CN1203435C - Computer aided system for locking far terminal of intramedullary nail - Google Patents
Computer aided system for locking far terminal of intramedullary nail Download PDFInfo
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- CN1203435C CN1203435C CNB021586918A CN02158691A CN1203435C CN 1203435 C CN1203435 C CN 1203435C CN B021586918 A CNB021586918 A CN B021586918A CN 02158691 A CN02158691 A CN 02158691A CN 1203435 C CN1203435 C CN 1203435C
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Abstract
The present invention discloses a computer assisted system for locking remote ends of intramedullary nails, which comprises a C-shaped arm, a positioning frame, a computer and image control operation software stored in the computer, wherein an X-ray imaging device on the C-shaped arm is used for collecting images, the images are then transmitted to the computer through a video data line and computed by the image control operation software to determine the operation path so as to carry out the operation, the present invention comprehensively utilizes many subject technologies, for example medicine, mechanics, computer vision, digital image processing, etc., develops the key technology for measuring positions of intramedullary nails through single images, and simplifies the complicated operation process for fixing intramedullary nails in a pure mechanical mode. The present invention can simply and quickly position the operation path through the mechanical positioning frame so as to realize semi-automation for fixing intramedullary nails, meanwhile, obviously reduces a large amount of X-ray radiation damage to patients and doctors owing to frequent photo taking by X-rays in the operation process, and provides enough operation precision.
Description
Technical field
The present invention relates to a kind of Medical Devices, particularly relate to and a kind ofly assist the doctor to carry out the intra medullary nail far-end locking system of synthetism operation by means of computing machine and control operation software thereof, locating rack.
Background technology
At present, fracture operation has been developed into modern all kinds of center fixation arts such as intramedullary nail by the synthetism of the traditions of the past traditional Chinese medical science, the operation healing time is shorter and shorter, and the operation quality requirements is also more and more higher.With regard to technology, in the present intramedullary nail surgical procedure the most difficult good be exactly the fixing of intra medullary nail far-end lockhole, after intramedullary nail is squeezed into ossis, requiring doctor must enough diameters be that the pinning of 4mm is the hole of 4.5mm across the diameter that skin and trouble bone go on the positive intramedullary nail, and intramedullary nail is fixed in the ossis.In order to solve this difficult problem, the doctor who has directly undergos surgery under the radiation guiding of C type arm X-ray machine, but a large amount of X ray that surgical procedure gives off very easily cause serious threat even injury to doctor and patient's health; The doctor who has utilizes auxiliary stand to perform the operation, and promptly fixes a support at the near-end of intramedullary nail, fixes the distal lockhole that a sight hole is aimed at intramedullary nail at the end of support.Doctor is by this hole centering lockhole.But, aim at support that often precision is not enough because intramedullary nail generally all has deformation in squeezing into the process of suffering from bone.
Summary of the invention
Intra medullary nail far-end locking of the present invention system is on the basis of traditional intramedullary nail technique for fixing, utilize the three-dimensional imaging geometrical principle of computer vision, and design the locating rack structure, utilize digital image processing techniques to determine the technical scheme of impact point geometric position in the three dimensions reference frame, thereby realized the fixing semi-automation of intramedullary nail by on the single width two dimensional image, picking up calibration point and impact point.The system stability that the present invention realizes is reliable, is suitable in all kinds of hospitals, and especially small-middle hospital is promoted the use of.
Based on the problems referred to above, the present invention's research has also been developed a cover area of computer aided far-end locking sighting system.Content comprises: (a) according to Computerized three-dimensional imaging geometry principle, determine the geometric position of impact point in the three dimensions reference frame by pick up calibration point and impact point on the single width two dimensional image; (b) collection of material according to point goes out locating rack; (c) assistant software of native system, integrated multinomial functions such as case history input, image acquisition, Flame Image Process, man-machine interaction, output as a result, thus realized the fixing semi-automation of intramedullary nail.Native system had both significantly reduced X frequent in the routine operation process takes a picture, and has reduced x-ray, has solved a large amount of radiation of doctor and has eaten the line problem, has reduced danger, has solved the precision problem of operation again.
