting frames are respectively fixed on the side surface of the operating table or the operating table side by side; the guide rail is arranged on the support frame; the first sliding block and the second sliding block are slidably arranged on the guide rail; the bottom of the first positioning frame is connected with the first sliding block through a first universal joint with a locking mechanism; a first hollow groove penetrating through the front side surface and the rear side surface of the first positioning frame is formed in the lower side wall of the first positioning frame along the length direction of the first positioning frame; the second positioning frame is in a strip shape and is arranged in a crossing way with the first positioning frame, and the bottom of the second positioning frame is connected with the second sliding block through a second universal joint with a locking mechanism; the lower side wall of the second positioning frame is provided with a second hollow groove penetrating through the front side surface and the rear side surface along the length direction of the lower side wall of the second positioning frame, and the second hollow groove and the first hollow groove are also mutually intersected; the first positioning needle is arranged on the upper part of the first positioning frame and is positioned on the same plane with the first hollow groove; the second positioning needle is arranged on the upper part of the second positioning frame and is positioned on the same plane with the second hollow groove; the guide needle is movably sleeved in a cross hole formed by the first hollow groove and the second hollow groove which are mutually crossed.

Further, in order to stably support the guide rail, two supporting frames are arranged at two sides of the bottom of the guide rail respectively, and each supporting frame comprises a C-shaped frame, a pressing plate, a pressing bolt, a supporting plate, a supporting rod and a locking bolt; the C-shaped opening of the C-shaped frame is clamped on the side surface of the operating table or the operating table, and the pressing plate is transversely and rotatably arranged in the C-shaped opening of the C-shaped frame and is matched with the top of the C-shaped frame to be clamped on the side surface of the operating table or the operating table; the compression bolt is in threaded connection with the bottom of the C-shaped frame, the upper end of the compression bolt extends into a C-shaped opening of the C-shaped frame and is fixedly connected with the bottom of the pressing plate, and the lower end of the compression bolt is positioned below the C-shaped frame (used for rotating the compression bolt); the support plate is fixed on the front side wall of the C-shaped frame, a mounting hole penetrating through the upper surface and the lower surface of the support plate is formed in the support plate, and a threaded hole communicated with the mounting hole is formed in the side wall of the support plate; the support rod is vertically sleeved in the mounting hole, the top of the support rod is recessed to form a bayonet for clamping the guide rail, and the side wall of the bayonet is in threaded connection with a clamping bolt for clamping the guide rail; the locking bolt is in threaded connection with the threaded hole and can lock the supporting rod on the supporting plate.

Furthermore, scale marks are arranged on the guide rail; the first sliding block and the second sliding block are arranged on the guide rail in a sliding sleeve mode, a strip-shaped hole is formed in the position, opposite to the scale mark, of the front side of the first sliding block and the front side of the second sliding block, and scales corresponding to the scale mark are arranged on the upper side of the strip-shaped hole.

Further, locking screws for locking the first sliding block and the second sliding block on the guide rail are respectively arranged on the first sliding block and the second sliding block and used for locking the first sliding block and the second sliding block and fixing the positions of the first sliding block and the second sliding block.

Further, at least one first inserting hole penetrating through the front side surface and the rear side surface of the first positioning frame and used for inserting the first positioning needle is formed in the upper side wall of the first positioning frame, and the first inserting hole, the first hollow groove, the first positioning needle and the cross hole are positioned on the same plane; the upper side wall of the second positioning frame is provided with at least one second inserting hole penetrating through the front side surface and the rear side surface of the second positioning frame and used for inserting a second positioning needle, and the second inserting hole, the second hollow groove, the second positioning needle and the crossing hole are positioned on the same plane.

Further, the first universal joint with the locking mechanism and the second universal joint with the locking mechanism are universal holders, the universal holder base is fixed at the top of the first sliding block or the second sliding block, the spheroid of the universal holder is fixedly connected with the bottom of the first positioning frame or the second positioning frame, meanwhile, the locking mechanism on the side wall of the universal holder base is a bolt, and when the locking mechanism is needed, the bolt is screwed, so that the spheroid of the universal holder can be locked, and the first positioning frame or the second positioning frame is difficult to rotate.

Further, in order to provide more stable accurate location passageway for the guide needle, first locating rack lower part is the shape structure that returns, the shape mouth that returns of shape structure runs through first locating rack upper and lower surface and link up with first hollow groove, first hollow groove is two and is symmetrical respectively to be set up the front and back both sides of returning shape structure.

Further, the second locating frame is provided with a second hollow groove, the part of the second locating frame with the second hollow groove is crossed and sleeved in the return opening of the return structure, the second hollow groove is crossed with the two first hollow grooves to form two intersections, and the existence of the two intersections can further provide a more stable and accurate locating channel for the guide needle.

Furthermore, in order to lighten the dead weight of the second locating frame, the part of the second locating frame with the second hollow groove is provided with a hollowed-out opening penetrating through the upper surface and the lower surface of the second locating frame.

Further, the first positioning needle, the second positioning needle and the guiding needle are all Kirschner wires.

Further, the X-ray machine is a C-arm X-ray machine.

The operation method of the percutaneous sacroiliac joint screw navigation device comprises the following steps:

(1) Adjusting the position of a laser marking instrument to enable a laser marking formed on the emitting end of the X-ray emitter by the laser beam emitted by the laser marking instrument to coincide with the longitudinal center line of the emitting end of the X-ray emitter, and enabling a laser marking formed on the receiving end of the X-ray receiver by the laser beam emitted by the laser marking instrument to coincide with the longitudinal center line of the receiving end of the X-ray receiver; the laser striping machine is then fixed on the arm of the X-ray machine.

