CN209018975U - Orthopaedics non-invasive guide pin three-dimensional localization guidance system - Google Patents
Orthopaedics non-invasive guide pin three-dimensional localization guidance system Download PDFInfo
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- CN209018975U CN209018975U CN201820281886.5U CN201820281886U CN209018975U CN 209018975 U CN209018975 U CN 209018975U CN 201820281886 U CN201820281886 U CN 201820281886U CN 209018975 U CN209018975 U CN 209018975U
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Abstract
A kind of orthopaedics non-invasive guide pin three-dimensional localization guidance system, X-axis electric precise ball-screw slide unit and Y-axis electric precise ball-screw slide unit are mutually perpendicular to be in horizontally disposed, and Y-axis electric precise ball-screw slide unit can move on X-axis electric precise ball-screw slide unit along the x axis；Z axis electric precise ball-screw slide unit can be moved and can be rotated by center line of Z axis on Y-axis electric precise ball-screw slide unit along the y axis；Interchangeable sleeve is fixed on another electric precise worm and gear turntable by the support bracket fastened other end of sleeve, and replaces that sleeve is logical to be moved along Z-direction and can be rotated centered on the fixed bracket of sleeve；The guide pin locator is a kind of navigation auxiliary robot, can accurately can obtain the three-dimensional coordinate of target point and bone channel after solid geometry operation by carrying out X-ray examination from any two direction.
Description
Technical field
The utility model relates to orthopedic navigation positioning field, espespecially a kind of orthopaedics non-invasive guide pin three-dimensional localization guiding is
System.
Background technique
With orthopaedic technique it is continuous it is progressive with it is perfect, orthopaedics Minimally Invasive Surgery has become the main side that orthopaedics develops
To.But Minimally Invasive Surgery needs certain equipment and technical support.Internal sclerite, mark are determined in the case where not cutting skin
The external location technology of point or bone channel position becomes the key technology of orthopaedics Minimally Invasive Surgery.
The external localization method being applied at present clinically is mainly divided to two kinds.The first is based on common X-ray irradiation technique
Positioning, it is how relatively simple, for example doctor by place metal flag object, had an X-rayed using C arm X-ray machine in art merely, with
Realize the positioning to internal target.Such method can only entry evaluation target position, three-dimensional localization can not be carried out, also can not
Bone channel is positioned, it is even more impossible in some positions for needing special projection angles, before sacroiliac screw, pedicle nail and acetabular bone
Positioning is realized in the operation such as fixed in column bone fracture screw.Second relatively advanced, navigates for computer-aided three-dimensional location of operation
Technology, although the technology accuracy is high, figure is huge and heavy, is not easy disinfection and transhipment, and practicability is poor in addition, and operation is multiple
Miscellaneous and expense is high, greatly improves operation cost, and general hospital powerlessly purchases.
For defect and deficiency present in current orthopaedics non-invasive location technology, gradually appear a kind of by combining binocular
Visual theory coupled computer and its control operating software realize the location technology of geometrical reconstruction, see Patent No.
201410056737.5 the patent of entitled orthopedic robot guide pin locator, navigation device and positioning system.This is specially
Benefit is acquired from two angle shot X-ray images, and by special imaging device, establishes two through computer image controlling operation software
Coordinate system is tieed up, and is computed by binocular distance measurement principle and is most positioned.But the technology at least has the following deficiencies: 1, because
Using binocular distance measurement principle, need using special X-ray imaging system and computer picture control operation, higher cost
It is unfavorable for popularizing.2 and the reconstruction geometry by match point uniqueness and Ordinal Consistency constraint constraint, work as mesh
Cursor position can not obtain accurate three-dimensional localization when being in image grayscale or the characteristics of image unconspicuous region of variation.3, in X-ray
Cortical bone is overlapped in more region in image, and such as certain fracture of acetabulum are difficult to accurate reconstruction.
Utility model content
In order to solve the above technical problems, and reduce using threshold, the purpose of this utility model is that develop a kind of orthopaedics without
Wound formula 3 D positioning system and guide pin locator, the guide pin locator are a kind of navigation auxiliary robot, use worm and gear
The technical equipment such as turntable, electronic compass and obliquity sensor construct coordinate system, can be saturating by carrying out x-ray from any two direction
Depending on can accurately obtain the three-dimensional coordinate of target point and bone channel after solid geometry operation.The utility model it is another
Purpose is that the characteristic for making positioning device used have low-profile light, easy to operate to be easy to sterilize, cheap reaches
Effect easy to spread.
To achieve the above object, the utility model provides a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance system,
It is characterized in that, it includes a guide pin locator, the guide pin locator specifically includes that at least one X-axis electric precise ball-screw
Slide unit, at least one Y-axis electric precise ball-screw slide unit, a Z axis electric precise ball-screw slide unit, two electric precise snails
Worm and gear turntable, the fixed bracket of a sleeve and interchangeable sleeve；
Wherein, the X-axis electric precise ball-screw slide unit is mutually perpendicular to the Y-axis electric precise ball-screw slide unit
In horizontally disposed, and the Y-axis electric precise ball-screw slide unit can be along the x axis in X-axis electric precise ball-screw slide unit
Upper movement；Z axis electric precise ball-screw slide unit one end is slidedly arranged on the accurate electricity of Y-axis by an electric precise worm and gear turntable
Dynamic ball-screw slide unit, and keep Z axis electric precise ball-screw slide unit sliding in Y-axis electric precise ball-screw along the y axis
It moves and can be rotated by center line of Z axis on platform；Interchangeable sleeve is fixed on another essence by the support bracket fastened other end of sleeve
Cipher telegram moves worm and gear turntable, and the electric precise worm and gear turntable is slidedly arranged on Z axis electric precise ball-screw and slides
Platform, so that interchangeable sleeve is logical to be moved along Z-direction and can be rotated centered on the fixed bracket of sleeve；By the structure,
The guide pin being set in interchangeable sleeve can be made with the guide pin anchor point centre of sphere, and any point from space is directed toward any direction.
Wherein preferably, the X-axis electric precise ball-screw slide unit, Y-axis electric precise ball-screw slide unit and Z axis essence
Close electric ball screw slide unit is respectively by slide unit stepper motor, slide unit driver, slide unit screw rod, slide unit sliding rail, slide unit sliding block, cunning
Platform pedestal is constituted.
Wherein preferably, the electric precise worm and gear turntable is respectively by turntable shaft step motor, worm and gear
Turntable fuselage, worm and gear turntable table top are constituted.