A kind of area of computer aided intra medullary nail far-end locking of the present invention system, comprise C type arm, computing machine, it comprises that also being used for fracture carries out the locating rack of determining the position and be stored in the interior image control operation software of computing machine constituting, X-ray imaging device images acquired on the C type arm after video data line transfer in the computing machine, through image control operation software processes and after determining operation pathway, undergo surgery; Described locating rack is by framework, linking arm, guide rod, coordinate surface, mobile scale, the U type is configured to, framework is made up of with four guide rods that are fixed in the mounting hole of limit frame end portion four limit framves that have mounting hole, limit frame and guide rod constitute a tetragonal framework, between two guide rods a coordinate surface is installed, and be parallel to another and be installed in coordinate surface between the guide rod, one end of linking arm is fixed on the frame on one side of framework, the other end is for " ﹁ " shape and be provided with the fixing connecting hole of intramedullary nail in the end, U type frame is provided with guide piece, it connects with mobile scale with holes by spherical bearing, have sliding tray on the coordinate surface, mobile scale is fastened on the coordinate surface, be carved with scale on guide rod and the coordinate surface, form the reference coordinate plane.Image control operation software in the described computing machine comprise set up case history archive-→ the images acquired signal-→ location position-→ determine operation pathway.
Described locking system, its C type arm is only carried out the collection piece image.
Described locking system, the reference coordinate plane that its guide rod and coordinate surface form is used for determining the coordinate points of operation pathway, realizes the accurate location of impact point.
Described locking system has designed mapping location, para-operative step and two dimensional image guiding localization method, obtains the image of framework and locking nail hole by the image of X-ray equipment collection.
Described locking system, design utilizes two-dimentional x-ray image to realize that the fixing software implementation method of intramedullary nail is: at first the operative site x-ray image that C type arm is collected is sent in the computing machine, must be able to see six calibration points and impact point on the framework on the x-ray image; Utilize mouse to pick up and finely tune these six calibration points and the conical projection of impact point on image then; Because fastening the relative space position relation of three calibration points, preceding reference coordinate determines, can utilize the conical projection of these three calibration points and impact point to obtain two independently solving equations, thereby determine the parallel projection coordinate that impact point is fastened at this reference coordinate; In like manner, also can obtain the parallel projection coordinate that this impact point is fastened at the back reference coordinate.Because the relative position on two reference coordinate planes is known, in view of the above, can further obtain the definite locus of impact point, in order to reference and check, after calculating is finished, these object informations will be presented on the display, according to the result displayed data, click by mouse and drag the lateral separation that has realized the knochenbruch cross section and calculate, thus for selecting gib screw length, the doctor provides accurate data foundation.
Described locking system obtains the center of definite mobile scale, and regulates mobile scale to the center after machine control operation computed in software is handled as calculated, is fixed with the U-shaped frame, thereby has determined operation pathway; And pinning squeezed in the intramedullary nail through pilot hole.
Intra medullary nail far-end locking device of the present invention, multi-door subject technologies such as medical science, mechanics, computer vision, Digital Image Processing have been fully utilized, solve the gordian technique of utilizing single image to realize the intramedullary nail position measurement, simplified the fixing complex operations process of Purely mechanical intramedullary nail.Utilize assistant software can determine operation pathway, utilize the mechanical positioning framework can realize the simple location fast of operation pathway, thereby realized the fixing semi-automation of intramedullary nail.System is reliable, advanced, efficient, cheap, has both significantly reduced in the surgical procedure because of frequently carrying out a large amount of X-radiations infringements to patient and doctor that radiograph causes, and enough operation precision are provided again.System cost is cheap, has high performance price ratio and application value.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is a locating rack structural drawing of the present invention.
Fig. 3 is a locating rack of the present invention photo in kind.
