CN212630809U - Knee joint ligament rebuilds intelligent control system - Google Patents
Knee joint ligament rebuilds intelligent control system Download PDFInfo
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- CN212630809U CN212630809U CN202021891856.XU CN202021891856U CN212630809U CN 212630809 U CN212630809 U CN 212630809U CN 202021891856 U CN202021891856 U CN 202021891856U CN 212630809 U CN212630809 U CN 212630809U
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Abstract
The embodiment of the utility model discloses an intelligent control system for rebuilding knee joint ligament, which is an arthroscopic surgery system and is used for observing the internal structure of a joint to be operated and monitoring the rebuilding surgery process of anterior cruciate ligament in real time; the sampling point modeling system is connected with the arthroscopic surgery system, positions the tunnel according to the internal structure of the joint to be operated and constructs a tunnel space path model; arm positioning system, with adopt a modeling system to be connected, according to tunnel space route model, carry out physics assistance-localization real-time to the tunnel, rebuild the operation for anterior cruciate ligament and provide the direction, the utility model discloses an arthroscope operation system observes joint inner structure to the whole process of operation is observed to the accuracy, through adopting a modeling system, and founds tunnel space route model, simulates out the tunnel route, and then through arm positioning system assistance art person with the guide pin once only establish shin bone tunnel and femoral tunnel, reduce the operation degree of difficulty, improve operation quality and efficiency.
Description
Technical Field
The utility model relates to an auxiliary medical treatment operation field especially relates to an intelligent control system is rebuild to knee joint ligament.
Background
The knee joint is one of the most complex joints of the human body, the ligament injury of the knee joint is a common disease of sports medicine, and the fractured ligament is timely reconstructed in order to avoid the adverse consequences that the knee joint instability is further developed into osteoarthritis and the like. Knee ligament reconstruction typically involves diagnostic arthroscopy, cutting to prepare ligament grafts, establishing bone tunnels with access to ligament anatomical attachment points, implantation and fixation of the grafts, where establishing bone tunnels for fixation of the reconstructed ligament is a major and difficult point of surgery. Taking the most common anterior cruciate ligament reconstruction operation as an example, theoretically, a straight line can be determined according to two attachment points of the anterior cruciate ligament on the femur and the tibia, and both ends of the straight line run in the bone; however, the approach of achieving the anatomical fixation point of the femoral tunnel through the tibial tunnel is extremely demanding on spatial localization of the operator and is not easily accomplished by inexperienced operators. The existing surgical navigation system can visualize the positioning process of the footprint area, assist a surgeon to adjust to a proper locator hook end position and guide pin angle, but the overall precision is still to be improved. With the research, development and application of the robot navigation operation technology in recent years, the mechanical arm auxiliary positioning is expected to become a reliable guarantee for accurately establishing a femoral tunnel through a tibial tunnel, and is beneficial to eliminating technical barriers. Similarly, in other knee joint ligament reconstruction operations, the navigation system and the mechanical arm space positioning are combined, so that the operation difficulty can be reduced, the operation quality and accuracy can be improved, and a new technology can be popularized.
Disclosure of Invention
An object of the utility model is to provide a knee joint ligament rebuilds intelligent control system, solve above technical problem.
The utility model provides a technical problem can adopt following technical scheme to realize:
an intelligent control system for knee joint ligament reconstruction comprises
The arthroscopic surgery system is used for observing the internal structure of the joint to be operated and monitoring the anterior cruciate ligament reconstruction surgery process in real time;
the sampling point modeling system is connected with the arthroscopic surgery system and is used for positioning the position of the tunnel according to the internal structure of the joint to be operated and constructing a tunnel space path model;
and the mechanical arm positioning system is connected with the sampling point modeling system, and is used for physically assisting in positioning the tunnel according to the tunnel space path model and providing guidance for the anterior cruciate ligament reconstruction surgery.
Preferably, the arthroscopic surgical system comprises a hollow rod, a lens, an optical fiber and a camera device are fixed inside the hollow rod, the camera device is connected with a display device, the hollow rod is connected with a power device, and one end of the hollow rod is guided into the joint through the power device.