Wherein preferably, the orthopaedics non-invasive guide pin three-dimensional localization guidance system further includes the three-dimensional electricity of at least one C-arm
Sub- compass, C-arm, operating bed and processing system.
Wherein preferably, the Y-axis electric precise ball-screw slide unit is equipped with Y-axis slid platform base, the three-dimensional electricity of the C-arm
Sub- compass is placed in Y-axis slid platform base and/or bottom is pasted at the top of C-arm radiation end, when C-arm three-dimensional electronic compass bottom
When being pasted at the top of C-arm radiation end, Z axis is the center direction Tou Zhaoxian of C-arm 3, and major and minor axis is respectively C-arm three
Tie up the x-axis y-axis direction of 2 zero-bit of X-axis and Y-axis C-arm three-dimensional electronic compass of electronic compass 2 and the X-axis Y-axis side of guide pin locator
To consistent, when C-arm three-dimensional electronic compass is placed in Y-axis slid platform base, i.e., using XOY plane as zero-bitplane, it is with Y direction
Course angle zero.
Wherein preferably, the Y-axis slid platform base does not interfere the movable side of other component or accommodating institute is arranged below
State the Y-axis three-dimensional electronic compass card slot of C-arm three-dimensional electronic compass；And it can be equipped at the top of C-arm radiation end and accommodate the C-arm
The C-arm three-dimensional electronic compass card slot of three-dimensional electronic compass.
Wherein preferably, the system further includes the laser range finder for irradiating entry point.
Wherein preferably, the laser range finder is a ball-shaped cloud platform laser ranging component, the ball-shaped cloud platform laser ranging
The ball-shaped cloud platform pedestal of component is fixed on Z axis electric precise ball-screw slide unit upper end to make laser ranging mould by ball-shaped cloud platform
Block is directed toward any direction, and obtains its direction in space by laser ranging three-dimensional electronic compass, and laser ranging module is provided with radium
Light source is penetrated, measures distance after obtaining anchor point coordinate, to expose to after body surface ideal entry point, and recording laser ranging is three-dimensional
Electronic compass direction in space, can obtain the space coordinate of entry point whereby, to obtain straight line where two o'clock, and making automatically can be more
The axis for changing sleeve is overlapped with the straight line, and interchangeable sleeve head end is close to body surface along the linear movement to entry point.
Wherein preferably, Y-axis electric precise ball-screw slide unit and Z axis electric precise ball-screw slide unit pass through company respectively
Fishplate bar is connect with electric precise worm and gear turntable, and sleeve fixing frame and Z axis electric precise ball-screw slide unit pass through
It is to be connected by connecting plate.
Wherein preferably, the guide pin locator also includes the inclination angle for measuring electric precise worm and gear turntable rotation angle
Sensor.
The utility model additionally provides a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance method, will be any of the above-described described
Orthopaedics non-invasive 3 D positioning system guide pin locator be placed on Ipsilateral operating bed and in interchangeable sleeve be inserted into guide pin, with
The direction of X-axis electric precise ball-screw slide unit I is guide pin locator X-direction, Y-axis electric precise ball-screw slide unit direction
For guide pin locator Y direction, Z axis electric precise ball-screw slide unit direction is guide pin locator Z-direction；With electric precise
Worm and gear turntable I is read using Y direction as zero as α, i.e., guide pin is in the projection of XOY plane and the angle of X-axis；It is accurate
Electronic worm and gear turntable II is read using XOY plane as zero as β, the i.e. angle of guide pin and XOY plane；And setting can be more
The intersection point in the axle center and the support bracket fastened axle center of sleeve of changing sleeve 12 is guide pin anchor point, and guide pin when zero-bit is in each axis
Anchor point is that origin constructs three-dimensional system of coordinate, and recording the point is (x, y, z), the axle center of interchangeable sleeve and Z axis slide unit screw rod
The distance in axle center is L, and the displacement of X-axis electric precise ball-screw slide unit I and X-axis electric precise ball-screw slide unit II is x', Y
The displacement of axis electric precise ball-screw slide unit is y', and the displacement of Z axis electric precise ball-screw slide unit is z', setting: x'=
X-Lcos α, y'=y-Lsin α, z'=z, thus control guide pin can using guide pin anchor point as the centre of sphere any point from space
It is directed toward any direction；C-arm three-dimensional electronic compass is fixed on Y-axis card slot, the X-axis Y-axis in x-axis y-axis direction and guide pin locator
Direction is consistent, and automatically records it when front direction after energization and be set to zero-bit, i.e., using XOY plane as zero-bitplane, with Y
Axis direction is course angle zero；Just C-arm three-dimensional electronic compass is removed after recording successfully or another C-arm three-dimensional electronic sieve is taken to put
It is placed in C-arm three-dimensional electronic compass card slot, and when C-arm is adjusted to suitable position in use manually recorded C-arm is put
The C-arm three-dimensional electronic compass value at end top is penetrated, and establishes C-arm and guide pin according to the C-arm three-dimensional electronic compass value
The vector relations of locator, three-dimensional electronic compass axis is the center direction Tou Zhaoxian of C-arm, and its major and minor axis is respectively c-type
The axis and axis of arm, three-D electronic compass；
When C-arm obtains suitable X-ray irradiation position, defining the position is radioactive source 1, passes through C-arm three-dimensional electronic sieve
The pitch angle α ', roll angle β ' and course angle γ ' of the manually recorded C-arm three-dimensional electronic compass of disk calculate the center of C-arm 3
The cosine value according to line and guide pin locator XYZ positive axis angle is thrown, respectivelyWherein:
Then, step is carried out:
1. adjust guide pin locating point position, and adjust guide pin angle [alpha] and β makes guide pin in being directed toward target position on x-ray image,
Record guide pin anchor point coordinate (x1,y1,z1) and interchangeable sleeve direction α1、β1；
2. changing guide pin locating point position and making guide pin in being again directed to target position on x-ray image, confirmation record is clicked
Guide pin anchor point coordinate (x2,y2,z2) and interchangeable sleeve direction α2、β2；
3. can obtain the linear equation of the axis in channel by processor operation are as follows:
Wherein,
cosδ1=cos α1·cosβ1 cosδ2=cos α2·cosβ2
cosη1=sin α1·cosβ1, cos η2=sin α2·cosβ2。
cosμ1=sin β1, cos μ2=sin β2
Wherein preferably, the processing system of the positioning system is according to the linear equation of the axis in the channel, and setβ=90 °-θ, and guide pin locator is controlled, so that the axis weight of the axis of interchangeable sleeve and the channel
It closes, and by adjustment t value, interchangeable sleeve 12 is made to be moved to body surface along the axis in channel.