Fig. 4 is the reference picture that is presented on the graphoscope.
Among the figure: 1. locating rack 2.C type arm 3. computing machine 4.X radiant 5.X photoimaging devices 201 frameworks 202 screws 203. linking arms 204. connecting holes 205. guide rods 206. coordinate surfaces 207. sliding trays 208. pilot holes 209. guide pieces 210. spherical bearings 211. move scale 212.U type frame 213. mounting holes 214. limit framves
Embodiment
The present invention is further illustrated below in conjunction with the drawings and specific embodiments.
See also shown in Figure 1, a kind of area of computer aided intra medullary nail far-end locking of the present invention system, constitute by locating rack 1, C type arm 2, computing machine 3 and image control operation software, X-ray camera head 5 images acquired on the C type arm 2 after video data line transfer in the computing machine 3, after image control operation computed in software was handled and determined operation pathway, pilot hole on locating rack 1 208 was fixed on pinning on the intramedullary nail and undergos surgery.
In the present invention, at first utilize under the irradiation of the X-ray light source 4 on the C type arm 2, on imaging plane, form image, then, utilize the video frequency collection card in the computing machine 3 this image to be imported in the Control Software, in Control Software, finish various interactive operations by video data line, obtain the locating information on the locating rack 1, at last, according to the guide piece of these locating information manual adjustments and stationary positioned frame 1, drift bolt is finished intramedullary nail locking operation.
See also shown in Figure 2, locating rack 1 in the far-end locking of the present invention system is by framework 201, linking arm 203, guide rod 205, coordinate surface 206, mobile scale 211, U type frame 212 constitutes, framework 201 is made up of four the limit framves 214 that have mounting hole 213 and four guide rods 205 that are fixed in the mounting hole 213 of limit frame 214 ends, limit frame 214 and guide rod 205 constitute a tetragonal framework 201, one coordinate surface 206 is installed between two guide rods 205, and be parallel to another and be installed in coordinate surface between the guide rod, one end of linking arm 203 is fixed on the frame 214 on one side of framework 201, the other end is for " ﹁ " shape and be provided with the fixing connecting hole 204 of intramedullary nail in the end, U type frame 212 connects with mobile scale with holes 211 by spherical bearing 210, have sliding tray 207 on the coordinate surface 206, mobile scale 211 is fastened on the coordinate surface 206, be carved with scale on guide rod 205 and the coordinate surface 206, form the reference coordinate plane.
In the present invention, computer picture control operation software is gathered piece image by C type 2 arms and is transferred in the computing machine 3 by video data line, and C type arm 2 links to each other by video line with computing machine 3.Owing to only gather piece image, reduced the injury that radiation causes doctor and the wounded greatly.
The workflow of computer picture Control Software of the present invention is: set up case history archive-→ the images acquired signal-→ location position-→ determine operation pathway.
The software interface control function comprises: image manipulation-→ the coordinate demarcation-→ measure.
The software interface data presentation comprises: path front panel point coordinate, path rear panel point coordinate, preceding hole point coordinate and metapore point coordinate.
The design of locating rack in the present invention: this is to realize that locking nail hole rationally is mapped to the key of image space from operative space.Adopt square mechanical positioning frame (seeing shown in Figure 2), constitute reference frame, replace the operative space coordinate system of the locking nail hole on the intramedullary nail with guide rod 205 in this locating rack 1 and coordinate surface 206.The location drawing of gathering locking nail holes when C type arm 2 as the time, the focus of camera system has just been determined with the position of locating rack 1 coordinate system.The confocal line in locking nail hole center this moment intersects with two reference coordinate faces 206 that are parallel to each other (one of them is taken as the X-Y coordinate surface of frame coordinates system) of locating rack 1.We do not eat these two faces of material of X line with organic glass or other, and on framework the mark size scale; Consider the convenience of operation, allow two coordinate surfaces 206 on the guide rod 205 of locating rack 1, to move.Because the collection area of X-ray is very little, we install the known gauge point of several relative positions in the little visibility region on these two reference coordinate faces respectively.With this two group echos point is reference, just can determine the physical location of locking nail hole in frame coordinates system, also can determine the intersecting point coordinate of the axis of locking nail hole with these two reference surface simultaneously.In addition, also design has two mobile scales 11 that can move along frame transverse axis and vertical axis respectively on the reference surface of framework, and these two locating pieces can be fixed the position of intersecting point of locking nail hole on reference surface.Doctor can squeeze into pinning along the path that these two reference point are determined, finishes operation.