(2) The patient lies on the back on an operating table or an operating table, a percutaneous threading sacroiliac joint screw navigation device is arranged on the side of the operating table or the operating table on the side of the patient, the position of an X-ray machine is adjusted to irradiate the pelvic inlet position, and at the moment, the projection line of the bone cortex at the front edge of the sacrum 1 and the projection line of the bone cortex at the front edge of the sacrum 2 are overlapped; moving the first sliding block and the first locating frame between the X-ray emitter and the X-ray receiver to enable the laser beam to irradiate on the side face of the first locating frame for developing; rotating the first positioning frame to enable the laser beam emitted by the laser marking instrument to overlap with a long axis (a central line along the length direction of the first positioning frame) on the side surface of the first positioning frame, enabling the central line of the first hollow groove along the length direction of the first hollow groove to coincide with the laser marking, and simultaneously rotating the first positioning frame and (driving) the first positioning needle by taking the long axis as an axis to enable projection of the first positioning needle to be parallel to a projection line of bone cortex on the front edge of the sacrum 1 vertebral body or a projection line of bone cortex on the front edge of the sacrum 2 vertebral body; then locking the first universal joint (spheroid) through a locking mechanism, locking the bottom of the first positioning frame (the first positioning frame is difficult to rotate again), and fixing the direction of the first positioning frame; the first sliding block is slid along the guide rail, and drives the first positioning frame and the first positioning needle on the first sliding block to move back and forth, so that the projection of the first positioning needle is clung to the rear edge of the projection line of the bone cortex of the front edge of the sacrum 1 or the rear edge of the projection line of the bone cortex of the front edge of the sacrum 2 under the irradiation of X rays; after which the position of the first slider is locked.

(3) Adjusting the X-ray machine to the pelvis outlet position; moving the second sliding block and the second locating frame between the X-ray emitter and the X-ray receiver to enable the laser beam to irradiate on the side face of the second locating frame for developing; rotating the second positioning frame to enable the laser beam emitted by the laser marking instrument to overlap with a long axis (a central line along the length direction of the second positioning frame) of the side surface of the second positioning frame, wherein the central line of the second hollow groove along the length direction of the second hollow groove coincides with the laser marking, and simultaneously rotating the second positioning frame and the second positioning needle by taking the long axis as an axis to enable the projection of the second positioning needle to be parallel to a projection connecting line of the upper edge of a double-sided sacrum 1 hole (a sacroiliac joint screw implanted in a sacrum 1 vertebral body) or a projection connecting line of the lower edge of a double-sided sacrum 1 hole (a sacroiliac joint screw implanted in a sacrum 2 vertebral body); the second universal joint is locked through the locking mechanism, the bottom of the second positioning frame is locked (the second positioning frame is difficult to rotate) and the direction of the second positioning frame is fixed; sliding a second sliding block along the guide rail, wherein the second sliding block drives the second positioning frame and the second positioning needle on the second positioning frame to move back and forth, and under the irradiation of X rays, the projection of the second positioning needle is clung to a projection connecting line of the upper edge of a bilateral sacrum 1 hole (a sacroiliac joint screw implanted in a sacrum 1 vertebral body) or is positioned between the projection connecting line of the lower edge of the bilateral sacrum 1 hole and the projection connecting line of the upper edge of a bilateral sacrum 2 hole (a sacroiliac joint screw implanted in a sacrum 2 vertebral body); after which the position of the second slider is locked.

(4) The guide needle is penetrated along the intersection formed by the intersection of the first hollow groove and the second hollow groove, the guide needle is drilled into the sacrum through the electric drill, and the hollow sacroiliac joint screw is screwed into the guide needle to complete the navigation of the implantation of the sacroiliac joint screw.

Compared with the prior art, the invention has the beneficial effects that:

the percutaneous sacroiliac joint screw navigation device and the method are realized based on the C-arm X-ray machine perspective technology, and the application of the device and the method can reduce the operation wound caused by repeated use of the Kirschner wire puncture positioning in operation, effectively reduce the operation difficulty, reduce the irradiation times of the C-arm X-ray machine and shorten the operation time; meanwhile, compared with a two-dimensional navigation, three-dimensional navigation and orthopedic surgery robot, the cost is lower, and the C-arm X-ray machine and the device can be matched to realize the operation of surgery, so that the surgical robot is easier to popularize.

Drawings

The invention is described in further detail below with reference to the accompanying drawings.

FIG. 1 is a schematic structural view of the pelvis;

fig. 2 is a schematic structural view of a percutaneous sacroiliac joint screw navigation device according to the invention;

fig. 3 is a schematic structural view of an X-ray machine and a laser marker in the percutaneous sacroiliac joint screw navigation device according to the invention;

fig. 4 is a schematic view of the percutaneous sacroiliac joint screw navigation device of the invention after removing the X-ray machine and the laser marker;

FIG. 5 is a schematic view of the structure of FIG. 4 with the support frame and guide rail removed;

fig. 6 is a schematic structural view of a support frame in the percutaneous sacroiliac joint screw navigation device according to the invention;

FIG. 7 is a schematic diagram of a laser striping machine;