Wherein preferably, this method further includes steps of
Change the angle of C-arm and irradiate X-ray again, it is radioactive source 2 that the position is defined when obtaining suitable position, and is led to
Cross the pitch angle α ' of the manually recorded C-arm three-dimensional electronic compass of C-arm three-dimensional electronic compass2, roll angle β '2And course angle
γ'2, and the center throwing for calculating C-arm is respectively according to the cosine value of line and guide pin locator XYZ positive axis angle
Then, guide pin locating point position is adjusted, and adjusting guide pin angle [alpha] and β makes guide pin in direction target position on x-ray image
It sets, records guide pin anchor point coordinate (x3,y3,z3) and interchangeable sleeve direction α3、β3；
Further, pass through the coordinate (x of operation you can get it target point4,y4,z4),
Wherein:
Wherein preferably, according to the coordinate (x of the target point obtained4,y4,z4), by adjusting guide pin anchor point coordinate (x,
Y, z), pass through control system, settingSo that adjustment process
The direction of middle guide pin sleeve constantly run-home point.
Wherein preferably, in known two endpoints, it is thus necessary to determine that when guide pin movement routine, repeat the seat of the positioning target point
Mark (x4,y4,z4) method, to calculate two target endpoints, and guide pin movement routine is calculated by the calculation control module of positioning system
So that control guide pin locator is mobile.
Wherein preferably, making target position be presented in picture centre when having an X-rayed using C-arm, that is, it is located at center and throws
According on line.
Wherein preferably, irradiating entry point using laser range finder in the positioning to target point, make replaceable set automatically
The axis of cylinder is overlapped with the straight line, and interchangeable sleeve head end is to determine hand close to body surface along the linear movement to entry point
Art path.
Wherein preferably, the inclination angle that the guide pin locator includes measurement electric precise worm and gear turntable rotation angle passes
Sensor.
Wherein preferably, the laser range finder is a ball-shaped cloud platform laser ranging component, the ball-shaped cloud platform laser ranging
The ball-shaped cloud platform pedestal of component is fixed on Z axis electric precise ball-screw slide unit upper end, can make Laser Measuring by ball-shaped cloud platform
It is directed toward any direction away from module, and its direction in space is obtained by laser ranging three-dimensional electronic compass, laser ranging module is built-in
There is laser source, after obtaining anchor point coordinate, measures distance, and recording laser ranging three after exposing to body surface ideal entry point
Electronic compass direction in space is tieed up, can obtain the space coordinate of entry point whereby, to obtain straight line where two o'clock, and making automatically can
The axis of replacement sleeve is overlapped with the straight line, and close to body surface, i.e., interchangeable sleeve head end is along the linear movement to entry point
Obtain operation pathway.
By above-mentioned apparatus and method, a kind of orthopaedics non-invasive 3 D positioning system and guide pin locator of the utility model
And its localization method uses worm and gear turntable, electronic compass and inclines by navigation auxiliary robot (guide pin locator)
The technical equipment such as angle transducer construct coordinate system, by from any two direction row X-ray examination, after solid geometry operation,
The three-dimensional coordinate of target point and bone channel can accurately be obtained.Laser range finder irradiation can be used in the positioning to target point
Entry point can determine operation pathway.The positioning device low-profile is light, easy to operate to be easy to sterilize, cheap thus easy
In popularization.
Detailed description of the invention
Fig. 1 system schematic；
Fig. 2 guide pin locator structural schematic diagram；
Fig. 3 X-axis electric precise ball-screw slide unit I；
Fig. 4 Y-axis electric precise ball-screw slide unit (1204 mini slide unit)；
Fig. 5 Z axis electric precise ball-screw slide unit (1204 mini slide unit)；
Fig. 6 electric precise worm and gear turntable I (ZX110-100)；
Fig. 7 electric precise worm and gear turntable II (ZX110-60)；
Fig. 8 sleeve fixes bracket；
Fig. 9 connecting plate I；
Figure 10 connecting plate II；
Figure 11 connecting plate III；
The coordinate schematic diagram of Figure 12, Figure 13, Figure 14, Figure 15 the utility model；
The general illustration of another specific embodiment with laser ranging component of Figure 16 the utility model；
The guide pin locator schematic diagram of another specific embodiment with laser ranging component of Figure 17 the utility model；
Another ball-shaped cloud platform laser ranging component schematic diagram with laser ranging component of Figure 18 the utility model；
The laser ranging component connecting plate of another specific embodiment with laser ranging component of Figure 19 the utility model shows
It is intended to；
In figure:
1 guide pin locator, 2 C-arm three-dimensional electronic compass
3 C-arm, 4 operating bed
5 X-axis electric precise ball-screw slide unit, I 6 X-axis electric precise ball-screw slide unit II
7 Y-axis electric precise ball-screw slide unit, 8 Z axis electric precise ball-screw slide unit
9 electric precise worm and gear turntable, I 10 electric precise worm and gear turntable II
11 sleeves fix 12 interchangeable sleeve of bracket
13 connecting plate, I 14 connecting plate II
15 connecting plate, III 16 X-axis slide unit stepper motor
17 X-axis slide unit driver, 18 X-axis slide unit screw rod
19 X-axis slide unit sliding rail, 20 X-axis slide unit sliding block
21 X-axis slid platform base, 22 Y-axis slide unit stepper motor
23 Y-axis slide unit driver, 24 Y-axis slide unit silk
25 Y-axis slide unit sliding rail, 26 Y-axis slide unit sliding block
27 Y-axis slid platform base, 28 Z axis slide unit stepper motor
29 Z axis slide unit driver, 30 Z axis slide unit screw rod
31 Z axis slide unit sliding rail, 32 Z axis slide unit sliding block
33 Z axis slid platform base, 34 turntable, I shaft step motor
35 worm and gear turntable, I fuselage, 36 worm and gear turntable, I table top
37 turntable, II shaft step motor, 38 worm and gear turntable, II fuselage
39 worm and gear turntable, II table top
181 locator ball-shaped cloud platform pedestal, 182 locator ball-shaped cloud platform
183 locator ball-shaped cloud platform spherical shape card slot, 184 locator ball-shaped cloud platform locking level
185 laser ranging three-dimensional electronic compass, 186 ball-shaped cloud platform range finder module.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solution of the utility model is described in further detail.