The basic procedure of software section is as follows: set up case history archive → images acquired signal → location position → determine operation pathway etc.Wherein, two big Core Features are: the axial location coordinate of determining locking nail hole according to the x-ray image that collects; And measure the required data of operation from image, and as: length of pinning or the like.
Basic operation process: a) set up case history archive: data such as typing patient's essential information, relevant medical history data, the disconnected situation of bone, idagnostic logout also deposits database in; B) squeeze into intramedullary nail and stationary positioned frame 1: intramedullary nail is squeezed into the position that requires of pulp cavity, and the intramedullary nail near-end is fixed together with locating rack, determines the relative position of intramedullary nail locking nail hole in locating rack 1 framework down; C) images acquired: the picture that a width of cloth comprises intramedullary nail locking nail hole and calibration point is gathered by C type arm by system, and this picture is carried out pre-service; D) demarcate reference frame: can determine actual coordinates position on former and later two reference surface according to calibration point in the known dimensions of coordinate figure on the imaging plane and locating rack 1 structure, thereby determine intramedullary nail relative position therein; E) demarcate the lockhole center: pick up the coordinate of locking nail hole end face center on two dimensional image, can calculate the coordinate figure of this center in locating rack 1 framework coordinate system; F) fixing operation path: according to the coordinate figure of locking nail hole both ends of the surface center in locating rack 1 reference frame, two groups of side-play amounts that move scale 211 along coordinate surface 206 axiss of pitch and vertical axis before and after calculating, adjust mobile scale 211 then, make to move forward and backward pilot hole 208 central axis on the scale 211 with the locking nail hole central axes, thus fixing operation pathway down; G) doctor holes by pilot hole 208, and squeezes into pinning, is fixed in the hole on the intramedullary nail, finishes operation.
Area of computer aided intra medullary nail far-end locking of the present invention system, multi-door subject technologies such as medical science, mechanics, computer vision, Digital Image Processing have been fully utilized, solve the gordian technique of utilizing single image to realize the intramedullary nail position measurement, simplified the fixing complex operations process of Purely mechanical intramedullary nail.Utilize assistant software can determine operation pathway, utilize the mechanical positioning framework can realize the simple location fast of operation pathway, thereby realized the fixing semi-automation of intramedullary nail.System is reliable, advanced, efficient, cheap, has both significantly reduced in the surgical procedure because of frequently carrying out a large amount of X-radiations infringements to patient and doctor that radiograph causes, and enough operation precision are provided again.System cost is cheap, has high performance price ratio and application value.
Claims (3)
1. area of computer aided intra medullary nail far-end locking system, comprise C type arm, computing machine, it is characterized in that: comprise that also being used for fracture carries out the locating rack of determining the position (1) and be stored in the interior image control operation software of computing machine constituting, X-ray imaging device (5) images acquired on the C type arm (2) after video data line transfer in the computing machine (3), through image control operation software processes and after determining operation pathway, undergo surgery; Described locating rack (1) is by framework (201), linking arm (203), guide rod (205), coordinate surface (206), mobile scale (211), U type frame (212) constitutes, framework (201) is made up of four the limit framves (214) that have mounting hole (213) and four guide rods (205) of being fixed in the mounting hole (213) of limit frame (214) end, limit frame (214) and guide rod (205) constitute a tetragonal framework (201), one coordinate surface (206) is installed between two guide rods (205), and be parallel to another and be installed in coordinate surface between the guide rod, one end of linking arm (203) is fixed on the frame (214) on one side of framework (201), the other end is provided with the fixedly connecting hole of intramedullary nail (204) for " ﹁ " shape and in the end, U type frame (212) is provided with guide piece (209), it connects with mobile scale (211) with holes by spherical bearing (210), have sliding tray (207) on the coordinate surface (206), mobile scale (211) is fastened on the coordinate surface (206), be carved with scale on guide rod (205) and the coordinate surface (206), form the reference coordinate plane.
