CN202554079U - Skull guide template for calvarium reconstruction surgical operation - Google Patents
Skull guide template for calvarium reconstruction surgical operation Download PDFInfo
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- CN202554079U CN202554079U CN2012200498333U CN201220049833U CN202554079U CN 202554079 U CN202554079 U CN 202554079U CN 2012200498333 U CN2012200498333 U CN 2012200498333U CN 201220049833 U CN201220049833 U CN 201220049833U CN 202554079 U CN202554079 U CN 202554079U
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Abstract
A skull guide template for calvarium reconstruction surgical operation comprises cutting guide templates and splicing guide templates. The contour line of the edge of each cutting guide template body represents a cutting path during operation, and a mortise connecting structure spliced with the corresponding adjacent guide template or the skull base of a patient is disposed on the outer edge of each splicing guide template body. The skull guide template has the advantages that important anatomical positions of the patient can be protected during the operation, bone claps of the patient are prevented from being excessively cut, and the skull guide template is beneficial for recovering and healing after the operation.
Description
Technical field
This utility model relates to the skull guiding die plate that is used for the calvarium reconstructive surgery.
Technical background
Calvarium is rebuild the purpose that realizes the skull shaping, thus wherein the most key technology be exactly original skull is designed promptly again cut apart, effect that excision and amalgamation reach shaping.Current calvarium design relies on three dimensional CT to judge the odd-shaped situation of calvarium; And with doctor's experience at design cutting profile and route on the two-dimensional ct sheet or on the paper, in operation process, adjust cutting profile, route and connecting method on the spot then according to practical situation.The method of this routine exists a lot of problems: some calvarium is rebuild not necessarily need cut splicing with all skulls, only the part skull is carried out the cutting and separating splicing, so carries out design for scheme before being difficult in art; Calvarium is rebuild and is related to three-dimensional orientation problem, on two dimensional surface, is difficult to the complete three-dimensional relationship between each bone lobe in the calvarium process of reconstruction of considering; Owing to lack effective means; Operation plan can not effectively be transferred in the implementation process of operation; Can not obtain best utilization to the bone lobe that cuts down, be difficult to obtain splicing relation accurately between the bone lobe, therefore be difficult to reach the expection shaping result of the preceding set meter of scheme of art; Because operation plan can not fully implement, so can't realize the protection planned in the scheme before the art in the operation process to critical positions and anatomical structure in operation process; Lack effective aid, it is careful, accurate to accomplish in the operation process, thereby can over-drastic cutting occur to skull, has brought very big damage to be not easy to the healing of postoperative to the bone lobe; Operating time is long, and patient's blood confession, blood pressure, metabolism exerted an influence, and has increased the uncertain factor of operation, has strengthened operation risk.
In operation process, must cut skull accurately in order to implement operation plan accurately; This just need accurately locate cutting position; And some traditional calvarium reconstruction operations is to rely on the characteristic point of calvarium to locate to the location of cutting route, like the trend of coronal suture and lambdoid suture or the special construction of patient's brainpan.Because the head internal structure is complicated, nervus vasculairs are staggered, should be careful when the cutting skull, avoid important blood vessels and nerve, and therefore in the design cutting route, just should fully take into account these problems; The location of the calvarium reconstruction operations of some is to realize through assist location mechanism; And these assist location mechanisms need be fixing with it with skull; And these assist location mechanism structure are all bigger; Its occupation space considerable influence the working place and the operation sight line of operation, in addition these assist location mechanisms all be custom-made its cost an arm and a leg, in the calvarium reconstruction operations, realizes locating significant limitation is arranged so use assist location mechanism.
The utility model content
Cause excessive cutting easily for overcoming prior art to skull; The bone lobe is brought very macrolesion; The shortcoming that is unfavorable for the healing of postoperative; This utility model provides a kind of can protect important anatomical position in art, the excessive cutting to the bone lobe do not occur, is beneficial to the skull guiding die plate that is used for the calvarium reconstructive surgery of post-operative recovery healing.
The skull guiding die plate that is used for the calvarium reconstructive surgery; Comprise cutting guiding die plate and splicing guiding die plate; The cutting guiding die plate comprises the cutting guide plate body that inner surface and calvarium are fitted fully, the cutting path when the edge wheel profile of cutting guide plate body characterizes operation;
The splicing guiding die plate comprises the splicing guide plate body that inner surface and calvarium are fitted fully, and the outer rim of splicing guide plate body has the tongue-and-groove syndeton with adjacent splicing guiding die plate or basis cranii splicing; All splicing guiding die plates are connected to form postoperative calvarium shape.
