WO2017213432A1 - Appareil de fixation d'os et système le comprenant - Google Patents

Appareil de fixation d'os et système le comprenant Download PDF

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Publication number
WO2017213432A1
WO2017213432A1 PCT/KR2017/005949 KR2017005949W WO2017213432A1 WO 2017213432 A1 WO2017213432 A1 WO 2017213432A1 KR 2017005949 W KR2017005949 W KR 2017005949W WO 2017213432 A1 WO2017213432 A1 WO 2017213432A1
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WIPO (PCT)
Prior art keywords
drill
nail
scan
information
screw bore
Prior art date
Application number
PCT/KR2017/005949
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English (en)
Korean (ko)
Inventor
황재윤
김준영
김지훈
제민규
최재석
Original Assignee
재단법인대구경북과학기술원
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Publication of WO2017213432A1 publication Critical patent/WO2017213432A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
    • A61B17/60—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like for external osteosynthesis, e.g. distractors, contractors
    • A61B17/64—Devices extending alongside the bones to be positioned
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/1717—Systems in which incident light is modified in accordance with the properties of the material investigated with a modulation of one or more physical properties of the sample during the optical investigation, e.g. electro-reflectance
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3983—Reference marker arrangements for use with image guided surgery
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N2021/178—Methods for obtaining spatial resolution of the property being measured
    • G01N2021/1785—Three dimensional

Definitions

  • embodiments relate to a bone fixation device and a system including the same.
  • the position indicating device can be used in the field requiring precise work. For example, in fields where precise insertion technology is required for narrow holes, even a slight error may not produce the desired effect, and tools inserted in narrow holes may come out again due to close tolerances. This can lead to situations where the equipment becomes unusable and the equipment must be disposed of.
  • the location indicating device may also be used in the medical field.
  • a nail for fixing a fractured bone during a bone fixation operation due to a fracture is used to be attached to a handle.
  • the position of the nail in the bone is determined by X-ray or CT image acquisition using radiation.
  • a radiographic device for image acquisition which means that both the operator and the patient may be exposed to radiation. Therefore, there is a need for an apparatus capable of displaying a location without obtaining a real-time X-RAY image that causes radiation exposure during surgery.
  • Korean Laid-Open Patent Publication No. 10-2016-0010106 discloses a position display device for human surgery.
  • Korean Patent Laid-Open No. 10-2008-0014960 discloses a depth measuring instrument for surgery.
  • An object according to an embodiment is to provide a location display device that can accurately display a desired location in a variety of fields, such as construction, medical, precision equipment using light.
  • An object according to an embodiment is to provide a position display device that can display the position without applying a direct physical force to the object.
  • An object according to one embodiment is to provide a bone fixation device capable of accurately indicating the position without radiographs for the position of the hole in which bone drilling is required.
  • An object according to one embodiment is to provide a bone fixation device that can mark the location without constraints of space or cost.
  • An object according to an embodiment is to provide a bone fixation device and a bone fixation system including the same that can significantly reduce the error in the scanning direction of the drill to be injected into the human body by measuring the posture of the bone marrow and the posture of the drill.
  • An object according to an embodiment is to provide a bone fixation device for providing information to the operator in a form that can be intuitively recognized about the scanning direction of the drill and a bone fixation system comprising the same.
  • a position display apparatus includes a main body, a first arm connected to one side based on an symmetry axis of the main body, a second arm connected to the other side based on an symmetry axis of the main body, and one of the first arms. And a second light irradiator connected to the stage and connected to one end of the second arm and irradiating light.
  • the position display device, the light irradiated from the first light irradiator and the light irradiated from the second light irradiator may meet the intersection.
  • the first light irradiator and the second light irradiator may be rotatable in the longitudinal direction and latitude direction with respect to the center of the first light irradiator and the center of the second light irradiator, respectively.
  • the angle can be adjusted based on the axis of symmetry of the main body.
