CN211131560U

CN211131560U - Position finder

Info

Publication number: CN211131560U
Application number: CN201921120523.4U
Authority: CN
Inventors: 李新宇
Original assignee: Beijing AK Medical Co Ltd
Current assignee: Beijing AK Medical Co Ltd
Priority date: 2019-07-17
Filing date: 2019-07-17
Publication date: 2020-07-31
Anticipated expiration: 2029-07-17

Abstract

The utility model provides a positioning instrument, positioning instrument includes: the fixing part is used for being arranged at a preset position; a moving part movably provided; one end of the connecting rod mechanism is movably connected with the fixed part, and the other end of the connecting rod mechanism is movably connected with the movable part; a detection unit capable of detecting a relative position between the fixed unit and the link mechanism and a relative position between the movable unit and the link mechanism; and the processing part is electrically connected with the detection part and is used for receiving the detection information of the detection part, calculating the position information of the movable part relative to the fixed part and judging whether the movable part reaches the target position. The technical scheme can realize accurate positioning of the acetabulum position, is used for auxiliary operation in hip joint surgery, avoids doctors from operating by experience, can meet the difference of different patients, improves the surgery efficiency and the surgery quality, avoids revision, relieves the pain and the economic burden of the patients, and reduces the cost of medical institutions.

Description

Position finder

Technical Field

The utility model relates to the technical field of medical equipment, particularly, relate to a locater.

Background

Hip implants are important artificial implants for replacing damaged human hip joints in surgical implants by using metal or non-metal substitutes with good biocompatibility and mechanical properties. With the increasing living standard, people have higher expectations for medical effects, and the number of hip replacement operations has increased in recent years.

With the gradual increase of the operation amount, many complex hip joint replacement operations, the hip joint resection caused by bone tumor and the complex acetabulum revision operations are also gradually increased. How to accurately position and orient the acetabulum in hip joint surgery is an important factor affecting the success or failure of surgery, the effect after surgery and the survival time of prosthesis.

At the present stage, the process depends on the skill level of the operation of the doctor and the judgment in the operation, and the position of the acetabulum is difficult to accurately position. The individual difference of the patient, the complexity of the disease condition and the like can cause the placement deviation of the acetabulum prosthesis, thereby causing the dislocation of the tube joint prosthesis after the operation, strong pain of the patient, sterile and loose prosthesis and the like. This not only increases the later economic burden and physical and mental pain of the patient, but also increases the cost of the medical institution. In the face of a huge operating population that increases year by year, it is not uncommon for revision surgery to be required due to the prosthesis not being in place.

SUMMERY OF THE UTILITY MODEL

The utility model provides a positioning instrument to solve the problem that it is difficult to accurately position the acetabulum position in hip joint operation.

In order to solve the above problem, the utility model provides a position finder, include: the fixing part is used for being arranged at a preset position; a moving part movably provided; one end of the connecting rod mechanism is movably connected with the fixed part, and the other end of the connecting rod mechanism is movably connected with the movable part; a detection unit capable of detecting a relative position between the fixed unit and the link mechanism and a relative position between the movable unit and the link mechanism; and the processing part is electrically connected with the detection part and is used for receiving the detection information of the detection part, calculating the position information of the movable part relative to the fixed part and judging whether the movable part reaches the target position according to the calculated position information of the movable part.

Furthermore, the connecting rod mechanism comprises a first rod body and a second rod body which are movably connected, wherein the first rod body is movably connected with the fixing portion, the second rod body is movably connected with the moving portion, and the detecting portion can also detect the relative position of the first rod body and the second rod body.

Furthermore, the first rod body is hinged with the second rod body, the first rod body is hinged with the fixed part ball, and the second rod body is hinged with the moving part ball.

Further, the link mechanism further includes a locking portion having a locked state in which the relative displacement of the first rod body and the second rod body is fixed and an unlocked state in which the first rod body and the second rod body can be moved relatively.

Further, the length of the first stick body is adjustable, and/or the length of the second stick body is adjustable.