Preferably, the sampling point modeling system comprises a probe, a tracker and a computer, wherein the probe is connected with the tracker, and the tracker is connected with the computer.
Preferably, the probe is used for collecting a plurality of sampling points under an arthroscope, the tracker transmits the sampling points to the computer, the plurality of sampling points form a sampling point set, the computer constructs a three-dimensional coordinate system and the tunnel space path model according to the sampling point set, and determines the positions of the internal mouths of the tibial tunnel and the femoral tunnel according to a predetermined algorithm.
Preferably, the mechanical arm positioning system comprises a mechanical arm, and a hollow sleeve is arranged at one end of the mechanical arm.
Preferably, the robotic arm is a seven degree of freedom robotic arm.
Preferably, the inner diameter of the hollow sleeve is larger than the inner diameter of the tunnel.
Has the advantages that: the utility model discloses an arthroscopic surgery system observes joint inner structure, and the whole process of accurate observation operation, through adopting some modeling system, the position in the inside tunnel of location joint, and found tunnel space route model, simulate out the tunnel route, and then carry out the physics location to the tunnel route through arm positioning system, thereby provide the direction for the operation, supplementary art person once only establishes shin bone tunnel and thighbone tunnel with the guide pin, with avoid preceding inboard to enter the way and establish the extremely knee of bending of thighbone tunnel, tunnel location is owed accurately, tunnel length is short excessively, the outer lane is low excessively, vulnerable peroneal nerve and amazing ilium shin inferior potential such as restraint, reduce the operation degree of difficulty, improve operation quality and efficiency.
Drawings
FIG. 1 is a structural composition diagram of the knee ligament reconstruction intelligent control system of the present invention;
fig. 2 is a flowchart of the knee joint ligament reconstruction intelligent control method of the present invention.
In the figure: 1-arthroscopic surgical systems; 10-arthroscopy; 2-sampling point modeling system; 20-a probe; 21-a tracker; 22-a computer; 3-a mechanical arm positioning system; 30-a mechanical arm; 31-a hollow sleeve; 4-display device.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be further described with reference to the accompanying drawings and specific embodiments, but the present invention is not limited thereto.
As shown in FIG. 1, the utility model provides an intelligent control system for knee joint ligament reconstruction, which comprises
The arthroscopic surgery system 1 is used for observing the internal structure of the joint to be operated and monitoring the anterior cruciate ligament reconstruction surgery process in real time;
the sampling point modeling system 2 is connected with the arthroscopic surgery system, positions the tunnel according to the internal structure of the joint to be operated and constructs a tunnel space path model;
and the mechanical arm positioning system 3 is connected with the sampling point modeling system, and is used for physically assisting in positioning the tunnel according to the tunnel space path model and providing guidance for the anterior cruciate ligament reconstruction operation.
The utility model has the advantages that:
the utility model discloses an arthroscopic surgery system observes joint inner structure, and the whole process of accurate observation operation, through adopting some modeling system, the position in the inside tunnel of location joint, and found tunnel space route model, simulate out the tunnel route, and then carry out the physics location to the tunnel route through arm positioning system, thereby provide the direction for the operation, supplementary art person once only establishes shin bone tunnel and thighbone tunnel with the guide pin, with avoid preceding inboard to enter the way and establish the extremely knee of bending of thighbone tunnel, tunnel location is owed accurately, tunnel length is short excessively, the outer lane is low excessively, vulnerable peroneal nerve and amazing ilium shin inferior potential such as restraint, reduce the operation degree of difficulty, improve operation quality and efficiency.
As a preferred embodiment of the present invention, the arthroscopic surgical system 1 includes an arthroscope 10 and a display device 4, and the display device 4 is a display screen. The arthroscope 10 comprises a hollow rod, a lens, a light guide fiber and a camera device are fixed inside the hollow rod, the camera device is connected with the display device 4, the hollow rod is connected with a power device, and one end of the hollow rod 10 is guided into the joint through the power device.