FIG. 8 is a schematic view of a gimbal table;

fig. 9 is a view of the position of the guide needle in the bony canal of the sacrum 1, when the C-arm X-ray machine irradiates the pelvic inlet, the projection line of the anterior border of the sacrum 1 overlaps with the projection line of the anterior border of the sacrum 2, and the guide needle is implanted parallel to and against the posterior edge of the overlapping line (beyond the anterior border of the overlapping image);

fig. 10 is a view of the position of the guide needle in the bony canal of the sacrum 1 when the C-arm X-ray machine irradiates the pelvic outlet position, the guide needle is tightly attached to the upper edge of the sacrum 1 foramen (cannot enter the sacrum 1 foramen) and the line connecting the bilateral sacrum 1 foramen tends to be parallel (does not intersect);

fig. 11 is a CT view of the sacroiliac joint screw implant as it completes the sacral 1 vertebral body bony approach;

fig. 12 is a view of the position of the guide needle in the bony canal of the sacrum 2, when the C-arm X-ray machine irradiates the pelvic inlet, the projection line of the anterior border of the sacrum 1 overlaps with the projection line of the anterior border of the sacrum 2, and the guide needle is implanted parallel to and against the posterior edge of the overlapping line (beyond the anterior border of the overlapping image);

Fig. 13 is a view of the position of the guide needle in the bony canal of the sacrum 2 when the C-arm X-ray machine irradiates the pelvic outlet, the guide needle is located between the projected line of the lower edge of the bilateral sacrum 1 hole and the projected line of the upper edge of the bilateral sacrum 2 hole and is respectively parallel (not intersected) with the projected line of the lower edge of the bilateral sacrum 1 hole and the projected line of the upper edge of the bilateral sacrum 2 hole;

fig. 14 is a CT view of the sacroiliac joint screw implant as it completes the sacral 2 vertebral bone access;

the figure shows: 1-X-ray machine, 101-X-ray emitter, 102-X-ray receiver, 103-C-arm, 2-laser striping machine, 201-laser, 202-carpenter clamp, 203-third universal joint, 204-bolt, 3-support frame, 31-C-shaped frame, 32-press plate, 33-press bolt, 34-support plate, 35-support rod, 36-locking bolt, 37-bayonet, 38-clamping bolt, 4-guide rail, 5-first sliding block, 6-first universal joint, 7-first positioning frame, 71-first hollow slot, 72-first skewer insertion hole, 73-loop-shaped structure, 74-loop-shaped opening, 8-first positioning needle, 9-second sliding block, 10-second universal joint, 11-second positioning frame, 111-second hollow slot, 112-second skewer insertion hole, 113-hollow opening, 12-second positioning needle, 13-guide needle, 14-intersection, 15-locking screw, 16-base, 17-spheroid, 18-screw, 19-nut, 20-bed or operating table.

Description of the embodiments

Further advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present invention, which is described by the following specific examples. The described embodiments are only some, but not all, embodiments of the invention. 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.

It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the invention to the extent that it can be practiced, since modifications, changes in the proportions, or adjustments of the sizes, which are otherwise, used in the practice of the invention, are included in the spirit and scope of the invention which is otherwise, without departing from the spirit or scope thereof. Also, the terms such as "upper", "lower", "left", "right", "middle", etc. are used herein for convenience of description, but are not to be construed as limiting the scope of the invention, and the relative changes or modifications are not to be construed as essential to the scope of the invention.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Examples

As shown in fig. 2-5, a percutaneous sacroiliac joint screw navigation device of this embodiment includes an X-ray machine 1, a laser marker 2, a support frame 3, a guide rail 4, a first sliding block 5, a second sliding block 9, a first positioning frame 7, a second positioning frame 11, a first positioning needle 8, a second positioning needle 12, and a guide needle 13.

The pelvis inlet position is to incline the X-ray machine 1 towards the head side, and the front edge cortical bone shadow of the S1 and S2 vertebrae can be overlapped at the position.

Pelvic outlet position, the X-ray machine is tilted to the foot side, so that the upper edge of pubic symphysis is shown to be opposite to the bilateral sacral 2 foramina.

The X-ray machine 1 is a C-arm X-ray machine (which is a conventional surgical device), and as shown in fig. 3, the X-ray machine 1 mainly includes an X-ray emitter 101, an X-ray receiver 102, a machine arm 103, and the like, where the X-ray emitter 101 is disposed opposite to the X-ray receiver 102. The emitting end of the X-ray emitter 101 has a rectangular structure with two center lines (symmetry lines), a transverse center line and a longitudinal center line (line DE in fig. 3), the transverse center line is perpendicular to the symmetry cross section of the X-ray machine 1, and the longitudinal center line is parallel to and coincides with the symmetry cross section of the X-ray machine 1. The receiving end of the X-ray receiver 102 has a circular structure, which also has a transverse centerline (line BC in fig. 3) perpendicular to the symmetrical cross-section of the X-ray machine 1 and a longitudinal centerline parallel to and coincident with the symmetrical cross-section of the X-ray machine 1. The symmetrical cross section of the X-ray machine 1 refers to a cross section of the arm 103 that symmetrically cuts through the X-ray emitter 101 and the X-ray receiver 102.

The laser marking device 2 (or laser level) is mounted on the arm 103 (C-arm) of the X-ray machine 1, the emitting end of the laser marking device 2 can emit a planar laser beam (the laser beam is a smooth surface, such as the plane ABCCDE in fig. 3) between the X-ray emitter 101 and the X-ray receiver 102, the laser beam coincides with the symmetrical cross section of the X-ray machine 1, and at the same time, the laser beam forms a visible laser marking at the longitudinal midline (straight line DE) of the emitting end of the X-ray emitter 101 and the longitudinal midline (straight line BC) of the receiving end of the X-ray receiver 102 respectively, and the longitudinal midline of the emitting end of the X-ray emitter 101 and the longitudinal midline of the receiving end of the X-ray receiver 102 are located on the symmetrical cross section of the X-ray machine 1; i.e. the laser marking formed by the laser beam at the emitting end of the X-ray emitter 101 and the laser marking formed by the laser beam at the receiving end of the X-ray receiver 102 are both located on symmetrical cross sections.

