TW201424677A - Instrument navigation method and navigation device thereof - Google Patents

Abstract

The present invention relates to an instrument navigation method and its navigation device. The navigation device comprises an implant, an instrument and an instrument navigation element. The instrument navigation element comprises a memory unit, a positioning unit, a processing unit and a display unit. The instrument navigation method comprises the following steps: using the display unit to display a first parameter data pre-stored in the memory unit; then, using the positioning unit to obtain a first positioning data corresponding to the implant and a second positioning data corresponding to the instrument and transmit them to the processing unit; using the processing unit to carry out computations according to said first parameter data, the first positioning data and the second positioning data; and making the display unit display the second positioning data in correspondence to the first parameter data, so as to reflect the relative relationship between the implant and the instrument in space.

Description

Device navigation method and navigation device thereof

The invention relates to a navigation method and a device thereof, in particular to a device navigation method and a navigation device thereof, which can reflect the relative relationship between the implant and the device in the space to assist the application of the device.

Fracture is a common clinical trauma. In general, orthopedic surgery treats the fracture by first removing the bone at the fracture site by external force, and then fixing the fracture site with a fixator to keep the fracture site in a better healing position and avoid bones. After healing, the sequelae of limb deformation are left behind.
The implant-type fixator for implanting the fracture site to fix the bone is called the bone plate. At present, the lock-type bone plate is the largest. The surgery for inserting the lock-type bone plate into the fracture site is called the initiation reduction. Open reduction (ORIF), in this way, the tissue near the fracture site should be cut along the distribution direction of the locking hole on the bone plate, and the hole should be drilled in the bone corresponding to the locking hole, and then the lock The solid bone nail is locked into the locking hole and the bone to fix the bone plate to the fracture site. The advantage is that it has a good surgical field of view and provides better mechanical stability, but it is easy to cause infection because the first wound is large. Delayed healing and other side effects.
In order to reduce the first wound required for bone plate implantation, the medical community introduced the concept of minimally invasive surgery and developed a minimal invasive stabilization system (LISS) for bone plate implantation. Only the first wound of the bone plate is inserted into the fracture site, and after the bone plate is implanted, the guiding device assembled on the bone plate can be used to guide the position of the surgical instrument corresponding to the locking hole to open the lock on the body surface. The first wound required for the bone nail to allow the drill bit to enter the borehole and guide the bone nail to lock in without the need to extensively incise the tissue, except for the larger range of the first wound for implanting the bone plate. The remaining first wounds only need to be enough to lock the nails. Therefore, compared with the traditional ORIF surgery, the first wound of the LISS operation is small, which can reduce the chance of infection, make the healing faster and the scars are less obvious, and gradually become Mainstream bone plate implantation surgery.
However, due to the softness of the human tissue and the greater elasticity, it is easy to cause the guiding device to deflect and affect the position and angle of the drill bit into the body surface and the bone nail locking into the bone plate. Therefore, it is also clinically developed for orthopedics. The navigation device of the operation uses the positioning device to touch the bone to position and measure the bone, and simulates the three-dimensional image of the bone according to the size of the bone by the computer, and can assist the orthopedics with the solid image captured by the tomography or the general optical lens. The operation is performed, but since the navigation device can only simulate the stereoscopic image of the bone and cannot display the position and angle of the implant after the implant is implanted into the surgical site, it can only be used when implanting the implant into the surgical site. The positional reference cannot guide the surgical instrument to the surgical site of the corresponding implant fixation at the time of fixing the implant. Currently, the navigation device is mostly used for spinal reconstruction or artificial joint replacement surgery, and is rarely found in bone grafting. Into the surgery.
In addition, whether using the ORIF or LISS system for bone plate implantation, before locking the nail, it is necessary to insert the sleeve into the locking hole to guide the drill bit to drill the hole at the correct position and angle, and then The depth of the hole is measured by the depth gauge to determine the size of the bone nail to be used later. Therefore, it is necessary to repeatedly cut the knife, erect the sleeve, drill the hole, measure the size and lock the nail in each of the locking holes, and the procedure is complicated. The required operative time and anesthesia time are prolonged, which increases the risk of surgery executives and surgery.
In view of the above, the present invention provides a device navigation method and a navigation device thereof, which are used to locate the implant and the device to be applied, and display the space in the traditional orthopedic surgery. The relative position of the device is correctly applied to the application site corresponding to the implanted implant: firstly displaying the implant parameter data established first in the device navigation component, and then positioning the implant with the navigation device The device to be applied is displayed according to the implant parameter data and the positioning result, and the calculated relative distance between the implant and the instrument, the relative angle, the operation indication, and the positioning prompt are also reflected to the operator. Application of the guiding device. Since the method provided by the present invention is based on the implant and the device to be applied, it can solve the problem in the prior art that the bone is used as the positioning object and the exact position of the implant and the application site of the implant relative to the implant cannot be known. The problem is that the first wound can be made by the lower knife without the aid of the guiding device in the conventional minimally invasive surgery, and the drill bit is not required to guide the drill bit to ensure the angle of the drill bit into the bone is correct. The step of measuring the depth of the hole by the depth device can be omitted, and the navigation device directly guides, thereby achieving the effects of simplifying the operation steps, improving the operation reliability, reducing the burden on the operator, and reducing the operation risk.

