TWI671763B - An augmented reality instrument for accurately positioning pedical screw in minimally invasive spine surgery - Google Patents

Abstract

An augmented reality device for minimally invasive positioning of a pedicle screw, comprising a two-eyepiece unit, two photographing units and a control unit, characterized in that the control unit receives a spine bone provided with at least two positioning rods Scan the image data, and then send it to the binocular unit to generate a 3D augmented reality image containing at least one of the two positioning marks, and the control unit provides a tracking and positioning function through the two photographing units so that The at least two positioning marks of the 3D augmented reality image can keep overlapping with the at least two positioning rods, and a surgical operator can use at least one guide track provided by the 3D augmented reality image to At least one metal nail is inserted into the vertebra, and then at least one pedicle screw is locked into the vertebra via the guide of the at least one metal nail.

Description

Augmented reality device for minimally invasive positioning of pedicle screws

The invention relates to an auxiliary device for pedicle fixation surgery, in particular to an augmented reality device for minimally invasive positioning of pedicle screws.

Pedicle fixation is mainly used in the treatment of spinal degenerative diseases such as spinal stenosis, vertebral body fractures or deformities. In traditional orthopaedic surgery, the pedicle screw implantation depends on the experience of the surgeon to determine the implantation position and angle, so it is easy to cause deviation or inaccurate positioning, and the pedicle screw may drill out of the pedicle. Extra roots damage important blood vessels and nerve tissues around the spine, causing serious complications. Repeatedly adjusting the implantation position and angle will also prolong the operation time, and even cause bone damage and affect the fixation effect. In addition, during the traditional spinal nail implantation procedure, patients need to be irradiated with X-rays during the operation, so patients and medical staff may be exposed to radiation. In order to avoid this risk, hospitals have to pay high costs for navigation and intraoperative imaging equipment.

In order to improve the above-mentioned lack of pedicle screw implantation based on the experience of the operator, a technical solution concerning the pedicle screw locator has been proposed. For example, Chinese patent CN2776329Y "Minimally invasive pedicle screw locator" has the characteristics It consists of: an "H" -shaped bracket is formed by a telescopic crossbar between the two sleeves through a fixed block hinge, a small sleeve is fixed in the vertical direction of the middle of the crossbar, and a spinous process is fixed inside the small sleeve. A needle with a tapping sleeve inside two cannulas. Scales are provided at both ends of the crossbar inward, and scales are sequentially arranged on the tapping tap and the fixed needle along the tip. However, the conventional technical solution still cannot avoid the problem of artificial positioning errors.

In order to solve the aforementioned problem that the pedicle screw locator still cannot avoid human positioning errors, and to avoid the purchase of high-value navigation and intraoperative imaging equipment, a new pedicle screw minimally invasive positioning device is urgently needed in the art.

One object of the present invention is to disclose an augmented reality device for minimally invasive positioning of pedicle screws, which can provide high-precision positioning operations, thereby producing a good fixing effect.

Another object of the present invention is to disclose an augmented reality device for minimally invasive positioning of pedicle screws, which can provide highly accurate positioning operations to reduce surgical incisions in a minimally invasive manner and avoid damage to important blood vessels around the spine. And nervous tissue.

Yet another object of the present invention is to disclose an augmented reality device for minimally invasive positioning of a pedicle screw, which can provide an accurate pedicle screw implantation path so that an operator can avoid the pedicle screw implantation angle, Orientation adjustment action, which shortens the operation time.

To achieve the foregoing object, an augmented reality device for minimally invasive positioning of a pedicle screw has been proposed, which has a binocular unit, two photographing units, and a control unit, wherein the binocular unit has a 3D display function The control unit has an image interface and a communication interface, the image interface is coupled with the two photographing units and the two eyepiece units, and the communication interface is used for wired or wireless communication with an information processing device. Coupling, which is characterized by:

The control unit receives three-dimensional scanning image data of a spine of a patient provided with at least two positioning rods through the communication interface, and then transmits the three-dimensional scanning image data to the binocular unit through the image interface. Generate a 3D augmented reality image containing one of at least two positioning marks, and the control unit provides a tracking positioning function through the two photographing units, so that the at least two positioning marks of the 3D augmented reality image can It keeps overlapping with the at least two positioning rods, and a surgical operator can insert at least one metal nail into the spine by using at least one guide track provided by the 3D augmented reality image, and then make at least one A pedicle screw is locked into the vertebra via the guidance of the at least one metal nail.