Further, described tongue-and-groove syndeton comprises tenon and tongue-and-groove; The transition wire of tenon and tongue-and-groove all adopts the arc transition line.
Further, described tenon and notch are swallow-tail form or T font or sawtooth pattern.
The technical conceive of this utility model is: it is to solve because of the caused plagiocephaly of craniosynostosis, tip, microcephaly, trigonocephaly or the like symptom that calvarium is rebuild; And because of the effective ways of hydrocephalus or the caused major part disease of brain hematocele; Therefore the shape of calvarium has a direct impact people's appearance, when removing disease, also is that doctor and patient are concerned about to the pursuit of aesthetics and to the raising of quality of life.
This utility model at first is through gathering patient's CT data or MRI data, utilization Medical Image Processing software rebuild patient's three-dimensional cranium model.In this process, carry out the view data that image processing methods such as Threshold Segmentation, ROI (area-of-interest) extraction draw skull to medical image, carry out the three-dimensional reconstruction of skull then.The bed thickness of CT data or MRI data is influential to the precision of guiding die plate, when the more little precision of bed thickness to navigation template favourable more.Rebuilding to accomplish derives the three-dimensional cranium data later with general form (like the STL form).Normal cranium brain size according to patient age is carried out geometric transformation to patient's calvarium model, and it is carried out the postoperative prediction.Carry out the reconstruction of patient's calvarium then according to the postoperative prediction result, and design splicing construction and mode between rational bone lobe quantity, bone lobe size, cutting route and each the bone lobe.Last making of cutting guiding die plate and splicing guiding die plate according to the bone lobe that designs.
During operation, the doctor will cut guiding die plate earlier and be fitted on the patient's skull, along the cutting guiding die plate skull cut.To splice guiding die plate then and be fitted on the patient's bone lobe that cuts down from patient's skull, along splicing guiding die plate cutting patient bone lobe.The mutual amalgamation of patient's bone lobe after will cutting at last forms calvarium, again with calvarium and basis cranii amalgamation, thus the intact skulls reconstruction operations.
Because the cutting guiding die plate all is not fixed on the skull with setting tool with the splicing guiding die plate; Its locate mode is the sags and crests or the zone of adopting on curve form and the skull of skull itself existence itself; So in the process of bone lobe design, will keep the characteristic point of skull itself, promptly the outer surface of the inner surface of guiding die plate and patient's skull is fitted fully.
In the design process of guiding die plate,, can carry out fillet to the cutting corner of guiding die plate and handle in order to make things convenient for the doctor to operate.In order to make the doctor distinguish each guiding die plate residing position on calvarium easily, can carry out labelling to guiding die plate.
This utility model will cut guiding die plate and be close to patient's skull successively with the splicing guiding die plate through making cutting guiding die plate and splicing guiding die plate, and patient's skull is cut; Need not to use special fixture; Improved the accuracy of skull cutting, reduced the complexity of craniotomy simultaneously, and evaded the important anatomy structure of skull; Minimizing is beneficial to post-operative recovery to the damage of skull.
Description of drawings
Figure 1A is the calvarium anatomical structure of normal skull.
Figure 1B is the side anatomical structure of normal skull.
Fig. 1 C suffers from the patient of macrocrania and the difference of normal person's calvarium.
Fig. 2 is a flow chart of making guiding die plate.
Fig. 3 A is a cross-section image when taking CT.
Fig. 3 B is the calvarium three-D profile model of rebuilding through the CT view data.
Fig. 4 A is the postoperative calvarium and the correlated front and back cutaway view of the calvarium threedimensional model of rebuilding according to the CT data.
Fig. 4 B is the postoperative calvarium and the correlated left and right sides cutaway view of the calvarium threedimensional model of rebuilding according to the CT data.
Fig. 5 A is the sketch map to the patient's skull modeling cutting of rebuilding according to the CT view data.
Fig. 5 B is the connected mode sketch map of bone lobe and basis cranii.
Fig. 5 C is the sketch map of four bone lobes of simulation cutting formation.
To be bone lobe that simulation cutting is formed carry out the sketch map after the geometric transformation with reference to the surgical target model to Fig. 6.
Fig. 7 is the postoperative calvarium shape after the splicing construction design between the bone lobe is accomplished.
Fig. 8 is the sketch map of the splicing construction of Fig. 7.