The object of the present invention is to provide a device navigation method for positioning an implant implanted at an application site with an instrument to be applied and displaying the positioning result with the implant parameter data of the prior storage to reflect the implant and the instrument. The relative position in space, assisted device administration.
The object of the present invention is to provide a navigation device, which can be used for a device navigation method, which can obtain positioning data of a corresponding implant and an instrument by using a device navigation component, and display the positioning result with the pre-stored implant parameter data to reflect the planting The relative position of the object and the instrument.
In order to achieve the above object, the present invention provides a device navigation method, which first displays a first parameter data by a display unit, the first parameter data corresponding to the implant and pre-stored in a memory unit; The unit obtains a first positioning data corresponding to one of the implants; and then obtains a second positioning data corresponding to one of the instruments by the positioning unit; finally, the display unit displays the second positioning data relative to the first parameter data Through the implementation of the above steps, the present invention can position and reflect the relative position of an implant used in an application site and an instrument in the space to assist in the application of the device.
In order to achieve the above object, the present invention provides a navigation device comprising an implant, an instrument and a device navigation component, the implant comprising a first positioning data, the device comprising a second positioning data, the navigation The device comprises a memory unit, a positioning unit and a processing unit. The memory unit stores a first parameter data, and the positioning unit can receive or read the first positioning data and the second positioning data. And transmitting the first positioning data and the second positioning data to the processing unit, the processing unit is respectively connected to the memory unit and the positioning unit, and obtains the first parameter data, the first positioning data, and the second positioning data Then, the operation is performed according to the first parameter data, the first positioning data and the second positioning data to generate an operation result, and finally the display unit displays the operation result to reflect the implant and the device in the space. The relative relationship.
In order to achieve the above object, the present invention provides a navigation device including an implant, a positioning member, an instrument, and a device navigation component. The positioning component is disposed on the implant and includes a first positioning material. The second navigation device includes a memory unit, a positioning unit, and a processing unit. The memory unit stores a first parameter data, and the positioning unit can receive or read the first parameter data. a positioning data and the second positioning data, and transmitting the first positioning data and the second positioning data to the processing unit, wherein the processing unit is respectively connected to the memory unit and the positioning unit, and obtains the first parameter data, the first After the positioning data and the second positioning data, the first parameter data, the first positioning data and the second positioning data are operated to generate an operation result, and finally the display unit displays the operation result to reflect the The relative relationship of the implant to the device in space.