As shown in fig. 7, the laser line marking device 2 includes a laser 201 (a structure for emitting a laser beam, which emits a laser beam in red or green or other colors, as required), a carpenter clamp 202 (a conventional F-shaped clamp), and a third universal joint 203 with a locking mechanism, wherein the carpenter clamp 202 is an existing clamp (other clamps with similar functions can be used instead), and is clamped on an X-ray machine arm (C-arm 103), a base 16 of the third universal joint 203 is clamped on the carpenter clamp 202 through the clamp, and a ball 17 of the third universal joint 203 is fixedly connected with the laser 201.

The number of the supporting frames 3 is two to stabilize the supporting guide rail 4, as shown in fig. 6, each supporting frame 3 comprises a C-shaped frame 31, a pressing plate 32, a pressing bolt 33, a supporting plate 34, a supporting rod 35 and a locking bolt 36; the C-shaped frame 31 is composed of a vertical plate and transverse plates fixed on the upper side and the lower side of the vertical plate, and the three form a C-shaped structure body, namely a C-shaped frame 31, wherein an opening of the C-shaped frame 31 faces to the operating table or the operating table 20, and a C-shaped opening of the C-shaped frame 31 is clamped on the side surface of the operating table or the operating table 20; the pressing plate 32 is transversely and rotatably arranged in a C-shaped opening of the C-shaped frame 31 and is matched with the top of the C-shaped frame 31 to be clamped on the side surface of the operating table or the operating table 20, and the pressing plate 32 can be round, square or regular polygon; the compression bolt 33 is in threaded connection with the bottom of the C-shaped frame 31, the upper end of the compression bolt extends into a C-shaped opening of the C-shaped frame 31 and is fixedly connected with the bottom of the pressing plate 32, and the lower end of the compression bolt is positioned below the C-shaped frame 31 and is used for pushing the pressing plate 32 to move up and down; the supporting plate 34 is vertically fixed on the front side wall of the C-shaped frame 31, the supporting plate 34 is vertically provided with a mounting hole penetrating through the upper surface and the lower surface of the supporting plate, and the side wall of the supporting plate 34 is transversely provided with a threaded hole communicated with the mounting hole; the support rod 35 is vertically sleeved in the mounting hole, a bayonet 37 for clamping the guide rail 4 is formed in a concave manner at the top of the support rod 35 and used for supporting the guide rail 4, and a clamping bolt 38 for clamping the guide rail 4 is connected to the side wall of the bayonet 37 in a threaded manner; the locking bolt 36 is located on the side face of the supporting plate 34 and is in threaded connection with the threaded hole, the locking bolt 36 can lock the supporting rod 35 in the installation hole of the supporting plate 34, and the locking bolt 36 is matched with the supporting rod and used for adjusting the height of the guide rail 4.

The guide rail 4 is installed on the support frame 3 (the guide rail 4 is installed in a bayonet 37 at the top of the stay bar 35) and is a long strip plate body, and scale marks are arranged on the guide rail 4.

The first sliding block 5 and the second sliding block 9 are slidably mounted on the guide rail. Specifically, the first sliding block 5 and the second sliding block 9 are slidably sleeved on the guide rail, a bar-shaped hole is formed in the front side of the first sliding block 5 and the front side of the second sliding block 9 opposite to the scale mark, and scales vertically corresponding to the scale mark are also formed on the upper side of the bar-shaped hole. The first sliding block 5 and the second sliding block 9 are respectively provided with a locking screw 15 for locking the first sliding block 5 and the second sliding block 9 on the guide rail 4, and the locking screws 15 are used for locking the first sliding block 5 and the second sliding block 9 and fixing the positions of the first sliding block and the second sliding block.

The first positioning frame 7 is in a strip shape, and the bottom of the first positioning frame is connected with the first sliding block 5 through a first universal joint 6 with a locking mechanism; the first positioning frame 7 has a first hollow groove 71 extending through the front and rear side surfaces thereof along the longitudinal direction thereof on the lower side wall thereof. The upper side wall of the first positioning frame 7 is provided with at least one first inserting hole 72 penetrating through the front side surface and the rear side surface of the first positioning frame and used for inserting the first positioning needle 8, the first inserting hole 72 (the connecting line of the circle centers of all the first inserting holes 72), the first hollow groove 71 (the central line along the length direction of the first hollow groove), the (central line of the) first positioning needle 8 and the (central line of the) cross hole 14 are positioned on the same plane, the plane is provided as an inclined plane A, and when the X-ray machine 1 is positioned at the pelvic inlet position, the inclined plane A is parallel to the light beam of the X-ray machine 1 and the symmetrical cross section of the X-ray machine 1.