Fig. 9 is the sketch map of cutting guiding die plate.
Figure 10 is the sketch map that the cutting guiding die plate is close to patient's skull.
Figure 11 is the sketch map of splicing guiding die plate.
Figure 12 is the sketch map that the splicing guiding die plate is close to the surgical target model.
Figure 13 A is a sketch map of cutting guiding model being close to patient's skull.
Figure 13 B is close to the sketch map that from patient's skull, takes off the bone lobe with splicing guiding model.
Figure 14 A is the sketch map according to the skull 3 D model of plagiocephaly patient's CT data reconstruction.
Figure 14 B is the post-surgery skull model behind the adjustment cranial bone flap position.
Figure 14 C is that the doctor cuts out the sketch map of bone lobe along the cutting guiding die plate in operation process.
Figure 15 A is because coronal suture and sagittal suture closure and the skull model of microcephaly's case of causing too early.
Figure 15 B is the sketch map that coronal suture is rebuild in simulation.
Figure 15 C is that the doctor will cut guiding die plate and be placed on the sketch map on the parietal bone.
The specific embodiment
Embodiment one
Use is used for the guiding die plate that the manufacture method of the skull guiding die plate of calvarium reconstructive surgery makes and comprises cutting guiding die plate and splicing guiding die plate; The cutting guiding die plate comprises the cutting guide plate body that inner surface and calvarium are fitted fully, the cutting path when the edge wheel profile of cutting guide plate body characterizes operation;
The splicing guiding die plate comprises the splicing guide plate body that inner surface and calvarium are fitted fully, and the outer rim of splicing guide plate body has the tongue-and-groove syndeton with adjacent splicing guiding die plate or basis cranii splicing; All splicing guiding die plates are connected to form postoperative calvarium shape.
Described tongue-and-groove syndeton comprises tenon and tongue-and-groove; The transition wire of tenon and tongue-and-groove all adopts the arc transition line.
Described tenon and notch are swallow-tail form or T font or sawtooth pattern.
During operation, the doctor will cut guiding die plate earlier and be fitted on the patient's skull, along the cutting guiding die plate skull cut.To splice guiding die plate then and be fitted on the patient's bone lobe that cuts down from patient's skull, along splicing guiding die plate cutting patient bone lobe.The mutual amalgamation of patient's bone lobe after will cutting at last forms calvarium, again with calvarium and basis cranii amalgamation, thus the intact skulls reconstruction operations.
Because the cutting guiding die plate all is not fixed on the skull with setting tool with the splicing guiding die plate; Its locate mode is the sags and crests or the zone of adopting on curve form and the skull of skull itself existence itself; So in the process of bone lobe design, will keep the characteristic point of skull itself, promptly the outer surface of the inner surface of guiding die plate and patient's skull is fitted fully.
In the design process of guiding die plate,, can carry out fillet to the cutting corner of guiding die plate and handle in order to make things convenient for the doctor to operate.In order to make the doctor distinguish each guiding die plate residing position on calvarium easily, can carry out labelling to guiding die plate.
This utility model at first is through gathering patient's CT data or MRI data, utilization Medical Image Processing software rebuild patient's three-dimensional cranium model.In this process, carry out the view data that image processing methods such as Threshold Segmentation, ROI (area-of-interest) extraction draw skull to medical image, carry out the three-dimensional reconstruction of skull then.The bed thickness of CT data or MRI data to the back guiding die plate precision influential, when the more little precision of bed thickness to navigation template favourable more.Rebuilding to accomplish derives the three-dimensional cranium data later with general form (like the STL form).Normal cranium brain size according to patient age is carried out geometric transformation to patient's calvarium model, and it is carried out the postoperative prediction.Carry out the reconstruction of patient's calvarium then according to the postoperative prediction result, and design splicing construction and mode between rational bone lobe quantity, bone lobe size, cutting route and each the bone lobe.Last making of cutting guiding die plate and splicing guiding die plate according to the bone lobe that designs.
This utility model will cut guiding die plate and be close to patient's skull successively with the splicing guiding die plate through making cutting guiding die plate and splicing guiding die plate, and patient's skull is cut; Need not to use special fixture; Improved the accuracy of skull cutting, reduced the complexity of craniotomy simultaneously, and evaded the important anatomy structure of skull; Minimizing is beneficial to post-operative recovery to the damage of skull.