As shown in Figure 1, a kind of orthopaedics non-invasive 3 D positioning system of the utility model includes: guide pin locator 1, c-type
Arm, three-D electronic compass 2, C-arm 3, operating bed 4 and processing system (not being painted in figure).
It is illustrated in figure 2 the guide pin locator schematic diagram of the utility model, is the utility model additionally referring to Fig. 3-Fig. 9
Guide pin locator block diagram, wherein the guide pin locator 1 specifically includes that X-axis electric precise ball-screw slide unit I 5, X
Axis electric precise ball-screw slide unit II 6, Y-axis electric precise ball-screw slide unit 7, Z axis electric precise ball-screw slide unit 8,
Electric precise worm and gear turntable I 9, electric precise worm and gear turntable II 10, the fixed bracket 11 of sleeve and replaceable set
12 (2.0/2.5/3.0 interchangeable sleeves) of cylinder, comprise in addition three connecting plates: connecting plate I 13, connecting plate II 14, connecting plate
Ⅲ15。
Fig. 3 and Fig. 4 is referred to, is X-axis electric precise ball-screw slide unit I 5, X-axis electric precise ball-screw slide unit
II 6 and 7 structural schematic diagram of Y-axis electric precise ball-screw slide unit.Three's structure is identical, respectively by X-axis slide unit stepper motor 16,
X-axis slide unit driver 17, X-axis slide unit screw rod 18, X-axis slide unit sliding rail 19, X-axis slide unit sliding block 20, X-axis slid platform base 21, Y-axis are sliding
Platform stepper motor 22, Y-axis slide unit driver 23, Y-axis slide unit silk 24, Y-axis slide unit sliding rail 25, Y-axis slide unit sliding block 26, Y-axis slide unit
Pedestal 27 is constituted.
Fig. 5 is referred to, is the structural schematic diagram of Z axis electric precise ball-screw slide unit 8.It include: Z axis slide unit stepping electricity
Machine 20, Z axis slide unit driver 29, Z axis slide unit screw rod 30, Z axis slide unit sliding rail 31, Z axis slide unit sliding block 32, Z axis slid platform base 33.
Fig. 6 and Fig. 7 is referred to, is two turntables: electric precise worm and gear turntable I 9, electric precise worm and gear
The schematic diagram of turntable II 10.It is respectively by I shaft step motor 34 of turntable, I fuselage 35 of worm and gear turntable, worm and gear
II shaft step motor 37 of I table top 36 of turntable and turntable, II fuselage 38 of worm and gear turntable, worm and gear turntable II
Face 39 is constituted.Y-axis electric precise ball-screw slide unit 7 and Z axis electric precise ball-screw slide unit 8 are respectively by shown in Fig. 9-10
Connecting plate (13,14) connect with electric precise worm and gear turntable I 9, and sleeve fixing frame 11 and Z axis electric precise ball
Screw slide 8 is connected by connecting plate III 15 shown in Figure 11.
Fig. 2 and Fig. 4-6,9,10 are referred to, Y-axis electric precise ball-screw slide unit 7 is fixed on by Y-axis slid platform base 27
On the X-axis slide unit sliding block of X-axis electric precise ball-screw slide unit I 6 and X-axis electric precise ball-screw slide unit II 7, to make Y
Axis electric precise ball-screw slide unit 7 can be moved according to specified distance along the x axis by the rotation of X-axis slide unit stepper motor
It is dynamic；One end of Z axis electric precise ball-screw slide unit 8 passes through electric precise worm and gear by I 13 connecting plate II 14 of connecting plate
Turntable I 9 is connected with the Y-axis slide unit sliding block 26 of Y-axis electric precise ball-screw slide unit 7, so that Z axis electric precise ball wire
Thick stick slide unit 8 can be mobile according to specified distance along the y axis by the rotation of Y-axis slide unit stepper motor 22, while can also be with
Rotation by I shaft step motor 34 of turntable horizontally rotates specified angle centered on Z axis.
Fig. 2 and Fig. 5,7,8,11 are referred to, one end of the fixed bracket 11 of sleeve passes through electric precise worm and gear turntable
II 10 and connecting plate III 15 be connected with the Z axis slide unit sliding block 32 of Z axis electric precise ball-screw slide unit 8 so that sleeve is fixed
Bracket 11 and the interchangeable sleeve 12 for being fixed on its other end can be by the rotations of Z axis slide unit stepper motor 28 along Z-direction
It is mobile according to specified distance, while the plane that can also be constituted by the rotation of II shaft step motor 37 of turntable with X, Y-axis
The specified angle of (XOY plane) perpendicular direction rotation.
In conclusion the moving track in tri- directions X, Y, Z is constituted by above-mentioned electric precise ball-screw slide unit, by
Corresponding slide unit stepper motor (16/22/28) can be driven to rotate by the control device in processing system, to drive leading for guide pin
Needle anchor point arbitrarily moves on three-dimensional, to reach any point in space.
After referring to Fig. 2 it is found that guide pin rotation can be made corresponding by corresponding turntable shaft step motor (9/10) is driven
Angle, wherein guide pin is read in the projection of XOY plane and the angle (using Y direction as zero) of X-axis as α；And electric precise
It when worm and gear turntable II 10 rotates, is formed using XOY plane as zero, the angle reading of guide pin and XOY plane is β.
It is 11 schematic diagram of interchangeable sleeve 12 and sleeve fixing frame referring to Fig. 8, wherein the axle center of replacement sleeve 12 and Z axis
The distance in 34 axle center of slide unit screw rod is L.
By those structures, then guide pin can be achieved, and using guide pin anchor point as the centre of sphere, any point from space is directed toward any side
To.Meanwhile it is practical for convenience, in the utility model, remote control device can be equipped with and rotated with controlling corresponding motor, and rotation angle
Obliquity sensor measurement can be used, straight-line displacement can be used stepper motor signal record or displacement sensor can be used.