In order to provide a better understanding and understanding of the structural features and the achievable effects of the present invention, the preferred embodiments and detailed descriptions are provided as follows:
The device navigation method and the navigation device thereof of the invention are characterized in that the implant implanted at the application site and the device to be applied to the site are used as positioning objects and the pre-stored implant parameter data is used to display the implant and the implant. The relative relationship of the instruments in space overcomes the technical problem that the exact position of the implant cannot be known in the prior art and the position of the device is not adjusted, so that the operator can be guided to adjust the position of the device to assist the application of the device.
Please refer to the first embodiment and the second figure, which are schematic flowcharts and components of the first embodiment of the present invention; as shown in the first figure, the steps of the device navigation method of the present invention include:
Step ST1: displaying a first parameter data of one of the implants pre-stored;
Step ST2: obtaining first positioning data corresponding to one of the implants;
Step ST3: Acquire a second positioning data corresponding to one of the instruments; and Step ST4: Display second positioning data corresponding to one of the first parameter data.
As shown in the second figure, the device navigation method of the present invention utilizes a navigation device and is implemented in an application site 2, the navigation device comprising a device navigation component 1, an implant 3, and an instrument 4; The component 1 includes a memory unit 10, a positioning unit 12, a processing unit 14, and a display unit 16, and is connected to the memory unit 10, the positioning unit 12, and the display unit 16 respectively. The memory unit 10 stores in advance a first parameter data S1 corresponding to the implant 3.
In step ST1, the display unit 16 displays the first parameter data S1 stored in the memory unit 10 in advance; in step ST2, the positioning unit 12 obtains the first positioning data S2 corresponding to the implant 3 and transmits the The first positioning data S2 is sent to the processing unit 14; in step ST3, the positioning unit 12 obtains the second positioning data S3 corresponding to the device 4 and transmits the second positioning data S3 to the processing unit 14, so that the processing unit The second positioning data S3 is obtained, and an operation result R1 is obtained according to the second positioning data S3, the first positioning data S2, and the first parameter information S1. In step ST4, the display unit 16 displays The operation result R1, and the second positioning data S3 is displayed corresponding to the first parameter data S1; that is, the process of implanting the implant 3 into the application site 2 by the operator, and applying the device 4 to the application site 2 The display unit 16 can display the second positioning data S3 corresponding to the first parameter data S1 to reflect the relative position of the instrument 4 and the implant 3 in the space, and assist the operator in finding the application site 2. Apply this 4 of mechanically correct position.
Referring to the first figure, after the processing unit 14 obtains the second positioning data S3 corresponding to the device 4, the processing unit 14 may further display the second positioning data S3 corresponding to the first parameter data S1. Includes one step:
Step ST40: The processing unit calculates a relative position between the implant and the instrument and a relative angle according to the first positioning data and the second positioning data.
The first positioning data S2 includes a first coordinate P1, and the second positioning data S3 includes a second coordinate P2. The first coordinate P1 and the second coordinate P2 can each be a plane coordinate, a space coordinate or a corner coordinate. The operation result R1 calculated by the processing unit 14 according to the first positioning data S2 and the second positioning data S3 includes a relative position S4 and a relative angle S5, and can also be displayed by the display unit 16 to provide an operation. The person serves as a reference for the application of the device 4.
Referring to the first figure, the step ST40 may further include:
Step ST50: The processing unit respectively compares the relative distance with a preset distance and the relative angle with a preset angle, and issues an operation indication;
Step ST60: The processing unit determines that the relative distance meets the preset distance and the relative angle conforms to the preset angle; and Step ST61: the processing unit issues a positioning prompt.
In the foregoing steps ST4 and ST40, when the operator adjusts the device 4 corresponding to the second positioning information S3, the relative position S4 and the relative angle S5 displayed by the display unit 16, the positioning unit 12 can receive the second positioning immediately. Information S3 and positioning the device 4, the processing unit 14 continuously updates the second positioning information S3, and the first positioning information S2 is operated with the first parameter information S1 to calculate the relative distance S4 and the relative Angle S5.
In step ST50, the processing unit 14 may compare the relative distance S4 with a preset distance, and compare the relative angle S5 with a preset angle, and issue an operation indication S8 according to the comparison result. Indicates the distance and direction that the instrument 4 should be moved. The operation indication S8 can be displayed on the display unit 16 to guide the operator to adjust the instrument 4 to an appropriate application position and angle. As described above, step ST50 is also an immediate response. a step of updating the operation indication S8 as the movement of the device 4 is adjusted; in step ST60, when the processing unit 14 determines that the relative distance S4 meets the preset distance and the relative angle S5 conforms to the preset angle, Proceeding to step ST61, the processing unit 14 issues a positioning prompt S6, which can be displayed on the display unit 16 to inform the operator that the device 4 is at the most appropriate application position and angle at this time, and the operator can The device 4 is applied at a position and an angle of the device 4, and if the processing unit 14 does not determine that the relative distance S4 meets the preset distance and the relative angle S5 conforms to the preset angle, The ST50 step, the operator to adjust the instrument to a proper application position 4, carried out up to step ST61.
Please continue to refer to the second figure, the memory unit 10 can further store a second parameter data S7 of the device 4, in step ST40, the processing unit 14 can be based on the second parameter data S7 and the first parameter. The data S1, the first positioning data S2, and the second positioning data S3 jointly calculate the operation result R1, so that the processing unit 14 can better grasp the position or shape of the device 4 in the space, and obtain a more complete device. Navigation effect.