Further, the detection section includes: the first sensor is arranged at the joint of the first rod body and the fixing part so as to detect the relative angle of the first rod body and the fixing part, and the first sensor is electrically connected with the processing part; the second sensor is arranged at the joint of the second rod body and the moving part so as to detect the relative angle of the second rod body and the moving part, and the second sensor is electrically connected with the processing part; and the third sensor is arranged at the joint of the first rod body and the second rod body so as to detect the relative angle of the first rod body and the second rod body, and is electrically connected with the processing part.

Furthermore, the processing part is arranged in the fixing part and comprises a circuit board and a signal receiving and sending unit, the signal receiving and sending unit is electrically connected with the detection part, and the circuit board is used for calculating and storing information.

Further, the positioning apparatus further includes: and the prompting part is used for sending out prompting information after the moving part moves to the target position.

Further, the prompting part is electrically connected with the processing part, and the prompting part judges whether the moving part moves to the target position according to the calculation result of the processing part.

Further, the prompting part comprises at least one of the following components: a laser pointer provided on the moving part; the vibration motor is arranged on the connecting rod mechanism; and the sound alarm is arranged on the connecting rod mechanism.

Use the technical scheme of the utility model, a positioning instrument is provided, be provided with the fixed part in positioning instrument, the removal portion, link mechanism, detection portion and processing part, when using, set up the fixed part in preset position, can drive the removal portion through link mechanism and remove, detection portion can detect fixed part and link mechanism's relative position, position change information such as removal portion and link mechanism's relative position, the processing part can receive the detection information of detection portion, then can reach the position of removal portion relative fixed part through the calculation of processing part, also know the position of removal portion, and whether the processing part can judge the removal portion according to the positional information of the removal portion that calculates and reachs anticipated target location.

The acetabulum positioning device is particularly applied to hip joint surgery, the fixing part can be fixed at a preset position of a human skeleton, then the moving part is moved in a target area, after the moving part is moved to the position of an acetabulum, the processing part can judge that the moving part has moved to the accurate acetabulum position, and a doctor installs an acetabulum prosthesis according to the positioning result of the positioning instrument. The technical scheme can realize accurate positioning of the acetabulum position, can be used for auxiliary operation in hip joint surgery, and can be used for operation by doctors after accurate positioning. According to the scheme, the accuracy of acetabulum position positioning can be improved, a doctor is prevented from operating by experience, and the difference of different patients can be met, so that the operation efficiency and the operation quality can be improved, the overhaul is avoided, the pain and the economic burden of the patient are relieved, and the cost of a medical institution is reduced.

Drawings

The accompanying drawings, which form a part of the present application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic structural diagram of a positioning apparatus according to an embodiment of the present invention;

fig. 2 shows a schematic view of the positioning tool of fig. 1.

Wherein the figures include the following reference numerals:

10. a fixed part; 20. a moving part; 30. a link mechanism; 31. a first rod body; 32. a second rod body; 33. a locking portion.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

As shown in fig. 1 to 2, an embodiment of the present invention provides a positioning apparatus, including: a fixing portion 10, the fixing portion 10 being configured to be disposed at a predetermined position; a moving part 20, the moving part 20 being movably provided; one end of the link mechanism 30 is movably connected with the fixed part 10, and the other end of the link mechanism 30 is movably connected with the moving part 20; a detection unit capable of detecting the relative position of the fixed unit 10 and the link mechanism 30 and the relative position of the moving unit 20 and the link mechanism 30; and a processing unit electrically connected to the detection unit, for receiving the detection information of the detection unit, calculating the position information of the mobile unit 20 relative to the fixed unit 10, and determining whether the mobile unit 20 reaches the target position according to the calculated position information of the mobile unit 20.