In one embodiment, each of the positioning rods has a fixed end to be fixed on the vertebra.

In one embodiment, the metal nail is made of steel or a titanium alloy.

In one embodiment, the three-dimensional scanning image data is X-ray computer tomography image data.

In one embodiment, the control unit includes a microprocessor and a memory.

In order to enable the expensive review committee to further understand the structure, characteristics and purpose of the present invention, the detailed description of the drawings and preferred embodiments are attached as follows.

Please refer to FIG. 1, which is a schematic diagram of a preferred embodiment of an augmented reality device for minimally invasive positioning of a pedicle screw according to the present invention.

As shown in FIG. 1, an augmented reality device 100 for minimally invasive positioning of a pedicle screw includes a two-eyepiece unit 110, two photographing units 120, a control unit (not shown in FIG. 1), and an ear pendant 130. And a head fixing member 140.

The binocular unit 110 has a 3D display function. During operation, the control unit transmits a left-eye image and a right-eye image to a left display unit and a right display unit of the binocular unit 110, respectively, so that a surgical operator can see a 3D image.

The two photographing units 120 are used to provide a tracking and positioning function, and the two ear hangers 130 and the head fixing member 140 are used to fix the augmented reality device 100 on the head of a surgical operator.

FIG. 2 shows a block diagram of an embodiment of the control unit. As shown in FIG. 2, a control unit 150 has an image interface 151, a communication interface 152, a microprocessor 153, and a memory 154. The processor 153 is coupled to the image interface 151, the communication interface 152, and the memory 154. The image interface 151 is coupled to the two photographing units 120 and the two eyepiece units 110. The communication interface 152 is used to communicate with an information processing device 170. Wired or wireless coupling.

The control unit 150 receives three-dimensional scanning image data of a spine (not shown in FIG. 1) of a patient provided with at least two positioning rods (not shown in FIG. 1) through the communication interface 152, and then converts the described The stereoscopic scanning image data is transmitted to the eyepiece unit 110 through the image interface 151 to generate a 3D augmented reality image containing at least one of the two positioning marks, and the control unit 150 provides the tracking and positioning function through the photographing screen of the two photographing units 120 So that the at least two positioning marks of the 3D augmented reality image can keep overlapping with the at least two positioning rods, and a surgical operator can use at least one guide provided by the 3D augmented reality image Track (not shown in FIG. 1), insert at least one metal nail (not shown in FIG. 1) into the spine, and then pass at least one pedicle screw (not shown in FIG. 1) through the at least one A metal nail is guided into the spine.

Please refer to FIG. 3, which illustrates a schematic view of two positioning rods arranged on a spine of a patient. As shown in FIG. 3, each of the two positioning rods 200 has a fixed end 210 for fixing to a spine 400 of a patient.

Please refer to FIG. 4, which is a surgical operator inserting four metal nails 300 into two according to two guide tracks 301 indicated by an augmented reality image after superimposing six positioning marks 200 a and two positioning rods 200. Schematic view of the spine 400.

Please refer to FIG. 5, which is a schematic diagram of a surgical operator locking two pedicle screws 310 into the spine 400 under the guidance of two metal nails 300.

Please refer to FIG. 6, which is a schematic diagram of a surgical operator removing two metal nails 300 after locking two pedicle screws 310 into a spine 400.

In addition, the three-dimensional scanning image data may be X-ray computer tomography image data.

In addition, the metal nail 300 may be made of steel or a titanium alloy.

With the design disclosed above, the present invention has the following advantages:

1. The augmented reality device for minimally invasive positioning of the pedicle screw of the present invention can provide high-precision positioning operations, thereby producing a good fixing effect.