In addition, the device navigation component 1 can further include a voice unit 17 and an auxiliary image unit 18: the voice unit 17 is connected to the processing unit 14, and plays the operation result R1 calculated by the processing unit 14, as a relative distance S4, the relative angle S5, and the operation indication S8, the positioning prompt S6; the auxiliary image unit 18 can capture a third image S9 of the application site 2, the third image S9 can be an optical image or The image display unit 16 can also display the third image S9 to assist the operator in applying the instrument 4.
The implant used in the navigation device of the present invention can be divided into two types, one containing the first positioning data and the other not including the first positioning data, and another positioning member is needed, and the positioning component includes the first a positioning data is disposed on the implant; in addition, the positioning unit obtains the first positioning data and the second positioning data in two ways, and one is actively issued by the implant or the positioning component and the device The first positioning data and the second positioning data are received by the positioning unit. In another manner, the implant or the positioning component and the device do not have the ability to actively send signals, and the positioning unit actively reads The first positioning data and the second positioning data are cross-matched by the differences between the two mechanisms, so that the navigation device of the present invention includes at least the following four implementations.
Please refer to FIG. 3A and FIG. 3B respectively, which are schematic flowcharts and components of the second embodiment of the present invention; as shown in FIG. 3A, the steps of the device navigation method in the embodiment include An embodiment is substantially the same:
Step ST1: displaying a first parameter data of one of the implants pre-stored;
Step ST21: Receive one of the first positioning data issued by the implant;
Step ST31: Receive a second positioning data sent by a device;
Step ST40: The processing unit calculates a relative position between the implant and the instrument and a relative angle according to the first positioning data and the second positioning data;
Step ST50: The processing unit respectively compares the relative distance with a preset distance and the relative angle with a preset angle, and issues an operation indication;
Step ST60: The processing unit determines that the relative distance meets the preset distance and the relative angle conforms to the preset angle; and Step ST61: the processing unit issues a positioning prompt.
As shown in FIG. 3B, in the embodiment, the implant 3 is one of the locking type bone plates, and the first parameter data S1 includes the length, width, height, and the number of locking holes of the bone plate. The position of the locking hole and a first image I1, the instrument 4 is a scalpel, and the second parameter data S7 includes the length, width and height of the scalpel.
In step ST1, the display unit 16 displays the first image I1 included in the first parameter data S1 stored in the memory unit 10, and the first image I1 simulates the appearance of the implant 3.
In step ST21, the implant 3 is implanted into the application site 2 via a first wound 20 by the operator, and the plurality of fasteners 30 are locked by the first wound 20 to fix the implant 3 to the application. At least one bone 22 in the portion 2, the fixing member 30 is a locking plurality of bone nails. In the embodiment, the implant 3 includes the first parameter data S1 and can actively issue the first parameter data S1. The positioning unit 12 receives the first positioning data S2 sent by the implant 3 and transmits the first positioning data S2 to the processing unit 14. The processing unit 14 obtains the first positioning data S2 and the first The parameter data S1 is positioned to calculate and simulate the relative position of the implant 3 and the device 4 in the space when the second positioning data S3 is obtained, wherein the first positioning data S2 includes a first coordinate P1. In this embodiment, the first coordinate P1 is a space coordinate, and can be subdivided into a first X coordinate P1x, a first Y coordinate P1y, and a first Z coordinate P1z, and the implant 3 can simultaneously send the first coordinate. The X coordinate P1x, the first Y coordinate P1y, and the first Z coordinate P1z, the processing unit The position of the implant 3 in the space is obtained via the positioning unit 12.
In step ST31, the operator uses the device 4 at the application site 2. In this embodiment, the device 4 includes the second parameter data S7 and can actively issue the second parameter data S7, and the positioning unit 12 receives the device 4 The second positioning data S3 and the second positioning data S3 are sent to the processing unit 14, the processing unit 14 obtains the second positioning data S3, wherein the second positioning data S3 includes a second coordinate P2, the implementation In the example, the second coordinate P2 is a space coordinate, and can be subdivided into a second X coordinate P2x, a second Y coordinate P2y, and a second Z coordinate P2z, and the device 4 can simultaneously send the second X coordinate P2x, The second Y coordinate P2y and the second Z coordinate P2z enable the processing unit 14 to obtain the location information of the device 4 in the space via the positioning unit 12 for subsequent operations.
In step ST40, the processing unit 14 can calculate the first parameter information S1, the second parameter S7, the first positioning data S2, and the second positioning data S3 to obtain an operation result R1, and the operation result R1 A relative position S4 and a relative angle S5 are included.
In step ST4, the display unit 16 displays the operation result R1, and the operation result R1 includes the relative position S4 and the relative angle S5, and displays the second positioning data S3 with respect to the first parameter data S1. The second positioning data S3 can be changed according to the movement of the device 4. As shown, the second positioning data S3 includes a second image I2, and the second image I2 can simulate the appearance of the device 4, and the second The display position of the image I2 corresponds to the first image I1, and can reflect the relative position of the instrument 4 and the implant 3 in the space. In addition to the change of the image, the second coordinate P2 includes the second X. The values of the coordinates P2x, the second Y coordinate P2y, and the second Z coordinate P2z also vary with the movement of the instrument 4.
The subsequent steps ST50 to ST61 are substantially the same as the first embodiment, and the first parameter information S1 included in the operation result R1 displayed by the operator through the display unit 16 is not described here. Obtaining a relative position of the bone plate and the scalpel with the second positioning information S3 relative to the first parameter information S1 to compare the first image I1 and the second image I2 displayed by the display unit or the operation Instructing S8 to adjust the position of the scalpel, and when reaching a position on one of the body surface 24 of the application site 2 corresponding to one of the locking holes 32 of the bone plate, the display unit 16 can display a positioning prompt issued by the processing unit 14 S6, the operator can lower the body surface 24 under the scalpel at this time to generate a second wound 240 to lock a bone nail into the bone plate.