  • the position display device is interposed between the main body and the first arm, the first arm adjusting member for finely adjusting the rotation angle of the first arm and interposed between the main body and the second arm and And a second arm adjusting member for finely adjusting the rotation angle of the second arm.
  • the angle can be adjusted based on the axis of the longitudinal direction of the first arm, the second light irradiator, the angle adjustment based on the axis of the longitudinal direction of the second arm It may be possible.
  • the main body may include a binding hole disposed therein and a locking guide hole disposed on one side of the main body and the other side opposite to the one side.
  • a bone fixation device for displaying a surgical position may include: a targeting guide having a through bore on one side thereof, a first screw bore connected to the other side of the targeting guide, and aligned with the through bore; And a marker module coupled to the nail having the second screw bore at the rear end and the targeting guide, and displaying the position of the second screw bore.
  • the marker module may include a plurality of light irradiators which are spaced apart from both sides based on the axis of symmetry of the main body and coupled to the targeting guide, the angle adjustable.
  • the intersection may display the scanning insertion point corresponding to the position of the second screw bore.
  • the plurality of light irradiator may irradiate a linear beam.
  • the marker module the main body is coupled to the targeting guide, the arm is rotatably coupled to the main body so as to be able to adjust the angle relative to the axis of symmetry of the main body and the one end of the arm, It may include a laser irradiator for irradiating light toward the second screw bore.
  • the arm may include a tilting member for receiving the laser irradiator, rotatable relative to the longitudinal direction of the arm.
  • the marker module may further include an irradiation control unit for obtaining the shape data of the nail through the three-dimensional scanning, and correcting the motion of the arm and the tilting member based on the shape data of the nail. .
  • a bone fixation system for improving injection accuracy includes a targeting guide, a nail connected to the targeting guide on one side, a nail having a screw bore on the other side, and a drill for injecting a fixing screw into the screw bore. It may include.
  • the targeting guide or the nail may include a bone marrow internal position detection unit for measuring the posture information of the nail.
  • the drill may include a drill posture detection unit for measuring the posture information of the drill.
  • the scanning direction of the drill with respect to the screw bore can be corrected based on the measured posture information of the nail and the measured posture information of the drill.
  • the bone fixation system may further include a scan direction correction unit for converting the scan direction information of the nail to the scan direction information measured so that the scan path of the drill is aligned with the screw bore.
  • the scanning direction corrector may compensate the scanning direction such that the yaw value of the nail posture information and the yaw value of the posture information of the drill are perpendicular to each other.
  • the drill posture detection unit may measure the scanning direction in real time
  • the scanning direction correction unit may be converted to the scan incident angle information based on the scanning direction measured in real time.
  • the bone fixation system may further include a display unit for providing measured posture information of the nail, measured drill posture information, converted scan direction information or converted scan incident angle information.
  • the bone fixation device for improving the scanning accuracy is connected to the targeting guide and the targeting guide on one side, the nail having a screw bore on the other side and the gravity acceleration, angular velocity or magnetic field of the nail It may include an inertial sensor for measuring the posture information.
  • the bone fixing device based on the posture information of the nail measured from the inertial sensor, the processor unit and the processor for converting the scan incidence angle information for the screw bore so that the drill injection path is aligned with the screw bore
  • the apparatus may further include a communication unit configured to transmit the scan incident angle information converted from the unit.
  • the bone fixing device receives the scan incidence angle information from the communication unit, and the received scan incidence angle information in the roll (roll), pitch (pitch), yaw value, the scan induction display or the drill scan direction
  • the display may further include a display.
  • Surgical operation method using a bone fixation system comprising the steps of coupling a location guide device to the bone marrow acuity comprising a targeting guide and a nail connected to one side of the targeting guide and having a screw bore at the distal end, Compensating the intersection of the light irradiated from the plurality of light irradiator to align with the screw bore using a position display device including a plurality of light irradiator, cutting the skin and inserting the nail in the cut And scanning the fixing screw with respect to the position indicated by the intersection where the irradiated light meets.