When the positioning apparatus is used, the fixed portion 10 is arranged at a predetermined position, the moving portion 30 can be driven to move by the link mechanism 30, the detecting portion can detect position change information such as a relative position between the fixed portion 10 and the link mechanism 30, a relative position between the moving portion 20 and the link mechanism 30, and the like, the processing portion can receive the detection information of the detecting portion, then the position of the moving portion 20 relative to the fixed portion 10 can be obtained through calculation of the processing portion, that is, the position of the moving portion 20 is known, and the processing portion can judge whether the moving portion 20 reaches an expected target position according to the calculated position information of the moving portion 20.

The method is particularly applied to hip joint surgery, the fixing part 10 can be fixed at a preset position of a human skeleton, then the moving part 20 is moved in a target area, after the moving part 20 is moved to the position of the acetabulum, the processing part can judge that the accurate acetabulum position is moved, and a doctor installs the acetabulum prosthesis according to the positioning result of the positioning instrument. The technical scheme can realize accurate positioning of the acetabulum position, can be used for auxiliary operation in hip joint surgery, and can be used for operation by doctors after accurate positioning. According to the scheme, the accuracy of acetabulum position positioning can be improved, a doctor is prevented from operating by experience, and the difference of different patients can be met, so that the operation efficiency and the operation quality can be improved, the overhaul is avoided, the pain and the economic burden of the patient are relieved, and the cost of a medical institution is reduced.

In this embodiment, the link mechanism 30 includes a first rod 31 and a second rod 32 movably connected to each other, wherein the first rod 31 is movably connected to the fixed portion 10, the second rod 32 is movably connected to the moving portion 20, and the detecting portion is further capable of detecting a relative position between the first rod 31 and the second rod 32. Since the lengths of the first rod 31 and the second rod 32 are known, the detecting portion can detect the relative positions of the first rod 31 and the second rod 32, the fixed portion 10 and the link mechanism 30, and the movable portion 20 and the link mechanism 30, and after the detected position information is transmitted to the processing portion, the processing portion can calculate the position change of the movable portion 20 relative to the fixed portion 10, so as to accurately know the position of the movable portion 20.

In this embodiment, the first rod 31 is hinged to the second rod 32, the first rod 31 is hinged to the fixed portion 10, and the second rod 32 is hinged to the movable portion 20. By the above manner, the moving range of the moving part 20 in the space can be increased, and the moving part 20 can move flexibly and is convenient to operate.

In the present embodiment, the link mechanism 30 further includes a locking portion 33, and the locking portion 33 has a locking state for fixing the relative displacement of the first rod 31 and the second rod 32 and an opening state for enabling the first rod 31 and the second rod 32 to move relatively. In the process of moving the moving part 20 to find the target position, the locking part 33 is in the open state, so that the first rod 31 and the second rod 32 can move relatively, and after the moving part 20 reaches the target position, the locking part 33 is adjusted to the locking state, so that the relative displacement of the first rod 31 and the second rod 32 is fixed, and the moving part 20 is conveniently stopped at the target position for subsequent operation. Specifically, the locking portion 33 may be configured as a knob, and is connected to the first rod 31 and the second rod 32 by a threaded connection, and the knob is rotated to press the first rod 31 and the second rod 32, so that the first rod 31 and the second rod 32 cannot move relatively under the action of friction force.

Further, the length of the first stick 31 may be set to be adjustable, and/or the length of the second stick 32 may be set to be adjustable. Therefore, the length of the first rod body 31 or the second rod body 32 can be adjusted when needed, so that the moving range of the moving part 20 is enlarged, and the applicability of the positioning instrument is improved. Of course, after adjusting the length of the first rod 31 or the second rod 32, the adjusted size needs to be fed back to the processing unit to adjust the calculation parameters.