Please refer to FIG. 4A and FIG. 4B, which are schematic flowcharts and components of the third embodiment of the present invention; as shown in FIG. 4A, the device navigation method includes steps and a second implementation in this embodiment. The example is roughly the same:
Step ST1: displaying a first parameter data of one of the implants pre-stored;
Step ST22: reading one of the first positioning materials of the implant;
Step ST32: reading one of the second positioning data of one of the instruments;
Step ST40: The processing unit calculates a relative position between the implant and the instrument and a relative angle according to the first positioning data and the second positioning data;
Step ST50: The processing unit respectively compares the relative distance with a preset distance and the relative angle with a preset angle, and issues an operation indication;
Step ST60: The processing unit determines that the relative distance meets the preset distance and the relative angle conforms to the preset angle; and Step ST61: the processing unit issues a positioning prompt.
As shown in FIG. 4B, in the embodiment, the implant 3 is a one-piece bone plate, and the first parameter data S1 includes the length, width, height, and number of locking holes of the bone plate. The position of the locking hole and a first image I1, the instrument 4 is a scalpel, and the second parameter data S7 includes the length, width and height of the scalpel. In addition, unlike the second embodiment, in the embodiment, the implant 3 and the device 4 cannot actively send a signal, and the positioning unit 12 actively reads the first positioning data S2 and the second positioning data S3. The positioning unit 12 extends out of two lines, wherein one end of the line includes a probe 120, and the end of the other line is connected to the instrument 4.
Step ST1, as in the second embodiment, after the implanting the bone plate in step ST22, the operator needs to contact the one of the positioning marks 36 printed on the bone plate with the probe 120, so that the positioning device 12 reads the first positioning. The data S2, the first positioning data S2 includes a first coordinate P1, the first coordinate P1 is a space coordinate, and can be subdivided into a first X coordinate P1x, a first Y coordinate P1y, and a first Z coordinate P1z. The positioning unit 12 can simultaneously read the first X coordinate P1x, the first Y coordinate P1y, and the first Z coordinate P1z from the implant 3 when the probe 120 contacts the positioning mark 36, and transmit the first X coordinate P1y and the first Z coordinate P1z. The processing unit 14 is configured to obtain the position of the implant 3 in the space via the positioning unit 12; in step ST32, the positioning unit 12 can read the second positioning data from a line connected to the scalpel. S3, the second positioning data S3 includes a second coordinate P2, which is a space coordinate, and can be subdivided into a second X coordinate P2x, a second Y coordinate P2y, and a second Z coordinate P2z. The positioning unit 12 can simultaneously read the second X coordinate by a wire connected to the instrument 4 P2x, the second Y coordinate P2y, and the second Z coordinate P2z are transmitted to the processing unit 14, and the processing unit 14 obtains the position of the instrument 4 in the space via the positioning unit 12.
The subsequent steps S40 to ST61 are substantially the same as the second embodiment, and the present invention may choose not to make the implant 3 actively transmit the first positioning data S2 or passively read by the positioning unit 12, and All can achieve the effect of device navigation.
As described above, the implant can be divided into two types, one includes the first positioning data, and the other does not include the first positioning data, and another positioning component including the first positioning data is additionally disposed on the Implants, but have the following two implementations.
Please refer to FIG. 5A and FIG. 5B, which are flowcharts and components of the fourth embodiment of the present invention; as shown in FIG. 5A, the steps and the second implementation of the surgical navigation method in this embodiment are included. The example is roughly the same:
Step ST1: displaying a first parameter data of one of the implants pre-stored;
Step ST23: A positioning member is disposed on the implant, and receiving the positioning component to emit one of the first positioning materials;
Step ST31: receiving a second positioning data of one of the surgical instruments;
Step ST40: The processing unit calculates a relative position between the implant and the instrument and a relative angle according to the first positioning data and the second positioning data;
Step ST50: The processing unit respectively compares the relative distance with a preset distance and the relative angle with a preset angle, and issues an operation indication;
Step ST60: The processing unit determines that the relative distance meets the preset distance and the relative angle conforms to the preset angle; and Step ST61: the processing unit issues a positioning prompt.
As shown in FIG. 5B, in the embodiment, the implant 3 is a one-piece bone plate, and the first parameter data S1 includes the length, width, height, and number of locking holes of the bone plate. The position of the locking hole and a first image I1, the instrument 4 is a locking type and has a self-tapping thread. The second parameter data S7 includes the length, width, height or radius and length of the nail. In the embodiment, the navigation device further includes a positioning member 34, which is a locking type and has a self-tapping thread. a nail, and the bone nail includes the first positioning data S2. In the embodiment, the positioning component 34 and the instrument 4 can actively send a signal, and the positioning device 12 can receive the positioning component 34 and the first device Positioning data S2 and the second positioning data S3.
Step ST1 is as in the second embodiment, after the operator inserts the bone plate into the application site 2 in step ST23, the bone nail containing the first positioning data S2 is locked into one of the locking holes 32 of the bone plate and the The bone 22 under the bone plate can simultaneously achieve the effect of adding the positioning member 34 and fixing the implant 3. Since the positioning member 34 includes the first parameter data S1 in the embodiment, the first parameter can be actively issued. The parameter data S1, that is, the positioning unit 12 receives the first positioning data S2 sent by the positioning component 34. The first positioning data S2 includes a first coordinate P1, and the first coordinate P1 is a space coordinate, and can be subdivided into a first X coordinate P1x, a first Y coordinate P1y, and a first Z coordinate P1z, the positioning unit 12 can simultaneously receive the first X coordinate P1x, the first Y coordinate P1y, and the first Z coordinate P1z, and Transfer to the processing unit 14 to make the processing unit 14 indirectly obtain the position of the implant 3 in the space; in step ST32, the positioning unit 12 can receive the second positioning data S3 actively issued by the device 4, the second The positioning data S3 includes a second coordinate P2, and the second coordinate P2 is a The coordinate can be subdivided into a second X coordinate P2x, a second Y coordinate P2y, and a second Z coordinate P2z, and the positioning unit 12 can simultaneously receive the second X coordinate P2x, the second Y coordinate P2y, and the The second Z coordinate P2z is transmitted to the processing unit 14 to cause the processing unit 14 to obtain the position of the instrument 4 in space.