The hollow rod is a thin rod with the length of 20 cm and the thickness of 4-5 mm and is used for being inserted into a joint cavity, a group of optical fibers and a group of lenses are contained in the rod, the optical fibers transmit light into the joint, and the lenses transmit images in the joint. Outside the joint, an optical cable connects the optical fiber with a cold light source, so that the cold light source can illuminate the joint; a camera connects the lens to the host and display device 4 to reflect the intra-articular image onto the display device 4. A tiny incision with the thickness of about 0.8mm to 1.0cm is established on the skin, the arthroscope is placed in the joint, and the camera shooting and display equipment is connected behind the arthroscope, so that the intra-articular form and pathological changes can be directly observed.
As a preferred embodiment of the present invention, the sampling point modeling system 2 includes a probe 20, a tracker 21 and a computer 22, the probe 20 is connected to the tracker 21, and the tracker 21 is connected to the computer 22.
As a preferred embodiment of the present invention, the probe 20 is used for collecting a plurality of sampling points under the arthroscope, the tracker 21 transmits the sampling points to the computer 22, the plurality of sampling points constitute a sampling point set, the computer 22 constructs a three-dimensional coordinate system and a tunnel space path model according to the sampling point set, and determines the position of the internal opening of the tibia and the femur tunnel according to a predetermined algorithm.
As a preferred embodiment of the present invention, the mechanical arm positioning system 3 comprises a mechanical arm 30, and a hollow sleeve 31 is disposed at one end of the mechanical arm 30. Additionally, the mechanical arm 30 of the present invention not only can assist in positioning, so that the drill bit and the guide pin can be accurately drilled or guided into the tunnel inner opening for operation; can also perform anesthesia, tourniquet binding, body position placing (bending knee at 90 degrees, placing a baffle on the outer side surface of the proximal segment of the thigh), body surface marking, disinfection and drape, and reconfirming of a diagnostic arthroscope, and is suitable for pre-operation operations such as mechanical arm assisted anterior cruciate ligament reconstruction operation, autograft cutting and preparation and the like.
As a preferred embodiment of the present invention, the robot arm 30 is a seven-degree-of-freedom robot arm. The flexibility ratio is high, can rotate a plurality of angles, makes hollow sleeve 31 aim at the tunnel internal orifice.
As a preferred embodiment of the present invention, the inner diameter of the hollow sleeve 31 is larger than the inner diameter of the tunnel, so that the drill bit and the guide pin can be inserted into the hollow sleeve 31 and drilled into the inner opening of the tunnel for operation.
In addition, according to the above-mentioned knee joint ligament rebuilds intelligent control system, the utility model also provides a knee joint ligament rebuilds intelligent control method, as shown in fig. 2, the operation method includes:
preoperative preparation: the operation indication is determined according to the medical history of the patient, the special physical examination and the MRI image data, the operation mode is confirmed, and particularly, the patient is confirmed to be suitable for the mechanical arm assisted anterior cruciate ligament reconstruction operation.
The mechanical arm is operated in an earlier stage: comprises anesthesia, tourniquet binding, body position placing (90 degrees of knee bending and baffle placing on the outer side surface of the proximal thigh), body surface marking, disinfection and drape, and reconfirmation of diagnostic arthroscope, and is suitable for mechanical arm assisted anterior cruciate ligament reconstruction surgery, autograft cutting and preparation.
S100, collecting a plurality of position points in the sight range of an arthroscope system to form a sampling point set, and establishing a three-dimensional coordinate system according to the sampling point set; according to the calibration prompt of the sampling point modeling system, a rigid probe is used for selecting a point A at the innermost side of the inner meniscus, a point B at the outermost side of the outer meniscus, a point C for inner ankle body surface positioning and a point D for outer ankle body surface positioning under the arthroscope. The three-dimensional coordinate system is established by determining the X coordinate axis from two points A, B and the Z axis (along the long axis of the calf) from the perpendicular AB from the midpoint of the CD.
S200, selecting a plurality of characteristic points in a three-dimensional coordinate system, and establishing a tunnel space path model according to the characteristic points; selecting the left knee or the right knee as a surgical site on the system; selecting an operation mode, wherein the selection of the characteristic points of the single-bundle and double-bundle reconstruction operations of the anterior cruciate ligament has no great difference, and the positions of the inner openings of the corresponding tibial tunnel and the femoral tunnel are slightly different according to different selected operation modes.