In addition, a kind of orthopaedics non-invasive 3 D positioning system of the utility model, further includes the three-dimensional electricity of at least one C-arm
Sub- compass 2, and in this specific embodiment, it can be set at the top of the side of Y-axis slid platform base or following and C-arm radiation end
There is a Y-axis three-dimensional electronic compass card slot, is to want not interfere other component activity；Wherein, it will be appreciated by those skilled in the art that
, the C-arm three-dimensional electronic compass 2 can be respectively arranged on C-arm radiation end at the top of C-arm three-dimensional electronic compass card slot
And Y-axis three-dimensional electronic compass card slot, three-dimensional parameter and zero-bitplane and course angle zero when with according to the work of its measurement, from
And establish the vector relations of C-arm and guide pin locator；Preferably a C-arm three-dimensional electronic compass 2 can be only arranged in it,
It is firstly placed on Y-axis three-dimensional electronic compass card slot and measures initial value, then place the C-arm three-dimensional electronic at the top of C-arm radiation end
Compass card slot measures pitch angle, roll angle and the course angle when work, so that it is guaranteed that exclusive PCR, improves precision, and reduce
Cost.
The x-axis y-axis direction of 2 zero-bit of C-arm three-dimensional electronic compass and the X-axis Y direction of guide pin locator are consistent, work as c-type
When arm, three-D electronic compass 2 is placed in the Y-axis three-dimensional electronic compass card slot in Y-axis slid platform base 27, i.e., using XOY plane as zero-bit
Plane, using Y direction as course angle zero；And when in use, it is that the bottom of C-arm three-dimensional electronic compass 2 is pasted on C-arm
It radiates at the top of end, its Z axis is the center direction Tou Zhaoxian of C-arm 3 at this time, and major and minor axis is respectively C-arm three-dimensional electronic sieve
The X-axis and Y-axis of disk 2.
By the assistance of the guide pin locator 1 and C-arm 3 and respective sensor, a kind of orthopaedics of the utility model is noninvasive
Formula 3 D positioning system can realize the foundation in the bone channel under various complex situations and the confirmation of entry point and operation pathway.
Application below in conjunction with specific usage scenario, to a kind of orthopaedics non-invasive 3 D positioning system of the utility model
Method elaborates:
Specifically, a kind of orthopaedics non-invasive 3 D positioning system of the utility model is with X-axis essence in use
The direction of close electric ball screw slide unit I 5 is guide pin locator X-direction, and 7 direction of Y-axis electric precise ball-screw slide unit is
Guide pin locator Y direction, 8 direction of Z axis electric precise ball-screw slide unit are guide pin locator Z-direction.
In addition, electric precise worm and gear turntable I 9 using Y direction as zero, reads as α, i.e., guide pin is in XOY plane
Projection and X-axis angle；Electric precise worm and gear turntable II 10 is read using XOY plane as zero as β, i.e., guide pin with
The angle of XOY plane.
This system sets the intersection point in the axle center of interchangeable sleeve 12 and the axle center of the fixed bracket 11 of sleeve as guide pin anchor point.
If guide pin anchor point when being in zero-bit using each axis constructs three-dimensional system of coordinate as origin, and recording the point is (x, y, z).It can be more
The axle center for changing sleeve 12 is L at a distance from 34 axle center of Z axis slide unit screw rod, and X-axis electric precise ball-screw slide unit I 5 and X-axis are accurate
The displacement of electric ball screw slide unit II 6 is x', and the displacement of Y-axis electric precise ball-screw slide unit 7 is y', Z axis electric precise
The displacement of ball-screw slide unit 8 is z'.Setting: x'=x-Lcos α, y'=y-Lsin α, z'=z then can be achieved with guide pin
Anchor point is that centre of sphere any point from space is directed toward any direction.
When guide pin locator is placed on Ipsilateral operating bed, the x-axis y-axis direction of 2 zero-bit of C-arm three-dimensional electronic compass with
The X-axis Y direction of guide pin locator is consistent, that is to say, that (in this specific embodiment is when it is placed in Y-axis slid platform base 27
By the Y-axis card slot positioning for being set to 27 side of Y-axis slid platform base or bottom edge) when, i.e., using XOY plane as zero-bitplane, with Y-axis side
To for course angle zero.It in use process, is then pasted on the bottom of C-arm three-dimensional electronic compass 2 at the top of C-arm radiation end
C-arm three-dimensional electronic compass card slot, Z axis is the center direction Tou Zhaoxian of C-arm 3, and major and minor axis is respectively C-arm three
Tie up the X-axis and Y-axis of electronic compass 2.And to reduce error, target position should all be made to be presented in image when having an X-rayed using C-arm
Center is located at center and throws according on line.
It is summed up, type applied by the utility model orthopaedics non-invasive location technology can be divided into following three types:
1, target point is positioned using example scenario 1；
Target: the sclerite collapsed is navigated in guide pin locator coordinate system；
The type is the blocky fracture that such as tibial plateau collapsed fracture, distal tibial pillon fracture needs aim at.Its
It is characterized in that target is a point, by taking tibial plateau collapsed fracture as an example.Pass through Patent No. after suffering limb disinfection
201310614751.8, a kind of entitled Rapid reset device for treating long bone fracture leads suffering limb
Draw, guide pin locator is placed on Ipsilateral operating bed and is inserted into guide pin in interchangeable sleeve 12.
X-ray is irradiated from any angle by using C-arm 3, when it obtains suitable X-ray irradiation position, defines the position
For radioactive source 1, by the manually recorded pitch angle of the C-arm three-dimensional electronic compass 2 i.e. angle α of its x' axis and XOY plane '1, horizontal
The roll angle i.e. angle β ' of its y' axis and XOY plane1And course angle i.e. its x' axis direction is in the upright projection and X-axis of XOY plane
The angle γ ' in direction1.Cosine value of the center throwing according to line and guide pin locator XYZ positive axis angle of C-arm 3 can be calculated, respectively
For
Calculating process is as follows:
1) it establishes and sits initial mark system, as shown in figure 12, establish a rectangular coordinate system in space xyz (i.e. C by origin of point O
The reference axis when pitch angle and roll angle of arm three-dimensional electronic compass 2 are zero) and two three-dimensional rectangular coordinate axis XYz (lead
The reference axis of needle locator) and x'y'z'(, that is, C-arm three-dimensional electronic compass 2 reference axis).Known C-arm three-dimensional electronic compass
2 pitch angle is ∠ x'Ox, that is, α '1, roll angle is ∠ A'OB', that is, β '1, course angle is ∠ IOG, that is, γ '1.Ask z' positive axis with
The cosine value of XYZ positive axis angle, i.e.,
∠ BAO=∠ AOD=∠ x'Ox=α '1If the unit length of AB is a, then BO=atan α '1,
If ∠ EOG=σ, ∠ HOE=ε, then
Then
Cos φ=cos ∠ HOY=-cos (σ-γ) cos ε,
σ is substituted into, ε can be obtained
2) step 1: corresponding synchronous motor (is controlled to rotate) guide pin locating point position by remote controler adjustment, and adjusts and leads
Needle angle [alpha] and β make guide pin in being directed toward target position (i.e. C-arm center is thrown according on line) on x-ray image, click confirmation record guide pin
Anchor point coordinate (x1,y1,z1) and interchangeable sleeve direction α1、β1；
Step 2: then, changing guide pin locating point position and make guide pin in being again directed to target position on x-ray image, click
Confirmation record guide pin anchor point coordinate (x2,y2,z2) and interchangeable sleeve direction α2、β2.Pass through processor operation you can get it mesh
The linear equation (as detailed below) of punctuate and radioactive source 1.