The subsequent steps S40 to ST61 are substantially the same as the second embodiment, and are not described here. In this embodiment, the implant is indirectly positioned through a positioning member, and the positioning and operation of the device are matched. The effect of the navigation of the device is achieved. Through the implementation of the embodiment, the operator can obtain the bone plate and the first positioning information S1 displayed by the display unit 16 and the second positioning information S3 relative to the first parameter information S1. The relative position of the nail is used to adjust the position and angle of the nail according to the first image I1 and the second image I2 or the operation indication S8 displayed by the display unit, when the nail is located at the most suitable for locking the bone When the position and angle of the board are displayed, the display unit 16 can display a positioning prompt S6 issued by the processing unit 14, and the operator can lock the bone nail into the bone plate at the position and angle of the nail at this time. Moreover, the relative distance S4 obtained by the positioning unit 12 when the bone nail is drilled into the bone 22 can be used to know the depth of the locking bone nail, and the operator can be prevented from locking the locking bone nail into the bone. Too deep to destroy the bone twenty two.
Please refer to FIG. 6A and FIG. 6B, which are flowcharts and components of the fifth embodiment of the present invention; as shown in FIG. 6A, the device navigation method includes steps and a third implementation in this embodiment. The example is roughly the same:
Step ST1: displaying a first parameter data of one of the implants pre-stored;
Step ST24: A positioning member is disposed on the implant, and reading one of the first positioning materials of the positioning member;
Step ST32: reading one of the second positioning data of one of the instruments;
Step ST40: The processing unit calculates a relative position between the implant and the instrument and a relative angle according to the first positioning data and the second positioning data;
Step ST50: The processing unit respectively compares the relative distance with a preset distance and the relative angle with a preset angle, and issues an operation indication;
Step ST60: The processing unit determines that the relative distance meets the preset distance and the relative angle conforms to the preset angle; and Step ST61: the processing unit issues a positioning prompt.
As shown in FIG. 5B, in the embodiment, the implant 3 is a one-piece bone plate, and the first parameter data S1 includes the length, width, height, and number of locking holes of the bone plate. The position of the locking hole and a first image I1, the instrument 4 is a locking type and has a self-tapping thread. The second parameter data S7 includes the length, width, height or radius and length of the nail. The navigation device 3 does not include the first positioning data S2. Therefore, the navigation device in the embodiment also needs to include a positioning member 34. The positioning member 34 is a locking type and has a self-tapping thread. a nail, and the bone nail includes the first positioning data S2. In the embodiment, the positioning component 34 and the instrument 4 can actively send a signal, and the positioning device 12 can receive the positioning component 34 and the first device Positioning data S2 and the second positioning data S3.
Step ST1, as in the third embodiment, after the operator implants the bone plate into the application site 2, the bone nail containing the first positioning data S2 is locked into one of the locking holes 32 of the bone plate and the The bone piece 22 under the bone plate can simultaneously achieve the effect of adding the positioning member 34 and fixing the implant 3. The positioning unit 12 can read the first positioning data S2 included in the positioning member 34 through inductive manner. The first positioning data S2 includes a first coordinate P1, and the first coordinate P1 is a space coordinate, and can be subdivided into a first X coordinate P1x, a first Y coordinate P1y, and a first Z coordinate P1z. The positioning unit 12 can simultaneously receive the first X coordinate P1x, the first Y coordinate P1y, and the first Z coordinate P1z, and transmit the same to the processing unit 14, so that the processing unit 14 indirectly obtains the implant 3 in the space. The second positioning data S3 includes a second coordinate P2, which is a space, and the second positioning data S3 is included in the second positioning data S3. Coordinates, which can be subdivided into a second X coordinate P2x and a second Y coordinate P2 And a second Z coordinate P2z, the positioning unit 12 can simultaneously receive the second X coordinate P2x, the second Y coordinate P2y, and the second Z coordinate P2z, and transmit the same to the processing unit 14, so that the processing unit 14 The position of the instrument 4 in the space is obtained.
The subsequent steps S40 to ST61 are substantially the same as the third embodiment, and are not described here. In this embodiment, the implant is indirectly positioned through a positioning member, and the positioning and operation of the device are matched. Achieve the power of device navigation.
In summary, the present invention is a device navigation method and a navigation device thereof, wherein a navigation device is used to locate at least one implant and at least one instrument, and display the relative relationship between the implant and the device in space, and calculate The relative distance between the implant and the instrument is at an opposite angle to make an operation indication or a prompt to assist in the operation of implanting the implant into an application site, thereby achieving a simplified operation step and an lifting operation. Reliability, reduced operator burden, and reduced operational risk.
Therefore, the present invention is a novelty, progressive and available for industrial use. It should be in accordance with the patent application requirements stipulated in the Patent Law of China. It is undoubtedly proposed to create a patent application according to law, and the Prayer Council will grant the patent as soon as possible. prayer.
The above is only the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and the variations, modifications, and modifications of the shapes, structures, features, and spirits described in the claims of the present invention. All should be included in the scope of the patent application of the present invention.