In this embodiment, the detection section includes: the first sensor is arranged at the joint of the first rod body 31 and the fixing part 10 so as to detect the relative angle of the first rod body 31 and the fixing part 10, and the first sensor is electrically connected with the processing part; a second sensor disposed at a connection of the second rod 32 and the moving part 20 to detect a relative angle of the second rod 32 and the moving part 20, the second sensor being electrically connected to the processing part; and the third sensor is arranged at the joint of the first rod body 31 and the second rod body 32 so as to detect the relative angle between the first rod body 31 and the second rod body 32, and is electrically connected with the processing part. Therefore, the position change of the first rod 31 and the fixed portion 10 can be obtained through the first sensor, the position change of the second rod 32 and the moving portion 20 can be obtained through the second sensor, and the position change of the first rod 31 and the second rod 32 can be obtained through the third sensor, so that the position of the moving portion 20 can be further calculated.

In this embodiment, the processing unit is disposed in the fixing unit 10, and includes a circuit board and a signal receiving and transmitting unit, the signal receiving and transmitting unit is electrically connected to the detecting unit, and the circuit board is used for calculating and storing information. The signal receiving and sending unit is used for receiving or sending information, and the circuit board can calculate and store the information, specifically, the circuit board can calculate and store the position information of the moving part 20, the lengths of the first rod body 31 and the second rod body 32, and the like.

For the convenience of operation, the locator still includes: a presentation unit for sending a presentation message after the moving unit 20 has moved to the target position. The prompting part can prompt the operator that the moving part 20 moves to the target position in time, for example, prompt the doctor that the moving part 20 moves to the accurate position of the acetabulum in time, so as to facilitate subsequent operation.

Further, the presentation unit is electrically connected to the processing unit, and determines whether or not the moving unit 20 has moved to the target position based on the calculation result of the processing unit. The target position is calculated in advance and stored in the processing unit, and the processing unit determines whether the moving unit 20 has reached the target position by comparing the real-time position of the moving unit 20 with the target position.

In this embodiment, the prompting portion includes at least one of: a laser pointer provided on the moving part 20; a vibration motor provided on the link mechanism 30; and the sound alarm is arranged on the connecting rod mechanism 30. That is, after the moving unit 20 has moved to the target position, the prompting unit may prompt the operator by emitting a colored light, sound, or vibration.

To facilitate understanding of the present solution, a hip surgery assistance procedure is specifically described below:

1. CT or MRI image data before a patient operation is extracted, and a spherical body is used for approximately fitting the acetabulum joint surface.

2. The position which can be used as an origin reference for the communication positioning system is selected according to the exposed position of the acetabulum operation, and the iliac spine is taken as an example, namely, the iliac spine is taken as a space coordinate (0, 0, 0) point, namely a preset position, in the positioning process.

3. And (3) reconstructing a three-dimensional femoral model or directly measuring three-dimensional coordinates in reconstruction software, and measuring the space coordinates (a, b and c) of the spherical center of the spherical ball of the acetabulum position fitting articular surface by taking the origin coordinates specified in the step 2 as a starting point. If the condition of the affected side is complex, the position of the fitting sphere cannot be accurately selected, the healthy side can be used for measurement, and then mirror symmetry is carried out, so that the consistency of the affected side and the healthy side is ensured.

4. And (4) importing the measured data into a positioning system, and inputting the length of each spatial connecting rod in the system. Then, the system can calculate the shape of the connecting rod from the coordinate origin (0, 0, 0) to the target point (a, b, c) according to the space coordinate change formula and the length of the rod body and the space angle between the rod bodies, wherein the target point is also the target position.

5. The acetabular location is exposed according to a preoperative plan.

6. Fixing the fixing part at the coordinate origin (0, 0, 0) planned before the operation, loosening the hinge fixing knob and moving the link mechanism.

7. When the moving part reaches the preoperative planning target point (a, b, c), the laser pointer of the moving part is prompted by changing the laser color or a linear vibration motor built in the system.

8. The axial direction of the moving part is the polar axis direction of the planned acetabulum cup, the position of the moving part is kept unchanged, and the tail end position of the moving part is moved to complete the angular positioning of the acetabulum cup with the abduction angle of 45 degrees +/-5 degrees and the anteversion angle of 10 degrees +/-3 degrees.

Through the operation, the accurate acetabulum position is obtained by the doctor, and then the accurate installation of the acetabulum cup implant can be carried out.