Step 3: changing the angle of C-arm 3 and irradiate X-ray again, define the position when obtaining suitable position as radiation
Source 2, and pass through the pitch angle α ' of the manually recorded C-arm three-dimensional electronic compass 2 of C-arm three-dimensional electronic compass 22, roll angle β '2, with
And course angle γ '2.Cosine value of the center throwing according to line and guide pin locator XYZ positive axis angle of C-arm 3 can be calculated, respectively
Its derivation process is same
Step 4: guide pin locating point position being adjusted by remote controler, and adjusting guide pin angle [alpha] and β makes guide pin in x-ray image
Confirmation record guide pin anchor point coordinate (x is clicked in upper direction target position3,y3,z3) and interchangeable sleeve direction α3、β3.Pass through place
Manage the coordinate (x of device operation you can get it target point4,y4,z4)。
Calculating process is as follows:
As shown in figure 13, guide pin anchor point when being in zero-bit using each axis of guide pin locator is origin i.e. point O, with X-axis
The direction of electric precise ball-screw slide unit I 5 is X-direction, and 7 direction of Y-axis electric precise ball-screw slide unit is Y direction, Z
8 direction of axis electric precise ball-screw slide unit is Z-direction.Establish rectangular coordinate system in space.There is any point A in space
(guide pin anchor point), it is known that the coordinate of point A is (x1,y1,z1), point D is target point, and point M is any point on straight line B ' D, connection
AM, straight line AM and x, y, the angle of z positive axis is respectively δ1,η1,μ1, according to α1、β1It can obtain cos δ1=cos α1·cosβ1,
cosη1=sin α1·cosβ1, cos μ1=sin β1.The coordinate of known point G (guide pin anchor point) is (x2,y2,z2), point H is straight line
Any point on B ' D links GH, and straight line GH and x, y, the angle of z positive axis is respectively δ2,η2,μ2, according to α2、β2It can obtain cos
δ2=cos α2·cosβ2, cos η2=sin α2·cosβ2, cos μ2=sin β2.Radioactive source 1 is that point B ' respectively makees point G and point H
Central projection, on perspective plane, xoy is projected to point I and point M ' respectively；One light source point B ' makees central projection to point A and point M respectively,
On perspective plane, xoy is projected to point A ' and point M ' respectively；Line segment AM ' and line segment IM ' intersect at point M '；Link projection line B ' I, B '
M ' forms a plane B ' IM '；Link projection line B ' A ', B ' M ', forms a plane B ' A ' M ', projection line B ' M ' and x, y, z
The angle of positive axis is respectivelyIn plane B ' IM ', made point G and be parallel to the line segment GH of line segment IM '0, shadow of trading
Line B ' M ' is in point H0.In plane B ' A ' M ', made point A and be parallel to the line segment AM of line segment A ' M '0, the hachure B ' M ' that trades is in point
M0.There are any straight line EF in space, it is known that the coordinate of point E (guide pin anchor point) is (x3,y3,z3), and known straight line EF
With x, y, the angle of z positive axis is respectively δ3,η3,μ3, according to α3、β3It can obtain cos δ3=cos α3·cosβ3, cos η3=sin
α3·cosβ3, cos μ3=sin β3.Radioactive source 2 i.e. point B makees central projection to line segment EF, links BE, BF, forms a plane
BEF, and known straight line BD and x, the angle of y, z positive axis are respectivelyIt solves: the intersection point of straight line B ' M ' and plane BEF
The coordinate of D.Prove: if line segment AM is not parallel to line segment A ' M ', the extended line of line segment AM and line segment A ' M ' meet at point N.Such as figure
Shown in 14, then plane MNM ' and plane xoy intersect at straight line NM '.In plane MNM ', it is known that straight line AM and x, y, z positive axis
Angle be respectively δ1,η1,μ1, then the unit vector of straight line AM direction vector beIt is known straight
The angle of line B ' M ' and x, y, z positive axis is respectivelyThen the unit vector of straight line B ' M ' direction vector isStraight line AM and straight line B ' M ' all on plane MNM ', then lead to by straight line AM and straight line B ' M ' intersection
Cross point A (x1,y1,z1) and orientation vector with plane MNM 'Parallel plane MNM ' is just uniquely identified.So
It is obtained by the point position formula equation of plane:
This determinant is solved, obtains the general equation formula of plane MNM ':
If line segment AM0It is parallel to line segment A ' M ', as shown in figure 15:
Then plane B ' A ' M ' and plane xoy intersect at straight line A ' M '.Known straight line AM0In plane B ' A ' M ', and straight line
AM0With x, y, the angle of z positive axis is respectively δ1,η1,μ1, then straight line AM0The unit vector of direction vector isThe angle of known straight line B ' M ' and x, y, z positive axis is respectivelyThe then side straight line B ' M '
It is to the unit vector of vectorStraight line AM0With straight line B ' M ' all on plane B ' A ' M ', straight line
AM0Point M is intersected at straight line B ' M '0, then pass through point A (x1,y1,z1) and orientation vector with plane B ' A ' M 'Parallel
Plane B ' A ' M ' is just uniquely identified.So being obtained by the point position formula equation of plane:
This determinant is solved, obtains the general equation formula of plane B ' A ' M ':
So
Line segment AM is not parallel to or is parallel to line segment A ' M ', and the general equation formula of plane B ' A ' M ' is identical.
The general equation formula of plane xoy: z=0.
The general equation formula simultaneous of plane B ' A ' M ' and plane xoy obtains the equation of straight line A ' M ':
It can similarly obtain, the point position formula equation of plane B ' IM ':
This determinant is solved, obtains the general equation formula of plane B ' IM ':
Plane
The general equation formula of xoy: z=0.