1. . . Navigation device

10. . . Memory unit

12. . . Positioning unit

120. . . Probe

14. . . Processing unit

16. . . Display unit

17. . . Speech unit

18. . . Auxiliary image unit

2. . . Application site

20. . . First wound

twenty two. . . bone

twenty four. . . Body surface

240. . . Second wound

3. . . Implants

30. . . Fastener

32. . . Locking hole

34. . . Positioning member

36. . . Positioning mark

4. . . instrument

11. . . First image

12. . . Second image

P1. . . First standard

P1x. . . First X coordinate

P1y. . . First Y coordinate

P1z. . . First Z coordinate

P2. . . Second coordinate

P2x. . . Second X coordinate

P2y. . . Second Y coordinate

P2z. . . Second Z coordinate

S1. . . First parameter data

S2. . . First location data

S3. . . Second positioning data

S4. . . relative distance

S5. . . Relative angle

S6. . . Positioning prompt

S7. . . Second parameter data

S8. . . Operation instruction

S9. . . Third image

The first figure is a flowchart of an implementation of the first embodiment of the present invention;
The second figure is a schematic view of the components of the first embodiment of the present invention;
Figure 3A is a flow chart showing the implementation of the second embodiment of the present invention;
Figure 3B is a schematic view of the components of the second embodiment of the present invention;
4A is a flowchart of an implementation of a third embodiment of the present invention;
Figure 4B is a schematic view of the components of the third embodiment of the present invention;
Figure 5A is a flow chart showing the implementation of the fourth embodiment of the present invention;
Figure 5B is a schematic view of the components of the fourth embodiment of the present invention;
6A is a flowchart of an implementation of a fifth embodiment of the present invention;
Figure 6B is a schematic view of the components of the fifth embodiment of the present invention.

1. . . Navigation device

10. . . Memory unit

12. . . Positioning unit

14. . . Processing unit

16. . . Display unit

17. . . Speech unit

18. . . Auxiliary image unit

2. . . Application site

3. . . Implants

4. . . instrument

S1. . . First parameter data

S2. . . First location data

S3. . . Second positioning data

S4. . . relative distance

S5. . . Relative angle

S6. . . Positioning prompt

S7. . . Second parameter data

S8. . . Operation instruction

S9. . . Third image

P1. . . First standard

P2. . . Second coordinate

Claims (34)