  • the method may further include correcting the direction of scanning the fixing screw for the screw bore based on the measured posture information of the nail and the measured posture information of the drill.
  • the scanning path of the drill is compensated by compensating the pitch and yaw value of the measured posture information of the roll and yaw, which are the posture information of the nail. Positioning the drill to align with the screw bore and injecting the set screw.
  • the method may further include correcting the position.
  • the location display device may accurately display a desired location in various fields such as construction, medical care, and precision equipment using light.
  • the position display apparatus may display the position without directly applying a physical force to the object.
  • the bone fixation device for surgical position indication can accurately indicate the position without radiographic imaging of the position of the hole requiring drilling in the bone.
  • the bone fixation device for displaying a surgical position may display the position without restriction of space or cost.
  • the bone fixation device and the bone fixation system including the same to improve the injection accuracy can significantly reduce the error in the scanning direction of the drill injected into the human body by measuring the posture of the bone marrow and the posture of the drill. .
  • the bone fixation device and the bone fixation system including the same to improve the injection accuracy may provide the operator with information in a form that can be intuitively recognized about the scanning direction of the drill.
  • FIG. 1 is a perspective view schematically showing a bone fixation device for a surgical position display, including a position display device according to an embodiment.
  • FIG. 2 is a perspective view schematically illustrating a position display device according to an exemplary embodiment.
  • FIG. 3 is an operation diagram schematically illustrating an operation method of a location display apparatus according to an exemplary embodiment.
  • FIG. 4 is a left side view showing a state in which a bone fixation device for displaying a surgical position, including the position display device according to the embodiment of FIG.
  • FIG. 5 is a view illustrating a state and an operation principle of displaying a location by using an intersection line formed by light emitted from a light irradiator of a bone fixing device according to an embodiment.
  • FIG. 6 is a perspective view schematically illustrating a targeting guide and a nail connected to the targeting guide of the bone fixation device according to one embodiment.
  • FIG. 7 is an operation view illustrating a state in which a fixing screw is injected into a screw bore of a nail of a bone fixation device according to one embodiment.
  • FIG. 8 is a block diagram illustrating a state in which a bone marrow internal position sensor, a drill position sensor, a scan direction corrector, and a display unit are connected in a bone fixation system according to an exemplary embodiment.
  • FIG 9 is an operation diagram showing an example of the posture information of the nail or the posture information of the drill shown in the display unit in accordance with the scanning direction of the drill in the bone fixation system according to an embodiment.
  • FIG. 10 is an X-ray diagram illustrating an example of measuring an injection accuracy of a drill using a bone fixation device in a surgical operation method using a bone fixation system according to an embodiment.
  • first, second, A, B, (a), and (b) may be used. These terms are only for distinguishing the components from other components, and the nature, order or order of the components are not limited by the terms. If a component is described as being “connected”, “coupled” or “connected” to another component, that component may be directly connected or connected to that other component, but between components It will be understood that may be “connected”, “coupled” or “connected”.
  • the bone fixation device 1 for surgical position display is a targeting guide 100 having a through bore 110 on one side, the other side of the targeting guide 100
  • the configuration including the targeting guide 100 and the nail 200 connected to the targeting guide 100 may be considered to be an intramedullary nail.
  • the position of the first screw bore 210 may not be generally visible from the outside of the human body.
  • the position of the through bore 110 may be located anywhere of the targeting guide 100, the first screw bore (through the through bore 110 to scan the fixing screw to the first screw bore 210) Since it is common to use a method of injecting the fixing screw into the 210, the scanning path is aligned so that the fixing screw is coupled to the first screw bore 210 through the through bore 110 and the first screw bore 210. Can be.
  • the marker module 300 may be provided with a position display apparatus according to an embodiment capable of irradiating light toward a second screw bore, which will be described later. Hereinafter, the marker module 300 will be described as having a position display device.
  • the marker module 300 may be integrated into the targeting guide 100, but the marker module 300 may be coupled to the targeting guide 100 so as to be detachable.
  • the binding hole 350 may be coupled along the targeting guide 100.