Embodiment two
Specify this utility model in conjunction with the macrocrania case:
In Figure 1A and Figure 1B, demonstrated the anatomical structure of normal skull, frontal bone 1, parietal bone 2 and occipital bone 3 have constituted calvarium.Fig. 1 C has shown the patient of trouble macrocrania and the difference of normal person's calvarium, and border 13 is macrocrania patient's a calvarium profile, and border 14 is normal person's a calvarium profile.The purpose of calvarium reconstructive surgery is exactly will be 14 normal calvarium profile with 13 calvarium reduced profile.
Fig. 2 has specified the digitalized design method of the calvarium reconstructive surgery that this utility model states and the method for designing flow process of cutting guiding die plate.
According to this utility model; Patient need take CT or MRI; Obtain the view data (case in this utility model is with the CT data instance) shown in Fig. 3 A; 15 are a skull form on the cross section, and synthetic and 15 the information of extracting is carried out the model that three-dimensional reconstruction obtains the calvarium 16 shown in Fig. 3 B with all cross-sectional images of taking.
According to the flow process of Fig. 2, the contrast shown in Fig. 4 A and Fig. 4 B for the calvarium model of calvarium and the former three-dimensional reconstruction of simulating postoperative, Fig. 4 A be before and after cutaway views, Fig. 4 B is a left and right sides cutaway view, wherein 16 be the preceding parietal bone of art, 16' is the parietal bone of postoperative.Specifically; Present case requires the coupling part of calvarium and basis cranii to occur the change except being connected with original link position of frontal bone 1 and basis cranii 25; Other places all do not change; Be 17'' calvarium 16 and the 16' coincidence among 17 among Fig. 4 A, 17' and Fig. 4 B, the 17''' place among Fig. 4 B need move inward 5mm and make frontal bone 1' move to the 1'' place according to the requirement of operation.Make patient's brain volume from 3114600 mm at last
3Reduce to 2346703.11 mm
3About, head circumference is controlled at about 56cm, reaches the brain volume and the head circumference of normal adult.
Fig. 5 A simulates cutting to the former three-dimensional reconstruction calvarium of Fig. 3 B, can avoid important anatomy structure during simulation cutting on computers, the enforcement of operation for ease, and this example is simulated cutting along coronal suture 5 and sagittal suture 6.And the connected mode between bone lobe 1b shown in the design drawing 5B and the basis cranii 25, this connected mode can play good positioning action.Four bone lobes that cut down shown in Fig. 5 C, frontal bone 1a and frontal bone 1b, parietal bone 2a and parietal bone 2b.Then these four bone lobes are carried out geometric transformation according to the position shown in Fig. 4 calvarium 16'; Result after the conversion is as shown in Figure 6; 18 is the coincidence zone of frontal bone 1a and frontal bone 1b; 19 is the coincidence zone of frontal bone 1b and parietal bone 2b, and 20 is the coincidence zone of frontal bone 1a and parietal bone 2a, and 21 is the coincidence zone of parietal bone 2a and parietal bone 2b.
In order in operation process, can the bone lobe that cut down to be spliced back well, must the splicing construction between each bone lobe be designed.Fig. 7 is shown as the postoperative calvarium shape after splicing construction design is accomplished, and the splicing construction among the figure is that size and the shape by four zones shown in Figure 6 determines.Fig. 8 is specifying of Fig. 7 splicing construction: parts 22 are connected by the dovetail structure shown in 24 with parts 23; Parts 22 are inserted in the dovetail groove of parts 23 from top to bottom or from the bottom up; When a plurality of parts connect into this structure as a whole after, will have very high stability, just be not easy each other to come off; The doctor can carry out calvarium and being connected of basis cranii and fix putting back to after four bone lobe splicings well in the process of operation again.The four bone lobes that Fig. 5 B is shown and the connected mode of basis cranii are this connected mode.