The second positioning frame 11 is in a strip shape and is arranged in a crossing way with the first positioning frame 7, and the bottom of the second positioning frame 11 is connected with the second sliding block 9 through a second universal joint 10 with a locking mechanism; the lower side wall of the second positioning frame 11 is provided with a second hollow groove 111 penetrating the front and rear side surfaces thereof along the length direction thereof, and the second hollow groove 111 and the first hollow groove 71 also intersect each other. At least one second inserting hole 112 penetrating through the front and rear sides of the second positioning frame 11 and used for inserting the second positioning needle 12 is arranged on the upper side wall of the second positioning frame 11, the second inserting hole 112 (the connecting line of the centers of all the second inserting holes 112), the second hollow groove 111 (the central line along the length direction of the second inserting hole), the (central line of the) second positioning needle 12 and the (central line of the) cross hole 14 are located on the same plane, the plane is provided as an inclined plane B, when the X-ray machine 1 is located at the pelvis outlet position, the inclined plane B is parallel to the light beam and the symmetrical cross section of the X-ray machine 1, the intersection of the inclined plane A and the inclined plane B is the central line of the cross hole 14, namely, after the guide needle 13 is placed along the central line of the cross hole 14, the extension line of the guide needle 13 is located at the intersection of the inclined plane A and the inclined plane B, namely, the intersection is located at the front side of the sacrum S1 (near the upper edge of the sacrum 1) or the front side of the sacrum S2, namely, the safe needle entering area.

One end of the first positioning needle 8 is vertically arranged in one of the first inserting holes 72 at the upper part of the first positioning frame 7, and the other end extends above the pelvis of the patient.

One end of the second positioning needle 12 is vertically arranged in one of the second inserting holes 112 at the upper part of the second positioning frame 11, and the other end extends above the pelvis of the patient.

One end of the guide needle 13 passes through a crossing hole 13 formed by crossing the first hollow groove 71 and the second hollow groove 111, and the other end can move along the crossing hole 13 toward the ilium of the patient.

The first positioning needle 8, the second positioning needle 12 and the guiding needle 13 are all kirschner wires.

In addition, the first universal joint 6 with locking mechanism, the second universal joint 10 with locking mechanism and the third universal joint 204 with locking mechanism are all universal holders, as shown in fig. 8, the universal holders mainly comprise a base 16 and a spheroid 17, the base 16 is fixed on the top of the first sliding block 5 or the second sliding block 9 (is an annular body disconnected at a certain position), the spheroid 17 of the universal holders is rotatably arranged in the base 16 and is fixedly connected with the bottom of the first positioning frame 7 or the second positioning frame 11, meanwhile, a locking mechanism is arranged at the disconnection position of the side wall of the base 16 of the universal holders, the locking mechanism is a screw 18 and a nut 19 and is used for closing and locking (further holding the spheroid 17) at the disconnection position of the side wall of the base 16, and when locking is needed, the screw 18 and the nut 19 are screwed, the spheroid 17 of the universal holders can be locked, so that the first positioning frame 7 or the second positioning frame 11 is difficult to rotate, and the fixing of the position direction of the first positioning frame 7 or the second positioning frame 11 is realized.

The operation method of the percutaneous sacroiliac joint screw navigation device comprises the following steps:

(1) Adjusting the position of the laser graticule 2 to enable a laser graticule formed by the laser beam emitted by the laser graticule on the emitting end of the X-ray emitter 101 to coincide with the longitudinal center line of the emitting end of the X-ray emitter 101, and simultaneously enable a laser graticule (straight line DE) formed by the laser beam emitted by the laser graticule on the receiving end of the X-ray receiver 102 to coincide with the longitudinal center line (straight line BC) of the receiving end of the X-ray receiver 102; the laser reticle 2 is then fixed to the arm 103 of the X-ray machine 1.

(2) The patient lies on the back on an operating table or an operating table 20, a percutaneous passing sacroiliac joint screw navigation device is arranged on the side edge of the operating table or the operating table 20 on the side surface of the patient, the position of the X-ray machine 1 is adjusted to irradiate the pelvic inlet position, and at the moment, the projection line of the front edge cortical bone of the sacrum 1 vertebral body is overlapped with the projection line of the front edge cortical bone of the sacrum 2 vertebral body; moving the first slider 5 and the first positioning frame 7 between the X-ray emitter 101 and the X-ray receiver 102, and irradiating the laser beam on the side (front side) of the first positioning frame 7 for development; the first positioning frame 7 is rotated, so that the laser beam emitted by the laser marking instrument 2 is overlapped with the long axis (the central line along the length direction of the first positioning frame) on the side surface of the first positioning frame 7, at the moment, the central line of the first hollow groove 71 along the length direction of the first hollow groove coincides with the laser marking, and meanwhile, the first positioning frame 7 and the first positioning needle 8 are axially rotated by taking the long axis as an axis (central axis), so that the projection of the first positioning needle 8 is parallel to the projection line of the front edge cortical bone of the sacrum 1 vertebral body or the projection line of the front edge cortical bone of the sacrum 2 vertebral body; then the first universal joint 6 (the spheroid 17) is locked by a locking mechanism, the bottom of the first positioning frame 7 is locked (the first positioning frame 7 is difficult to rotate any more), and the direction of the first positioning frame 7 is fixed; the first sliding block 5 is slid along the guide rail 4, the first sliding block 5 drives the first positioning frame 7 and the first positioning needle 8 on the first positioning frame to move back and forth, and under the irradiation of X rays, the projection of the first positioning needle 7 is tightly attached to the rear edge of the projection line of the bone cortex of the front edge of the sacrum 1 or the rear edge of the projection line of the bone cortex of the front edge of the sacrum 2; the position of the locking screw 15 on the first slider 5 to lock the first slider 5 is then tightened.