The general equation formula simultaneous of plane B ' IM ' and plane xoy obtains the equation of straight line IM ':
In plane xoy, straight line A ' M ' and straight line IM ' intersect at point M ', then equations simultaneousness:
It solves:
Wherein,
So in rectangular coordinate system in space, the coordinate of point M ' are as follows:
On straight line B ' M ', it is known that the unit vector of straight line B ' M ' direction vector isWith it is straight
The coordinate of point M ' on line B ' M ', then the parametric equation of straight line B ' M ' is (i.e. the linear equation of target point and radioactive source)
If 2 parameters:
Known straight line EF and x, y, the angle of z positive axis are respectively δ3,η3,μ3, then the unit vector of straight line EF direction vector
ForKnown straight line BD and x, the angle of y, z positive axis are respectivelyThe then straight line side BD
It is to the unit vector of vectorStraight line EF and straight line BD all on plane BEF, straight line EF with
Straight line BD intersection, then pass through point E (x3,y3,z3) and orientation vector with plane BEFParallel plane BEF is just unique
Ground has determined.So being obtained by the point position formula equation of plane:
This determinant is solved, obtains the general equation formula of plane BEF:
Finally, by
The parametric equation of straight line B ' M ' is
With the general equation formula of plane BEF:
The coordinate for seeking point D is exactly the intersection point for asking straight line B ' M ' Yu plane BEF.The two equations simultaneousnesses, solve:
So point D, that is, target point coordinate are as follows:
That is:
After positioning:
By adjusting guide pin anchor point coordinate (x, y, z), interchangeable sleeve 12 is made to reach ideal position.
Setting
Then make the constantly run-home point of interchangeable sleeve 12 during adjustment, laser can be used in the positioning to target point
Rangefinder irradiation entry point can determine operation pathway.
2, using example scenario 2: narrow bone channel is positioned,
It is primarily adapted for use in sacroiliac screw, fixed, pedicle nail and intra medullary nail far-end locking nail in acetabular anterior column bone fracture screw
Deng with clear and narrow bone channel or metal passage (its target that is used is: linear target channel).
By taking sacroiliac screw as an example.Using the utility model orthopaedics non-invasive 3-D positioning method when, can be fixed in Ipsilateral
Guide pin locator is simultaneously placed on Ipsilateral art bed and block plate by block plate.Using C-arm 3, from 1 pedicle of vertebral arch axle position of sacrum, (i.e. bone is logical
The axle position in road) irradiation X-ray, the bone channel of sacroiliac screw is rounded at this time, records C-arm by C-arm three-dimensional electronic compass 2
The pitch angle α ' of three-dimensional electronic compass 2, roll angle β ' and course angle γ '.It throws according to line and guide pin at the center that C-arm 3 can be calculated
The cosine value of locator XYZ positive axis angle, respectively
Guide pin locating point position is adjusted by remote controler, and adjusts guide pin angle [alpha] and β makes guide pin in being directed toward on x-ray image
Confirmation record guide pin anchor point coordinate (x is clicked in target position (i.e. C-arm center is thrown according on line)1,y1,z1) and interchangeable sleeve
Direction α1、β1；Change guide pin locating point position and guide pin is made to be again directed to target position, clicks confirmation record guide pin anchor point and sit
Mark (x2,y2,z2) and interchangeable sleeve direction α2、β2.Pass through the axis in processor operation you can get it pedicle of vertebral arch bone channel
Linear equation are as follows:
Wherein
cosδ1=cos α1·cosβ1 cosδ2=cos α2·cosβ2
cosη1=sin α1·cosβ1, cos η2=sin α2·cosβ2
cosμ1=sin β1 cosμ2=sin β2
Derivation method is the same as example scenario 1
After obtaining the linear equation, in processing system, settingβ=90 °-θ.Then make replaceable set
The axis of cylinder 12 is overlapped with the axis in pedicle of vertebral arch bone channel.T value is adjusted, makes interchangeable sleeve 12 along pedicle of vertebral arch bone channel
Axis is moved to body surface.
Use example scenario 3: the thicker bone channel of positioning (target: being two endpoints of placed channel)；
It can be by taking fracture of neck of femur as an example, it is known that the distal end and proximal end of screw desired location, and need to set operation pathway.
The system and method that the utility model can be used at this time, by repeating the application method difference using example scenario 1
The distal end of screw desired location and the coordinate of proximal end are determined to obtain operation pathway.
In order to realize the precision of positioning and operation, as shown in figure 16, in the another specific embodiment of the utility model,
Laser ranging component can be added in the structure of above-described embodiment, and please refer to Figure 17-19, the utility model is in the specific embodiment
In, by the laser ranging component, entry point is irradiated using laser range finder in the positioning to target point, is made automatically replaceable
The axis of sleeve is overlapped with the straight line, and interchangeable sleeve head end is to determine close to body surface along the linear movement to entry point
Operation pathway.
In this specific embodiment, which includes: locator ball-shaped cloud platform bottom for irradiating the laser range finder of entry point
Seat 181, locator ball-shaped cloud platform 182, locator ball-shaped cloud platform spherical shape card slot 183, locator ball-shaped cloud platform locking level 184 swash
Ligh-ranging three-dimensional electronic compass 185, ball-shaped cloud platform range finder module 186.Wherein, the ball-shaped cloud platform of ball-shaped cloud platform laser ranging component
Pedestal is fixed on Z axis electric precise ball-screw slide unit upper end, laser ranging module can be made to be directed toward by ball-shaped cloud platform any
Direction, and its direction in space is obtained by laser ranging three-dimensional electronic compass, laser ranging module is provided with laser source, is obtaining
After taking anchor point coordinate, distance, and recording laser ranging three-dimensional electronic compass space are measured after exposing to body surface ideal entry point
Direction, can obtain the space coordinate of entry point whereby, to obtain straight line where two o'clock, and make the axis of interchangeable sleeve automatically
It is overlapped with the straight line, and interchangeable sleeve head end is close to body surface, i.e. acquisition operation pathway along the linear movement to entry point.
Above embodiments are only to illustrate the technical solution of the utility model rather than its limitations, although referring to above-mentioned implementation
The utility model is described in detail in example, it should be understood by a person of ordinary skill in the art that still can be to this reality
It is modified or replaced equivalently with novel specific embodiment, and is repaired without departing from any of the spirit and scope of the utility model
Change or equivalent replacement, should all cover in the scope of the claims of the utility model.