2. locking system as claimed in claim 1 is characterized in that: C type arm (2) is only carried out and is gathered piece image.
3. locking system as claimed in claim 1 is characterized in that: the reference coordinate plane that guide rod (205) and coordinate surface (206) form is used for determining the coordinate points of operation pathway.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB021586918A CN1203435C (en) | 2002-12-26 | 2002-12-26 | Computer aided system for locking far terminal of intramedullary nail |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB021586918A CN1203435C (en) | 2002-12-26 | 2002-12-26 | Computer aided system for locking far terminal of intramedullary nail |
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| Publication Number | Publication Date |
|---|---|
| CN1424673A CN1424673A (en) | 2003-06-18 |
| CN1203435C true CN1203435C (en) | 2005-05-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB021586918A Withdrawn - After Issue CN1203435C (en) | 2002-12-26 | 2002-12-26 | Computer aided system for locking far terminal of intramedullary nail |
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| CN (1) | CN1203435C (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9517107B2 (en) | 2010-07-16 | 2016-12-13 | Stryker European Holdings I, Llc | Surgical targeting system and method |
| US10070903B2 (en) | 2008-01-09 | 2018-09-11 | Stryker European Holdings I, Llc | Stereotactic computer assisted surgery method and system |
| US10588647B2 (en) | 2010-03-01 | 2020-03-17 | Stryker European Holdings I, Llc | Computer assisted surgery system |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2005216091B2 (en) * | 2004-02-20 | 2009-09-17 | Hector O. Pacheco | Method for improving pedicle screw placement in spinal surgery |
| CN101869501B (en) * | 2010-06-29 | 2011-11-30 | 北京中医药大学 | Computer-aided needle scalpel positioning system |
| EP2900156B1 (en) | 2012-09-27 | 2017-07-12 | Stryker European Holdings I, LLC | Rotational position determination |
| CN105066916B (en) * | 2015-09-01 | 2017-06-16 | 北京天智航医疗科技股份有限公司 | A kind of surgical robot system accuracy detecting device and method |
| CN112869856B (en) * | 2021-02-08 | 2022-04-01 | 清华大学 | Two-dimensional image guided intramedullary needle distal locking robot system and locking method thereof |
| WO2023168682A1 (en) * | 2022-03-11 | 2023-09-14 | 常州锦瑟医疗信息科技有限公司 | Method and device for determining pose of surgical instrument in space |
-
2002
- 2002-12-26 CN CNB021586918A patent/CN1203435C/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10070903B2 (en) | 2008-01-09 | 2018-09-11 | Stryker European Holdings I, Llc | Stereotactic computer assisted surgery method and system |
| US10105168B2 (en) | 2008-01-09 | 2018-10-23 | Stryker European Holdings I, Llc | Stereotactic computer assisted surgery based on three-dimensional visualization |
| US10588647B2 (en) | 2010-03-01 | 2020-03-17 | Stryker European Holdings I, Llc | Computer assisted surgery system |
| US9517107B2 (en) | 2010-07-16 | 2016-12-13 | Stryker European Holdings I, Llc | Surgical targeting system and method |
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| CN1424673A (en) | 2003-06-18 |
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Denomination of invention: Computer aided system for locking far terminal of intramedullary nail Effective date of registration: 20110325 Granted publication date: 20050525 Pledgee: Beijing Zhongguancun development group Limited by Share Ltd Pledgor: Beijing TINAVI Technology Co., Ltd. Registration number: 2011990000095 |
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