(3) Adjusting the X-ray machine 1 to a pelvis outlet position; moving the second slider 9 and the second positioning frame 11 between the X-ray emitter 101 and the X-ray receiver 102, so that the laser beam is irradiated on the side (front side) of the second positioning frame 11 for development; rotating the second positioning frame 11 to enable the laser beam emitted by the laser marking instrument to overlap with a long axis (a central line along the length direction of the second positioning frame 11) on the side surface of the second positioning frame 11, wherein the central line of the second hollow groove 111 along the length direction coincides with the laser marking, and simultaneously taking the long axis as an axis (a central axis), axially rotating the second positioning frame 11 and the second positioning needle 12 to enable the projection of the second positioning needle 12 to be parallel to a projection connecting line of the upper edge of a bilateral sacrum 1 hole (a sacroiliac joint screw implanted in a sacrum 1 vertebral body) or a projection connecting line of the lower edge of a bilateral sacrum 2 hole (a sacroiliac joint screw implanted in a sacrum 2 vertebral body); the second universal joint 10 is locked through a locking mechanism, the bottom of the second positioning frame 11 is locked (the second positioning frame 11 is difficult to rotate any more), and the direction of the second positioning frame 11 is fixed; sliding the second sliding block 9 along the guide rail 4, wherein the second sliding block 9 drives the second positioning frame 11 and the second positioning needle 12 thereon to move back and forth, and under the irradiation of X rays, the projection of the second positioning needle 12 is clung to the projection connecting line of the upper edge of the bilateral sacrum 1 hole (the sacroiliac joint screw implanted in the sacrum 1 vertebral body) or is positioned between the projection connecting line of the lower edge of the bilateral sacrum 1 hole and the projection connecting line of the upper edge of the bilateral sacrum 2 hole (the sacroiliac joint screw implanted in the sacrum 2 vertebral body); the second slider 9 is then tightened to lock the position of the second slider 9 by the locking screw 15.

(4) The guide needle 13 is penetrated along an intersection 14 formed by the intersection of the first hollow groove 71 and the second hollow groove 111, the guide needle 13 is drilled into the sacrum by an electric drill, and the hollow sacroiliac joint screw is screwed in through the guide needle 13, so that the navigation of the implantation of the sacroiliac joint screw is completed.

When the sacroiliac joint screw is to be implanted in the sacrum 1 vertebral body, as shown in fig. 9, when the C-arm X-ray machine irradiates the pelvic inlet position, the projection line of the anterior border cortical bone of the sacrum 1 vertebral body overlaps with the projection line of the anterior border cortical bone of the sacrum 2 vertebral body, the guide needle 13 is implanted in parallel with and clings to the rear edge of the overlapping line (the front edge of the overlapping image cannot be exceeded), then the C-arm X-ray machine is adjusted to irradiate the pelvic outlet position, as shown in fig. 10, the guide needle 13 clings to the upper edge of the sacrum 1 hole (the sacrum 1 hole cannot be accessed) and the connecting line of the guide needle and the bilateral sacrum 1 hole tends to be parallel (does not intersect); as shown in fig. 11, after screwing the sacroiliac joint screw along the guide pin 13, the post-operative CT shows the location of the sacroiliac joint screw within the sacral 1 vertebral bone safety channel.

When the sacroiliac joint screw is to be implanted in the sacrum 2 vertebral body, as shown in fig. 12, when the C-arm X-ray machine irradiates the pelvic inlet position, the projection line of the front edge of the sacrum 1 vertebral body overlaps with the projection line of the front edge of the sacrum 2 vertebral body, the guide needle 13 is implanted in parallel with the rear edge of the overlapping line (the front edge of the overlapping image cannot be exceeded), then the C-arm X-ray machine is adjusted to irradiate the pelvic outlet position, as shown in fig. 13, after the guide needle 13 is implanted between the projection line of the lower edge of the bilateral sacrum 1 hole and the projection line of the upper edge of the bilateral sacrum 2 hole, the guide needle is just positioned between the projection line of the lower edge of the bilateral sacrum 1 hole and the projection line of the upper edge of the bilateral sacrum 2 hole and is respectively parallel (not intersected) with the projection line of the lower edge of the bilateral sacrum 1 hole and the projection line of the upper edge of the bilateral sacrum 2 hole; as shown in fig. 14, after screwing the sacroiliac joint screw along the guide pin 13, the post-operative CT shows the position of the sacroiliac joint screw within the sacral 2 vertebral bone safety channel.

According to the principle that two surfaces are used for determining a line, firstly, an inclined plane A is located on the same plane with the front edge cortical surface of the sacrum 1 vertebral body and the front edge cortical surface of the sacrum 2 vertebral body, then, the inclined plane B is perpendicularly intersected with the front edge cortical surface of the sacrum 1 vertebral body and the front edge cortical surface of the sacrum 2 vertebral body at a projection connecting line which is tightly attached to the upper edge of a bilateral sacrum 1 hole (a sacroiliac joint screw implanted in the sacrum 1 vertebral body) or perpendicularly intersected with a middle area (a sacroiliac joint screw implanted in the sacrum 2 vertebral body) between the projection connecting line of the lower edge of the bilateral sacrum 1 hole and the projection connecting line of the upper edge of the bilateral sacrum 2 hole, and an intersection line (namely a track of an implanted sacroiliac joint screw guide needle 13) of the inclined plane B and the inclined plane A is obtained. The intersection line of the inclined plane B and the inclined plane a is located on the extension line of the intersection 14 (center line) formed after the first positioning frame 7 and the second positioning frame 11 intersect.