2. The augmented reality device for minimally invasive positioning of the pedicle screw of the present invention can provide a highly accurate positioning operation to reduce the surgical incision in a minimally invasive manner and avoid damage to important blood vessels and nerve tissues around the spine.

3. The augmented reality device for minimally invasive positioning of the pedicle screw of the present invention can provide an accurate pedicle screw implantation path so that the operator can avoid the adjustment of the pedicle screw implantation angle and orientation, thereby Reduce surgery time.

What is disclosed in this case is a preferred embodiment. For example, those who have partial changes or modifications that are derived from the technical ideas of this case and are easily inferred by those skilled in the art, do not depart from the scope of patent rights in this case.

To sum up, regardless of the purpose, method and effect, this case is showing its technical characteristics that are quite different from the conventional ones, and its first invention is practical, and it is also in line with the patent requirements of the invention. Granting patents at an early date will benefit society and feel good.

100‧‧‧ Augmented reality device for minimally invasive positioning of pedicle screws

110‧‧‧eyepiece unit

120‧‧‧Photography Unit

130‧‧‧Earrings

140‧‧‧Head Fixing

150‧‧‧control unit

151‧‧‧Image interface

152‧‧‧Communication interface

153‧‧‧Microprocessor

154‧‧‧Memory

170‧‧‧ Information Processing Device

200‧‧‧Positioning lever

200a‧‧‧ positioning mark

210‧‧‧Fixed end

300‧‧‧Metal nails

301‧‧‧Guide

310‧‧‧Pedicle Screw

400‧‧‧Spine

FIG. 1 is a schematic view of a preferred embodiment of an augmented reality device for minimally invasive positioning of a pedicle screw according to the present invention. FIG. 2 shows a block diagram of an embodiment of a control unit of an augmented reality device for minimally invasive positioning of a pedicle screw of FIG. 1. FIG. 3 shows two positioning rods used in the present invention provided in a patient. Schematic drawing of a spine. FIG. 4 is a schematic diagram of a surgical operator inserting four metal nails into two vertebrae according to two guiding trajectories indicated by an augmented reality image after the six positioning marks and two positioning rods used in the present invention are overlapped. . FIG. 5 is a schematic diagram of a surgical operator locking two pedicle screws into a spine under the guidance of two metal nails provided by the present invention. FIG. 6 is a schematic diagram of a surgical operator removing two metal nails after locking two pedicle screws used in the present invention into a vertebra.

Claims (5)

An augmented reality device for minimally invasive positioning of a pedicle screw, comprising a two-eyepiece unit, two photographing units and a control unit, wherein the two-eyepiece unit has a 3D display function, and the control unit has an image interface And a communication interface, the image interface is coupled with the two photographing units and the binocular unit, and the communication interface is used for coupling with an information processing device in a wired or wireless manner, and is characterized by: The control unit receives three-dimensional scanning image data of a spine of a patient provided with at least two positioning rods through the communication interface, and then transmits the three-dimensional scanning image data to the binocular unit through the image interface to generate A 3D augmented reality image containing one of at least two positioning marks, and the control unit provides a tracking positioning function through the two photographing units, so that the at least two positioning marks of the 3D augmented reality image can be combined with The at least two positioning rods remain overlapped, and a surgical operator can use the at least one guiding trajectory provided by the 3D augmented reality image to at least one gold A metal nail is inserted into the vertebra, and then at least one pedicle screw is locked into the vertebra through the guide of the at least one metal nail. The augmented reality device for minimally invasive positioning of the pedicle screw according to item 1 of the scope of the patent application, wherein each of the positioning rods has a fixed end to be fixed on the vertebra. The augmented reality device for minimally invasive positioning of the pedicle screw according to item 1 of the scope of the patent application, wherein the metal nail is made of steel or a titanium alloy. The augmented reality device for minimally invasive positioning of the pedicle screw according to item 1 of the scope of the patent application, wherein the stereoscopic image data is X-ray computerized tomography image data. The augmented reality device for minimally invasive positioning of the pedicle screw according to item 1 of the patent application scope, wherein the control unit includes a microprocessor and a memory.