S300, positioning the position of the inner opening of the tunnel according to the tunnel space path model;
simulating a positioning diagram: generating an articular surface characteristic point and a tunnel inner opening position effect graph by adopting a point modeling system interface; and generating forward and side view tunnel position effect graphs, and confirming that the effect graphs are basically matched.
S400, positioning the hollow sleeve through a mechanical arm according to the position of the inner opening of the tunnel, so that the inner cavity of the hollow sleeve is aligned to the inner opening of the tunnel;
and S500, establishing a tunnel through a tool according to the guidance of the hollow sleeve.
As a preferred embodiment of the present invention, step S200 includes:
s201, firstly, coarse sampling point modeling is carried out: respectively carrying out multi-point sampling on the femoral and tibial articular surfaces by using a rigid probe; the computer simulates an articular surface effect graph according to the multipoint sampling points; then the computer transmits the joint effect picture to a display device for displaying;
for the course of rough mining modeling, a rigid probe can be used for collecting characteristic points under an arthroscope, and a model after preoperative imaging data three-dimensional reconstruction can be selected for registration.
S202, then carrying out fine sampling point modeling: and performing fine sampling again, collecting a vertex E, a lower reference point F, any point G of the free edge of the lateral meniscus and any point H of the lateral slope of the crest between the medial condyles, and confirming the tunnel internal orifice positions of the tibia and the femur by the computer according to a preset algorithm and the fine sampling points.
For the selection of the feature points, the algorithm can be adjusted according to the habits of different operators, the internal orifice positions of the tibial tunnel and the femoral tunnel can be determined by taking some feature points (including but not limited to the E, F, G, H four points) through the algorithm, or the preset internal orifice positions can be directly calibrated according to the experience of the operators.
The method for positioning the inner openings of the tibial tunnel and the femoral tunnel comprises the following steps: in this embodiment, the internal opening of the tibial tunnel can be determined by the intersection point of the parallel line passing through G and the parallel line passing through H and the parallel line passing through Y (projection on the tibial articular surface); the femoral tunnel portal may be defined 5mm up from point F and 5mm up to point E (projection onto the femoral articular surface).
As a preferred embodiment of the present invention, step S500 includes
S501, aligning the hollow sleeve to the inner opening of the tibial tunnel, inserting a drill into the hollow sleeve, drilling a groove of the outer opening of the tibial tunnel, and inserting a guide pin into the groove of the outer opening of the tibial tunnel to establish the tibial tunnel;
s502, aligning the hollow sleeve to the inner opening of the femoral tunnel, inserting a drill into the hollow sleeve and drilling the groove of the outer opening of the femoral tunnel, and inserting the guide pin into the groove of the outer opening of the femoral tunnel to establish the femoral tunnel.
The mechanical arm positioning step further comprises: s600, after the tunnel direction is confirmed, the mechanical arm is in place according to a preset straight line. In this step, the operator is required to determine at any time that the tunnel position is not shifted. The specific implementation mode is as follows: the surgeon marks the internal mouth positions of the tibial tunnel and the femoral tunnel determined according to the experience of the surgeon by using a rigid probe, and compares whether the internal mouth positions are on a straight line determined by the axis of the hollow sleeve.
S601, if the patient is not satisfied with the calibration result, the above point-taking method can be abandoned and the patient can directly point out the inner openings of the tibial tunnel and the femoral tunnel.
S602, if the operator is satisfied with the calibration result, the operation can be continued: under the condition of knee joint fixation, drilling a tibial tunnel outer opening groove by using a drill bit, and establishing a tibial tunnel by using a guide pin. After the tibial tunnel is established, the requirement of one guide pin for establishing the tibial tunnel and the femoral tunnel at one time is confirmed again, the femoral tunnel is continuously established, and the operation steps assisted by the mechanical arm are completed. For the accurate establishment of the tibial tunnel, after the drill drills out the groove of the outer opening of the tunnel, the guide pin can be drilled in the direction of the mechanical arm positioning, and the existing surgical instrument including various positioners can also be selectively used.