A device navigation method, the steps of which include:
a display unit displays a first parameter data of one of the implants pre-stored in the memory unit;
A processing unit obtains first positioning data corresponding to one of the implants;
The processing unit obtains a second positioning data corresponding to one of the instruments; and the display unit displays the second positioning data with respect to the first parameter data. The device navigation method of claim 1, wherein the first parameter data comprises a length or a width or a height of the implant. The device navigation method of claim 1, wherein the first parameter data comprises a first image. The device navigation method according to claim 1, wherein the implant is a bone plate, and the first parameter data corresponds to the number of locking holes of the bone plate and the position of the locking hole. The device navigation method of claim 1, wherein the first positioning data comprises a first coordinate, the first coordinate is a plane coordinate or a space coordinate or a corner coordinate. The device navigation method of claim 1, wherein the displaying unit displays the first positioning data together in the step of displaying the second positioning data with respect to the first parameter data. The device navigation method of claim 1, wherein the second positioning data comprises a second coordinate, the second coordinate is a plane coordinate or a space coordinate or a corner coordinate. The device navigation method of claim 1, wherein the second positioning data comprises a second image. The device navigation method according to claim 1, wherein the second positioning data changes as the device moves. The device navigation method of claim 1, wherein the memory unit pre-stores a second parameter data of the device. The device navigation method of claim 10, wherein the second parameter data comprises a length or a width or a height of the device. The device navigation method of claim 10, wherein the displaying unit displays the second parameter data together in the step of displaying the second positioning data with respect to the first parameter data. The device navigation method of claim 1, wherein the processing unit obtains the second positioning data corresponding to the device, and then the display unit displays the second positioning data relative to the first parameter data, further Includes one step:
The processing unit calculates a relative position or a relative spatial position or a relative angle between the implant and the instrument according to the first positioning data and the second positioning data. The device navigation method of claim 13, wherein in the step of displaying the second positioning data with respect to the first parameter data, the display unit displays the relative position or the relative spatial position or The relative angle. The device navigation method of claim 13, further comprising a step:
The processing unit respectively compares the relative distance with a preset distance or the relative angle with a preset angle, and issues an operation indication. The device navigation method of claim 15, wherein the displaying unit displays the operation indication together in the step of displaying the second positioning data with respect to the first parameter data. The device navigation method of claim 15, further comprising a step:
When the processing unit determines that the relative distance meets a preset distance or the relative angle meets a predetermined angle, a positioning prompt is issued. The device navigation method of claim 17, wherein the displaying unit displays the positioning prompt together with the second positioning data in the step of displaying the second positioning data. A navigation device comprising:
An implant comprising a first positioning data;
An apparatus comprising a second positioning material; and an instrument navigation component comprising:
a memory unit storing a first parameter data of the implant;
a positioning unit receives the first positioning data and the second positioning data;
a processing unit is respectively connected to the memory unit and the positioning unit, and obtains the first parameter data, the first positioning data and the second positioning data, and according to the first parameter data, the first positioning data, and the The second positioning data is operated to obtain an operation result, wherein the operation result includes a relative position or a relative spatial position or a relative angle; and a display unit is coupled to the processing unit and displays the operation result. The navigation device of claim 19, wherein the first parameter data comprises a first image, and the second positioning data comprises a second image. The navigation device of claim 19, wherein the memory unit stores a second parameter data of the device, and the processing unit obtains the second parameter data, and according to the first parameter data, the first A positioning data, the second positioning data, and the second parameter data are operated to obtain the operation result. The navigation device of claim 19, further comprising a voice unit, the voice unit being connected to the processing unit and playing a voice according to the operation result. A navigation device comprising:
An implant comprising a first positioning data;
An apparatus comprising a second positioning material; and an instrument navigation component comprising:
a memory unit storing a first parameter data of the implant;
a positioning unit reads the first positioning data and the second positioning data;
a processing unit is respectively connected to the memory unit and the positioning unit, and obtains the first parameter data, the first positioning data and the second positioning data, and according to the first parameter data, the first positioning data, and the The second positioning data is operated to obtain an operation result, wherein the operation result includes a relative position or a relative spatial position or a relative angle; and a display unit is coupled to the processing unit and displays the operation result. The navigation device of claim 23, wherein the first parameter data comprises a first image, and the second positioning data comprises a second image. The navigation device of claim 23, wherein the memory unit stores a second parameter data of the device, and the processing unit obtains the second parameter data, and according to the first parameter data, the first A positioning data, the second positioning data, and the second parameter data are operated to obtain the operation result. The navigation device of claim 23, further comprising a voice unit, the voice unit being connected to the processing unit and playing a voice according to the operation result. A navigation device comprising:
An implant;
a positioning member is disposed on the implant and includes a first positioning data;
An apparatus comprising a second positioning material; and an instrument navigation component comprising:
a memory unit storing a first parameter data of the implant;
a positioning unit receives the first positioning data and the second positioning data;
a processing unit is respectively connected to the memory unit and the positioning unit, and obtains the first parameter data, the first positioning data and the second positioning data, and according to the first parameter data, the first positioning data, and the The second positioning data is operated to obtain an operation result, wherein the operation result includes a relative position or a relative spatial position or a relative angle; and a display unit is coupled to the processing unit and displayed according to the operation result of the processing unit . The navigation device of claim 27, wherein the first parameter data comprises a first image, and the second positioning data comprises a second image. The navigation device of claim 27, wherein the memory unit stores a second parameter data of the device, and the processing unit obtains the second parameter data, and according to the first parameter data, the first A positioning data, the second positioning data, and the second parameter data are operated to obtain the operation result. The navigation device of claim 27, further comprising a voice unit, the voice unit being connected to the processing unit and playing a voice according to the operation result. A navigation device comprising:
An implant;
a positioning member is disposed on the implant and includes a first positioning data;
An apparatus comprising a second positioning material; and an instrument navigation component comprising:
a memory unit storing a first parameter data of the implant;
a positioning unit reads the first positioning data and the second positioning data;
a processing unit is respectively connected to the memory unit and the positioning unit, and obtains the first parameter data, the first positioning data and the second positioning data, and according to the first parameter data, the first positioning data, and the The second positioning data is operated to obtain an operation result, wherein the operation result includes a relative position or a relative spatial position or a relative angle; and a display unit is coupled to the processing unit and displays the operation result. The navigation device of claim 31, wherein the first parameter data comprises a first image, and the second positioning data comprises a second image. The navigation device of claim 31, wherein the memory unit stores a second parameter data of the device, and the processing unit obtains the second parameter data, and according to the first parameter data, the first A positioning data, the second positioning data, and the second parameter data are operated to obtain the operation result. The navigation device of claim 31, further comprising a voice unit, the voice unit being connected to the processing unit and playing a voice according to the operation result.