  • the shape of the binding hole 350 may correspond to the shape of the targeting guide 100.
  • the locking guide holes 360a, 360b, 360c, and 360d may be aligned with the through bore 110 of the targeting guide 100, so that the marker module 300 may lock the locking guide holes 360a, 360b, 360c, 360d) and a fixing member (not shown) passing through the through bore 110 may be coupled to the targeting guide 100.
  • the fixing screw may be coupled to the first screw bore 210 before the marker module 300 is coupled to the targeting guide 100, and the correction operation of the marker module 300 to be described later is performed by the first screw bore ( 210 may be made before the fixing screw is engaged.
  • the targeting guide 100 may include a hole (not shown) that may be additionally aligned with the locking guide holes 360a, 360b, 360c, and 360d in addition to the through bore 110, and the hole may be a through bore ( It may be provided adjacent to the through bore 110 so as not to obstruct the scanning path of the fixing screw that can pass through the 110.
  • the fixing screw may be coupled to the first screw bore 210 by penetrating through the through bore 110 and the first screw bore 210 without the need for the correction of the marker module 300.
  • the marker module 300 includes a main body 310, a first arm 320a connected to one side of the main body 310 based on an axis of symmetry XX ′, and the main body 310.
  • a second arm 320b connected to the other side based on the symmetry axis XX 'of the 310, a first light irradiator 330a connected to one end of the first arm 320a, and irradiating light; It may include a second light irradiator 330b connected to one end of the second arm 320b and irradiating light.
  • the main body 310 may be combined with the above-described targeting guide 100.
  • the main body 310 includes a binding hole 350 disposed therein and lock guide holes 360a, 360b, 360c, and 360d disposed on one side of the main body 310 and the other side opposite to the one side. ) May be included.
  • the shape of the binding hole 350 is not generally limited, but the shape of the binding hole 350 may correspond to the shape of the targeting guide 100 in order to firmly couple with the targeting guide 100.
  • the binding hole 350 may be disposed to penetrate the inside of the main body 310.
  • the marker module 300 may be coupled to one side other than one end of the targeting guide 100.
  • the locking guide holes 360a, 360b, 360c, and 360d may be disposed on one side of the main body 310 and the other side opposite to the one side.
  • the number of locking guide holes 360a, 360b, 360c, and 360d is not limited, and it is sufficient that the locking guide holes 360a may be tightly coupled to the targeting guide 110.
  • only one side of the locking guide holes 360a, 360b, 360c, and 360d may be disposed.
  • the locking guide holes 360a, 360b, 360c, and 360d may be aligned with the through bore 110 provided at one side of the targeting guide 100, or the targeting guide 100 may be adjacent to the through bore 110. If there are additional holes (not shown) they may be aligned with the holes.
  • the arm may include a first arm 320a and a second arm 320b, and the first arm 320a may be connected to one side of the main body 310 based on the axis of symmetry XX ′.
  • the second arm 320b may be connected to the other side based on the symmetry axis XX ′ of the main body 310, and the first arm 320a and the second arm 320b may have the symmetry axis of the main body 310 ( XX ') may be spaced apart from each other.
  • the longitudinal direction of the axis of symmetry XX ' is not necessarily a direction perpendicular to the surface provided with the locking guide holes 360a, 360b, 360c, and 360d described above, and is provided with a binding hole 350. It may be in a direction perpendicular to.
  • the first arm 320a and the second arm 320b may be capable of adjusting angles based on the axis of symmetry XX ′ of the main body 310 in order to adjust the position of the light irradiated from the light irradiator to be described later.
  • the first arm 320a and the second arm 320b may be rotatably coupled to the main body 310 to enable angle adjustment.
  • the second arm adjusting member 340b may be interposed between the first arm adjusting member 340a, the main body 310 and the second arm 320b between the main body 310 and the first arm 320a. have.