Examples

This embodiment differs from embodiment 1 in that:

in order to provide a more stable and accurate positioning channel for the guide needle 13, so that the guiding effect of the intersection 14 is better, the lower part of the first positioning frame 7 is in a shape of a loop 73, the loop 74 of the loop 73 penetrates through the upper surface and the lower surface of the first positioning frame 7 and is communicated with the first hollow grooves 71, and the two first hollow grooves 71 are symmetrically arranged on the front side and the rear side of the loop 73 respectively. The second positioning frame 11 is provided with a second hollow groove 111, the second hollow groove 111 is sleeved in the return opening 74 of the return structure 73, two intersections 14 are formed by intersecting the two first hollow grooves 71, the guide needle 13 is simultaneously inserted into the two intersections 14, and the existence of the two intersections 14 can further provide a more stable and accurate positioning channel for the guide needle 13.

Examples

This embodiment differs from embodiment 2 in that:

in order to reduce the dead weight of the second positioning frame 11, the second positioning frame 11 has a hollow opening 113 penetrating the upper and lower surfaces thereof at the position with the second hollow groove 111. After the dead weight of the second positioning frame 11 is lightened, when the position of the second positioning frame 11 is determined, the second positioning frame 11 is not easy to move downwards and deflect under the dead weight effect, so that the positioning accuracy is ensured.

Examples

This embodiment differs from embodiments 1-3 in that:

in order to grasp the fine adjustment amplitude of the first slider 5 and the second slider 9, the adjustment under fluoroscopy is avoided repeatedly, and the radiation amount and the operation workload are reduced. In the embodiment, scale marks are arranged on the guide rail 4; the first sliding block 5 and the second sliding block 9 are arranged on the guide rail 4 in a sliding sleeve mode, a strip-shaped hole is formed in the front side of the first sliding block 5 and the front side of the second sliding block 9 opposite to the scale mark, and scales corresponding to the scale mark are arranged on the upper side of the strip-shaped hole.

Other aspects of the invention are not specifically described and are well known to those skilled in the art.

It should be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The protection scope of the present invention is not limited to the technical solutions disclosed in the specific embodiments, and any modification, equivalent replacement, improvement, etc. made to the above embodiments according to the technical substance of the present invention falls within the protection scope of the present invention.

Claims (9)

1. The utility model provides a percutaneous wears sacroiliac joint screw navigation head, includes the X ray machine, the X ray machine includes X light emitter and, X light receiver and horn, its characterized in that: the navigation device also comprises a laser marking instrument, a supporting frame, a guide rail, a first sliding block, a second sliding block, a first positioning frame, a second positioning frame, a first positioning needle, a second positioning needle and a guide needle;

the laser marking instrument is arranged on a horn of the X-ray machine, the emitting end of the laser marking instrument can emit a beam of planar laser beam towards the position between the X-ray emitter and the X-ray receiver, the laser beam coincides with the symmetrical cross section of the X-ray machine, meanwhile, the laser beam forms a visible laser marking at the longitudinal midline of the emitting end of the X-ray emitter and the longitudinal midline of the receiving end of the X-ray receiver respectively, and the longitudinal midline of the emitting end of the X-ray emitter and the longitudinal midline of the receiving end of the X-ray receiver are positioned on the symmetrical cross section of the X-ray machine;

The at least two supporting frames are respectively fixed on the side surface of the operating table or the operating table side by side;

the guide rail is arranged on the support frame;

the first sliding block and the second sliding block are slidably arranged on the guide rail;

the bottom of the first positioning frame is connected with the first sliding block through a first universal joint with a locking mechanism; a first hollow groove penetrating through the front side surface and the rear side surface of the first positioning frame is formed in the lower side wall of the first positioning frame along the length direction of the first positioning frame;

the second positioning frame is in a strip shape and is arranged in a crossing way with the first positioning frame, and the bottom of the second positioning frame is connected with the second sliding block through a second universal joint with a locking mechanism; the lower side wall of the second positioning frame is provided with a second hollow groove penetrating through the front side surface and the rear side surface along the length direction of the lower side wall of the second positioning frame, and the second hollow groove and the first hollow groove are also mutually intersected;

the first positioning needle is arranged on the upper part of the first positioning frame and is positioned on the same plane with the first hollow groove;

the second positioning needle is arranged on the upper part of the second positioning frame and is positioned on the same plane with the second hollow groove;

the guide needle is movably sleeved in a cross hole formed by the first hollow groove and the second hollow groove which are mutually crossed.

2. The percutaneous transluminal iliac joint screw navigation device of claim 1, wherein: the two support frames are arranged, and each support frame comprises a C-shaped frame, a pressing plate, a pressing bolt, a support plate, a support rod and a locking bolt; the C-shaped opening of the C-shaped frame is clamped on the side surface of the operating table or the operating table, and the pressing plate is transversely and rotatably arranged in the C-shaped opening of the C-shaped frame and is matched with the top of the C-shaped frame to be clamped on the side surface of the operating table or the operating table; the compression bolt is in threaded connection with the bottom of the C-shaped frame, the upper end of the compression bolt extends into a C-shaped opening of the C-shaped frame and is fixedly connected with the bottom of the pressing plate, and the lower end of the compression bolt is positioned below the C-shaped frame; the support plate is fixed on the front side wall of the C-shaped frame, a mounting hole penetrating through the upper surface and the lower surface of the support plate is formed in the support plate, and a threaded hole communicated with the mounting hole is formed in the side wall of the support plate; the support rod is vertically sleeved in the mounting hole, the top of the support rod is recessed to form a bayonet for clamping the guide rail, and the side wall of the bayonet is in threaded connection with a clamping bolt for clamping the guide rail; the locking bolt is in threaded connection with the threaded hole and can lock the supporting rod on the supporting plate.