Claims (10)
1. a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance system, which is characterized in that it includes a guide pin locator, this is led
Needle locator specifically includes that at least one X-axis electric precise ball-screw slide unit, at least one Y-axis electric precise ball-screw
Slide unit, a Z axis electric precise ball-screw slide unit, two electric precise worm and gear turntables, a sleeve fix bracket and can
Replace sleeve；
Wherein, the X-axis electric precise ball-screw slide unit and the Y-axis electric precise ball-screw slide unit are mutually perpendicular in water
Flat setting, and the Y-axis electric precise ball-screw slide unit can be moved up in X-axis electric precise ball-screw slide unit along the x axis
It is dynamic；Z axis electric precise ball-screw slide unit one end is slidedly arranged on the rolling of Y-axis electric precise by an electric precise worm and gear turntable
Ballscrew slide unit, and enable Z axis electric precise ball-screw slide unit along the y axis on Y-axis electric precise ball-screw slide unit
It moves and can be rotated by center line of Z axis；Interchangeable sleeve is fixed on another accurate electricity by the support bracket fastened other end of sleeve
Dynamic worm and gear turntable, and the electric precise worm and gear turntable is slidedly arranged on Z axis electric precise ball-screw slide unit, with
Make interchangeable sleeve is logical can move and can be rotated centered on the fixed bracket of sleeve along Z-direction；
By the structure, the guide pin being set in interchangeable sleeve can be made to refer to guide pin anchor point centre of sphere any point from space
To any direction.
2. a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance system according to claim 1, which is characterized in that the X
Axis electric precise ball-screw slide unit, Y-axis electric precise ball-screw slide unit and Z axis electric precise ball-screw slide unit respectively by
Slide unit stepper motor, slide unit driver, slide unit screw rod, slide unit sliding rail, slide unit sliding block, slid platform base are constituted.
3. a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance system according to claim 1, which is characterized in that the essence
Cipher telegram moves worm and gear turntable respectively by turntable shaft step motor, worm and gear turntable fuselage, worm and gear turntable
Table top is constituted.
4. a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance system according to claim 1, which is characterized in that the orthopaedics
Non-invasive guide pin three-dimensional localization guidance system further includes at least one C-arm three-dimensional electronic compass, C-arm, operating bed and processing
System.
5. a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance system according to claim 4, which is characterized in that the Y
Axis electric precise ball-screw slide unit is equipped with Y-axis slid platform base, and the C-arm three-dimensional electronic compass is placed in Y-axis slid platform base
And/or bottom is pasted at the top of C-arm radiation end, when C-arm three-dimensional electronic compass bottom is pasted at the top of C-arm radiation end
When, Z axis is the center direction Tou Zhaoxian of C-arm 3, and major and minor axis is respectively the X-axis and Y-axis of C-arm three-dimensional electronic compass 2
The x-axis y-axis direction of 2 zero-bit of C-arm three-dimensional electronic compass and the X-axis Y direction of guide pin locator are consistent, C-arm three-dimensional electronic
When compass is placed in Y-axis slid platform base, i.e., using XOY plane as zero-bitplane, using Y direction as course angle zero.
6. a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance system according to claim 5, which is characterized in that the Y
Axis slid platform base does not interfere the movable side of other component or the Y-axis for accommodating the C-arm three-dimensional electronic compass is arranged below
Three-dimensional electronic compass card slot；
C-arm radiates the C-arm three-dimensional electronic compass card slot for being equipped at the top of end and accommodating the C-arm three-dimensional electronic compass.
7. a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance system according to claim 3, which is characterized in that the system
It further include the laser range finder for irradiating entry point.
8. a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance system according to claim 7, which is characterized in that described to swash
Optar is a ball-shaped cloud platform laser ranging component, and the ball-shaped cloud platform pedestal of the ball-shaped cloud platform laser ranging component is fixed on Z
Axis electric precise ball-screw slide unit upper end passes through laser to make laser ranging module be directed toward any direction by ball-shaped cloud platform
Ranging three-dimensional electronic compass obtains its direction in space, and laser ranging module is provided with laser source, to obtain anchor point coordinate
Afterwards, distance, and recording laser ranging three-dimensional electronic compass direction in space are measured after exposing to body surface ideal entry point, can be obtained whereby
The space coordinate of entry point out to obtain straight line where two o'clock, and is overlapped the axis of interchangeable sleeve with the straight line,
And interchangeable sleeve head end is close to body surface along the linear movement to entry point.
9. a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance system according to claim 3, which is characterized in that described to lead
Needle locator also includes the obliquity sensor for measuring electric precise worm and gear turntable rotation angle.
10. a kind of orthopaedics non-invasive guide pin three-dimensional localization guidance system according to claim 5, which is characterized in that Y-axis essence
Close electric ball screw slide unit and Z axis electric precise ball-screw slide unit pass through connecting plate respectively and electric precise worm and gear revolves
Turntable connection, and sleeve fixing frame and Z axis electric precise ball-screw slide unit by and be connected by connecting plate.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108403219A (en) * | 2018-02-28 | 2018-08-17 | 河北医科大学第三医院 | Orthopaedics non-invasive guide pin three-dimensional localization guidance method and guidance system |
| CN110946754A (en) * | 2020-01-07 | 2020-04-03 | 湖南中医药大学 | Needle inserting device for accurately locating acupuncture point by utilizing X-ray |
| CN112244977A (en) * | 2020-10-22 | 2021-01-22 | 刘磊 | Auxiliary device for aiming of intramedullary ultrasonic locking nail for orthopedics department |
-
2018
- 2018-02-28 CN CN201820281886.5U patent/CN209018975U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108403219A (en) * | 2018-02-28 | 2018-08-17 | 河北医科大学第三医院 | Orthopaedics non-invasive guide pin three-dimensional localization guidance method and guidance system |
| CN110946754A (en) * | 2020-01-07 | 2020-04-03 | 湖南中医药大学 | Needle inserting device for accurately locating acupuncture point by utilizing X-ray |
| CN110946754B (en) * | 2020-01-07 | 2022-04-15 | 湖南中医药大学 | Needle inserting device for accurately locating acupuncture point by utilizing X-ray |
| CN112244977A (en) * | 2020-10-22 | 2021-01-22 | 刘磊 | Auxiliary device for aiming of intramedullary ultrasonic locking nail for orthopedics department |
| CN112244977B (en) * | 2020-10-22 | 2022-03-15 | 刘磊 | Auxiliary device for aiming of intramedullary ultrasonic locking nail for orthopedics department |
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