The mechanical arm later operation comprises the following steps: similar to the conventional anterior cruciate ligament reconstruction operation, the method comprises the steps of expanding a tunnel by a drill bit, performing intercondylar foveal arthroplasty, implanting and fixing a graft, performing biological and physical examination after the graft, suturing and binding, performing rehabilitation training and the like.
The above description is only an example of the preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and those skilled in the art should be able to realize the equivalent alternatives and obvious variations of the present invention.
Claims (7)
1. An intelligent control system for knee joint ligament reconstruction is characterized by comprising
The arthroscopic surgery system is used for observing the internal structure of the joint to be operated and monitoring the anterior cruciate ligament reconstruction surgery process in real time;
the sampling point modeling system is connected with the arthroscopic surgery system and is used for positioning the position of the tunnel according to the internal structure of the joint to be operated and constructing a tunnel space path model;
and the mechanical arm positioning system is connected with the sampling point modeling system, and is used for physically assisting in positioning the tunnel according to the tunnel space path model and providing guidance for the anterior cruciate ligament reconstruction surgery.
2. The intelligent control system for knee joint ligament reconstruction according to claim 1, wherein the arthroscopic surgical system comprises a hollow rod, a lens, an optical fiber and a camera device are fixed inside the hollow rod, the camera device is connected with a display device, the hollow rod is connected with a power device, and one end of the hollow rod is guided into the joint through the power device.
3. The intelligent control system for ligament reconstruction of knee joint according to claim 1, wherein the sampling point modeling system comprises a probe, a tracker and a computer, the probe is connected with the tracker, and the tracker is connected with the computer.
4. The intelligent control system for knee joint ligament reconstruction according to claim 3, wherein the probe is used for collecting a plurality of sampling points under an arthroscope, the tracker transmits the sampling points to the computer, the plurality of sampling points form a sampling point set, the computer constructs a three-dimensional coordinate system and the tunnel space path model according to the sampling point set, and determines the position of the internal orifice of the tibial tunnel and the femoral tunnel according to a predetermined algorithm.
5. The intelligent control system for ligament reconstruction of knee joint according to claim 1, wherein the robotic arm positioning system comprises a robotic arm, and a hollow sleeve is disposed at one end of the robotic arm.
6. The intelligent control system for knee ligament reconstruction according to claim 5, wherein the robotic arm is a seven-degree-of-freedom robotic arm.
7. The intelligent knee ligament reconstruction control system of claim 5, wherein the inner diameter of the hollow sleeve is larger than the inner diameter of the tunnel.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022048554A1 (en) * | 2020-09-02 | 2022-03-10 | 上海卓梦医疗科技有限公司 | Posteromedial structure, posterolateral structure, and medial patellofemoral ligament reconstruction positioning system and method |
| WO2022048553A1 (en) * | 2020-09-02 | 2022-03-10 | 上海卓梦医疗科技有限公司 | Tunnel position determination system and method for anterior/posterior cruciate ligament reconstruction |
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2020
- 2020-09-02 CN CN202021891856.XU patent/CN212630809U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022048554A1 (en) * | 2020-09-02 | 2022-03-10 | 上海卓梦医疗科技有限公司 | Posteromedial structure, posterolateral structure, and medial patellofemoral ligament reconstruction positioning system and method |
| WO2022048553A1 (en) * | 2020-09-02 | 2022-03-10 | 上海卓梦医疗科技有限公司 | Tunnel position determination system and method for anterior/posterior cruciate ligament reconstruction |
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Effective date of registration: 20210625 Address after: Room 505, building 9, 1206 Zhangjiang Road, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai 201210 Patentee after: Shanghai zhuoyun Medical Technology Co., Ltd Address before: Room 505, building 9, 1206 Zhangjiang Road, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai 201210 Patentee before: Shanghai zhuoyun Medical Technology Co., Ltd Patentee before: SHANGHAI 6TH PEOPLE'S Hospital |
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