After utilizing method for digitizing in computer, to accomplish the geometric transformation of the simulation cutting of skull 3 D model reconstruction, simulation post-operative shape, bone lobe, bone lobe, the design of skull splicing construction, need design and processing guiding die plate to implement operation.The design key step of guiding die plate is: 1) model surface extracts; 2) integral body of extracting face is thickeied.Can find out that from the flow process of Fig. 2 the involved guiding die plate of this utility model has two kinds, first kind is the guiding die plate of how to realize simulating the skull cutting, promptly how to realize patient's calvarium is cut apart accurately; Second kind is guiding die plate how to realize the skull splicing construction, and the bone lobe that is about to cut down is repaired by certain shape.The design of first kind of guiding die plate is exactly the outer surface that extracts each bone lobe after cutting apart well among Fig. 5 C; Then it is thickeied processing; The thickness of thickening in the present case is 1.5mm; This considers that mainly guiding die plate shape after high-temperature sterilization can not deform, and obtains guiding die plate 1a-g, 1b-g, 2a-g and 2b-g that Fig. 9 shows.Figure 10 demonstrates the relation between guiding die plate 1a-g and 2a-g and calvarium 1a and the 2a; The inner surface of guiding die plate 1a-g and 2a-g is the outer surface of calvarium 1a and 2a; So just can guarantee that guiding die plate can fit with skull in when operation closely, guarantee the accurate of operation.The design of second kind of guiding die plate is to generate according to the skull that splicing construction among Fig. 7 designs; At first extract frontal bone 1a' and 1b'; The outer surface of parietal bone 2a' and 2b'; The surface that will extract then thickeies processing, and the thickness of thickening is similarly 1.5mm, obtains guiding die plate 1a'-g, 1b'-g, 2a'-g and 2b'-g shown in Figure 11.Figure 12 shows is calvarium 2a' and the relation between the 2b' after guiding die plate 2a'-g and 2b'-g and splicing construction design, and the inner surface of guiding die plate 2a'-g and 2b'-g is the outer surface of calvarium 2a' and 2b'.
Guiding die plate is light, thin, and shape need can adopt Rapid Manufacturing Technology to accomplish according to the molding of this utility model guiding die plate for consistent with skull surface complex-curved.
Figure 13 has shown how the doctor uses guiding die plate to carry out concrete operation technique, and Figure 13 A has shown that the guiding die plate 1a-g that is used to cut frontal bone 1a is placed on above the calvarium 16.Because the inner surface of guiding die plate 1a-g is the outer surface of frontal bone 1a; Therefore guiding die plate 1a-g is placed on and can accomplishes on the frontal bone 1a to fit completely, and the doctor only need cut the simulation cutting that just can realize accurately in the computer along the edge of guiding die plate 1a-g.Figure 13 B shown the guiding die plate 1a'-g of the splicing construction that is used to design frontal bone 1a be positioned over be directed to frontal bone 1a that template 1a-g cuts down above.Because guiding die plate 1a'-g thickeies according to the inner surface of the frontal bone 1a' that designs splicing construction to generate; Therefore guiding die plate 1a'-g is placed on and can accomplishes on the frontal bone 1a to fit completely; The doctor only need cut the splicing construction that just can realize in the computer accurately designing out along the edge of guiding die plate 1a'-g, can access the frontal bone 1a' with splicing construction shown in Figure 7.As above the step doctor just can accomplish the cutting of all bone lobes, obtains frontal bone 1a', 1b' and parietal bone 2a' and 2b', each bone lobe is stitched together according to the splicing construction that has designed has accomplished the reconstruction of calvarium at last.
Embodiment three
In conjunction with plagiocephaly patient case, further specify this utility model:
Figure 14 is described to be the purpose that reaches shaping through the bone lobe of adjustment plagiocephaly patient part self.The form of the calvarium 16 that 14A showed is not good, and forehead frontal bone 1 is not full, and patient's CT data are rebuild.Shown in Figure 14 B is that shape through the simulation postoperative draws and can reach the purpose of shaping through the bone lobe position of adjustment calvarium self, the green bone lobe of bone lobe 26 and bone lobe 27 positions is exchanged adjust to the position shown in Figure 14 B, and rebuild coronal suture 5.Outer surface through extracting bone lobe 26 and bone lobe 27 generates guiding die plate, and processes guiding die plate with laser sintered technology, and Figure 14 C is shown is that the doctor covers guiding die plate 26-g in operation process and cuts out bone lobe 26 on the frontal bone 1.The cutting that utilizes other guiding die plates to accomplish all bone lobes just can obtain the surgical outcome shown in Figure 14 B.
Embodiment four
Further specify this utility model in conjunction with microcephaly's case:
Realized the reconstruction of calvarium and the protection of critical positions through guiding die plate.What Figure 15 A showed is the microcephaly's case that causes because coronal suture 5 and sagittal suture 6 are closed too early.Figure 15 B utilizes method for digitizing that operation plan is carried out board design; Rebuild coronal suture 5; Can under the effect of cerebral, expand in order to guarantee postoperative calvarium 16; Needing to reduce the rigidity of bone lobe, must cut design to the bone lobe, is that torcular 29 has been reserved enough safe spaces when parietal bone 28 is cut design for fear of damage torcular 29.Figure 15 C has shown that the doctor is placed on guiding die plate 28-g on the parietal bone 28, when guiding die plate carries out the skull cutting, just can play effective protection to torcular 29.