3. The percutaneous transluminal iliac joint screw navigation device of claim 1, wherein: scale marks are arranged on the guide rail; the first sliding block and the second sliding block are arranged on the guide rail in a sliding sleeve mode, a strip-shaped hole is formed in the position, opposite to the scale mark, of the front side of the first sliding block and the front side of the second sliding block, and scales corresponding to the scale mark are arranged on the upper side of the strip-shaped hole.

4. The percutaneous transluminal iliac joint screw navigation device of claim 1, wherein: locking screws for locking the first sliding block and the second sliding block on the guide rail respectively are arranged on the first sliding block and the second sliding block respectively.

5. The percutaneous transluminal iliac joint screw navigation device of claim 1, wherein: the upper side wall of the first positioning frame is provided with at least one first inserting hole penetrating through the front side surface and the rear side surface of the first positioning frame and used for inserting a first positioning needle, and the first inserting hole, the first hollow groove, the first positioning needle and the cross hole are positioned on the same plane; the upper side wall of the second positioning frame is provided with at least one second inserting hole penetrating through the front side surface and the rear side surface of the second positioning frame and used for inserting a second positioning needle, and the second inserting hole, the second hollow groove, the second positioning needle and the crossing hole are positioned on the same plane.

6. The percutaneous transluminal iliac joint screw navigation device of claim 1, wherein: the lower part of the first positioning frame is of a shape-returning structure, a shape-returning opening of the shape-returning structure penetrates through the upper surface and the lower surface of the first positioning frame and is communicated with the first hollow groove, and the two first hollow grooves are symmetrically arranged on the front side and the rear side of the shape-returning structure respectively.

7. The percutaneous transluminal iliac joint screw navigation device of claim 6, wherein: the second locating frame is provided with a second hollow groove, the part of the second locating frame with the second hollow groove is sleeved in the return opening of the return structure in a crossing way, and the second hollow groove is crossed with the two first hollow grooves to form two crossing openings.

8. The percutaneous transluminal iliac joint screw navigation device of claim 7, wherein: the second locating frame is provided with a hollow opening penetrating through the upper surface and the lower surface of the second locating frame.

9. A method of operation of a percutaneous transluminal iliac joint screw navigation device of any one of claims 1-8, comprising the steps of:

(1) Adjusting the position of a laser marking instrument to enable a laser marking formed on the emitting end of the X-ray emitter by the laser beam emitted by the laser marking instrument to coincide with the longitudinal center line of the emitting end of the X-ray emitter, and enabling a laser marking formed on the receiving end of the X-ray receiver by the laser beam emitted by the laser marking instrument to coincide with the longitudinal center line of the receiving end of the X-ray receiver; then fixing the laser graticule on the arm of the X-ray machine;

(2) The pelvis is supinated on an operating table or an operating table, a percutaneous threading sacroiliac joint screw navigation device is arranged on the side edge of the operating table or the operating table on the side surface of the pelvis, the position of an X-ray machine is adjusted to irradiate the pelvis entrance position, and at the moment, the projection line of the bone cortex at the front edge of the sacrum 1 and the projection line of the bone cortex at the front edge of the sacrum 2 are overlapped; moving the first sliding block and the first locating frame between the X-ray emitter and the X-ray receiver to enable the laser beam to irradiate on the side face of the first locating frame for developing; rotating the first positioning frame to enable the laser beam emitted by the laser marking instrument to overlap with a long axis on the side surface of the first positioning frame, and simultaneously rotating the first positioning frame and the first positioning needle by taking the long axis as an axis to enable the projection of the first positioning needle to be parallel to the projection line of the bone cortex on the front edge of the sacrum 1 or the projection line of the bone cortex on the front edge of the sacrum 2; then locking the first universal joint through a locking mechanism, and fixing the direction of the first positioning frame; the first sliding block is slid along the guide rail, and drives the first positioning frame and the first positioning needle on the first sliding block to move back and forth, so that the projection of the first positioning needle is clung to the rear edge of the projection line of the bone cortex of the front edge of the sacrum 1 or the rear edge of the projection line of the bone cortex of the front edge of the sacrum 2 under the irradiation of X rays; then locking the position of the first sliding block;

(3) Adjusting the X-ray machine to the pelvis outlet position; moving the second sliding block and the second locating frame between the X-ray emitter and the X-ray receiver to enable the laser beam to irradiate on the side face of the second locating frame for developing; rotating the second positioning frame to enable the laser beam emitted by the laser marking instrument to overlap with the long axis of the side face of the second positioning frame, and simultaneously rotating the second positioning frame and the second positioning needle by taking the long axis as an axis to enable the projection of the second positioning needle to be parallel to the projection connecting line of the upper edge of the bilateral sacrum 1 hole or the projection connecting line of the lower edge of the bilateral sacrum 1 hole; the second universal joint is locked through a locking mechanism, and the direction of the second positioning frame is fixed; sliding a second sliding block along the guide rail, wherein the second sliding block drives the second positioning frame and the second positioning needle on the second positioning frame to move back and forth, so that the projection of the second positioning needle is clung to a projection connecting line of the upper edge of the bilateral sacrum 1 hole or a projection connecting line positioned between the projection connecting line of the lower edge of the bilateral sacrum 1 hole and the projection connecting line of the upper edge of the bilateral sacrum 2 hole under X-ray irradiation; then locking the position of the second sliding block;

(4) The guide needle is penetrated along the intersection formed by the intersection of the first hollow groove and the second hollow groove, the guide needle is drilled into the sacrum through the electric drill, and the hollow sacroiliac joint screw is screwed into the guide needle to complete the navigation of the implantation of the sacroiliac joint screw.