The utility model can solve the problem of the hip joint position location in hip joint replacement, especially complex hip joint replacement or revision. The utility model provides a scheme to carry out the data that three-dimensional reconstruction measurement obtained to patient's individual pelvis and as the basis, adopt space link mechanism, carry out the accurate positioning of acetabular bone position. By using the scheme, the using amount of surgical instruments can be effectively reduced, the acetabulum position of a patient can be positioned simply and conveniently, and a doctor can implant an acetabulum prosthesis or reconstruct an acetabulum structure conveniently. Can realize more accurate positioning and accord with the physiological characteristics of patients. Can effectively reduce the joint pain caused by improper installation of the prosthesis after operation and the complications of sterile loosening, failure and the like of the prosthesis.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A positioning apparatus, comprising:

a fixing portion (10), the fixing portion (10) being configured to be disposed at a predetermined position;

a moving section (20), the moving section (20) being movably provided;

one end of the connecting rod mechanism (30) is movably connected with the fixed part (10), and the other end of the connecting rod mechanism (30) is movably connected with the moving part (20);

a detection unit capable of detecting the relative position of the fixed unit (10) and the link mechanism (30) and the relative position of the movable unit (20) and the link mechanism (30);

and a processing unit electrically connected to the detection unit, the processing unit receiving detection information from the detection unit, calculating positional information of the mobile unit (20) with respect to the fixed unit (10), and determining whether the mobile unit (20) has reached a target position based on the calculated positional information of the mobile unit (20).

2. A positioning instrument according to claim 1, characterized in that the linkage mechanism (30) comprises a first rod (31) and a second rod (32) being movably connected, wherein the first rod (31) is movably connected to the stationary part (10) and the second rod (32) is movably connected to the moving part (20), and wherein the detection part is further capable of detecting the relative position of the first rod (31) and the second rod (32).

3. A positioning instrument according to claim 2, characterized in that the first rod (31) is hinged to the second rod (32), the first rod (31) being ball-hinged to the fixed part (10), the second rod (32) being ball-hinged to the moving part (20).

4. A positioning instrument according to claim 2, characterized in that the link mechanism (30) further comprises a locking part (33), the locking part (33) having a locked state fixing the relative displacement of the first rod (31) and the second rod (32) and an unlocked state enabling the relative displacement of the first rod (31) and the second rod (32).

5. A positioning tool according to claim 2, characterized in that the length of the first shaft (31) is adjustable and/or the length of the second shaft (32) is adjustable.

6. The positioning apparatus according to claim 2, wherein the detection section includes:

the first sensor is arranged at the joint of the first rod body (31) and the fixing part (10) so as to detect the relative angle of the first rod body (31) and the fixing part (10), and the first sensor is electrically connected with the processing part;

a second sensor provided at a connection of the second rod (32) and the moving part (20) to detect a relative angle of the second rod (32) and the moving part (20), the second sensor being electrically connected to the processing part;

the third sensor is arranged at the joint of the first rod body (31) and the second rod body (32) so as to detect the relative angle of the first rod body (31) and the second rod body (32), and the third sensor is electrically connected with the processing part.

7. A positioning tool according to claim 1, characterized in that the processing unit is arranged in the stationary part (10), the processing unit comprising a circuit board and a signal receiving and transmitting unit, the signal receiving and transmitting unit being electrically connected to the detection unit, the circuit board being adapted to calculate and store information.

8. The positioning tool according to claim 1, further comprising:

a prompting part for sending out a prompting message after the moving part (20) moves to the target position.

9. The positioning apparatus according to claim 8, wherein the presentation unit is electrically connected to the processing unit, and the presentation unit determines whether or not the moving unit (20) has moved to the target position based on the calculation result of the processing unit.

10. The positioning apparatus according to claim 8, wherein the presentation part includes at least one of:

a laser pointer provided on the moving section (20);

a vibration motor provided on the link mechanism (30);

and the sound alarm is arranged on the connecting rod mechanism (30).