The described content of this description embodiment only is enumerating the way of realization of utility model design; The protection domain of this utility model should not be regarded as and only limit to the concrete form that embodiment states, the protection domain of this utility model also reach in those skilled in the art according to this utility model design the equivalent technologies means that can expect.
Claims (3)
1. the skull guiding die plate that is used for the calvarium reconstructive surgery; Comprise cutting guiding die plate and splicing guiding die plate; The cutting guiding die plate comprises the cutting guide plate body that inner surface and calvarium are fitted fully, the cutting path when the edge wheel profile of cutting guide plate body characterizes operation;
The splicing guiding die plate comprises the splicing guide plate body that inner surface and calvarium are fitted fully, and the outer rim of splicing guide plate body has the tongue-and-groove syndeton with adjacent splicing guiding die plate or basis cranii splicing; All splicing guiding die plates are connected to form postoperative calvarium shape.
2. the skull guiding die plate that is used for the calvarium reconstructive surgery as claimed in claim 1 is characterized in that: described tongue-and-groove syndeton comprises tenon and tongue-and-groove; The transition wire of tenon and tongue-and-groove all adopts the arc transition line.
3. the skull guiding die plate that is used for the calvarium reconstructive surgery as claimed in claim 2 is characterized in that: described tenon and notch are swallow-tail form or T font or sawtooth pattern.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200498333U CN202554079U (en) | 2012-01-18 | 2012-02-16 | Skull guide template for calvarium reconstruction surgical operation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201220023932 | 2012-01-18 | ||
| CN201220023932.4 | 2012-01-18 | ||
| CN2012200498333U CN202554079U (en) | 2012-01-18 | 2012-02-16 | Skull guide template for calvarium reconstruction surgical operation |
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| CN202554079U true CN202554079U (en) | 2012-11-28 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102525608A (en) * | 2012-01-18 | 2012-07-04 | 浙江工业大学 | Skull guiding formwork for calvarium reconstruction surgery and manufacturing method of skull guiding formwork |
| EP2821023A1 (en) * | 2013-07-01 | 2015-01-07 | Advanced Osteotomy Tools - AOT AG | Planning cutting of human or animal bone tissue |
| CN108523995A (en) * | 2018-01-23 | 2018-09-14 | 上海交通大学医学院附属上海儿童医学中心 | A kind of craniosynostosis surgery simulation system and its method |
-
2012
- 2012-02-16 CN CN2012200498333U patent/CN202554079U/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102525608A (en) * | 2012-01-18 | 2012-07-04 | 浙江工业大学 | Skull guiding formwork for calvarium reconstruction surgery and manufacturing method of skull guiding formwork |
| EP2821023A1 (en) * | 2013-07-01 | 2015-01-07 | Advanced Osteotomy Tools - AOT AG | Planning cutting of human or animal bone tissue |
| WO2015000823A1 (en) * | 2013-07-01 | 2015-01-08 | Advanced Osteotomy Tools - Aot Ag | Cutting human or animal bone tissue and planning such cutting |
| CN105358086A (en) * | 2013-07-01 | 2016-02-24 | 先进截骨工具-Aot股份公司 | Robot comprising a tool |
| JP2016526423A (en) * | 2013-07-01 | 2016-09-05 | アドバンスト オステオトミー ツールズ − エーオーティー アーゲー | Plans for cutting and cutting human or animal bone tissue |
| US10130426B2 (en) | 2013-07-01 | 2018-11-20 | Advanced Osteotomy Tools—AOT AG | Cutting human or animal bone tissue and planning such cutting |
| EA033120B1 (en) * | 2013-07-01 | 2019-08-30 | Эдванст Остеотоми Тулз - Эот Аг | Cutting human or animal bone tissue and planning such cutting |
| CN105358086B (en) * | 2013-07-01 | 2019-11-26 | 先进截骨工具-Aot股份公司 | It cuts human or animal's bone tissue and designs this cutting |
| CN108523995A (en) * | 2018-01-23 | 2018-09-14 | 上海交通大学医学院附属上海儿童医学中心 | A kind of craniosynostosis surgery simulation system and its method |
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