  • the first arm adjusting member 340a and the second arm adjusting member 340b may be hinge type adjusting members. Specifically, the first arm adjusting member 340a and the second arm adjusting member 340b may be hinged adjusting members disposed on one side of the main body 310, and additionally include an elastic body such as a spring and the first arm. The angle 320a and the second arm 320b may be adjusted based on the axis of symmetry XX ′ of the main body 310.
  • first arm adjusting member 340a and the second arm adjusting member 340b may finely adjust the first arm 320a and the second arm 320b, respectively.
  • first arm adjusting member 340a and the second arm adjusting member 340b may be adjusting members such as scaled scaled clips.
  • first arm adjusting member 340a and the second arm adjusting member 340b may be adjusting members connected to the main body 310 and controlled by a motor (for example, a servo motor) for adjusting an angle. In this case, more precise control of the first arm 320a and the second arm 320b may be possible, and position display may be possible to minimize the error in a field requiring precise work.
  • the light irradiator may include a first light irradiator 330a and a second light irradiator 330b for irradiating light.
  • the first light irradiator 330a and the second light irradiator 330b may be connected to one end of the first arm 320a and one end of the second arm 320b, respectively.
  • the first arm 320a so that the first light irradiator 330a and the second light irradiator 330b may be received at one end of the first arm 320a and one end of the second arm 320b, respectively.
  • One end of the first arm and the second end of the second arm (320b) may be provided with a receiving portion, the shape of the receiving portion so as to be firmly received at one end of the first arm (320a) and one end of the second arm (320b). It may correspond to the shape of the 1st light irradiator 330a and the 2nd light irradiator 330b.
  • first light irradiator 330a and the second light irradiator 330b may be light irradiators capable of adjusting their own angle without adjusting the angle of one end of the first arm 320a and the second arm 320b.
  • first light irradiator 330a and the second light irradiator 330b may be rotatable in the longitudinal direction and the latitude direction based on the center of the first light irradiator and the center of the second light irradiator, respectively.
  • a motor may be connected to the main body 310 and provided with a motor to enable angle adjustment of the first light irradiator 330a and the second light irradiator 330b, and thus, the first light irradiator 330a and the second light irradiator ( 330b may be rotatable in a longitude direction and a latitude direction with respect to each center.
  • the marker module 300 may meet the light emitted from the first light irradiator 330a and the light irradiated from the second light irradiator 330b to form an intersection, as described below. If the intersection is corrected to pass through the second screw bore 220 provided at the end of the nail 200, the intersection even at an angle at which the second screw bore 220 provided at the end of the nail 200 is not visually visible. It can always indicate where the second screw bore 220 is located. As a result, the marker module can accurately display the position without directly applying a physical force to the object.
  • the first light irradiator 330a may be capable of adjusting an angle based on an axis in the longitudinal direction of the first arm 320a
  • the second light irradiator 330b may be formed of a first light irradiator 330b. It may be possible to adjust the angle based on the axis of the longitudinal direction of the two arms (320b).
  • the first arm 320a and the second arm 320b may accommodate the first light irradiator 330a and the second light irradiator 330b, respectively, and the first and second arms 320a may be disposed in the longitudinal direction and the first arm 320a.
  • the tilting members 370a and 370b may each include a receiving part to accommodate the first light irradiator 330a and the second light irradiator 330b, and the receiving part may respectively include the first light irradiator 330a as described above.
  • the second light irradiator 330b may have a shape corresponding to the first light irradiator 330a and the second light irradiator 330b, respectively.
  • the tilting members 370a and 370b may be disposed at one end of the first arm 320a and at one end of the second arm 320b through rotatable connecting members (not shown).
  • the first light irradiator 330a and the second light irradiator 330b may be angle-adjustable based on the axis of symmetry XX 'of the main body 310, and may include the first arm 320a and the second arm. Since the angle may be adjusted based on the longitudinal axis of the arm 320b, a correction operation may be performed to display a desired position.
  • the shape of the nail 200 described above may vary from manufacturer to manufacturer, and even if the manufacturer is the same, it is a field that requires a high degree of precision and cannot always guarantee that the position of the second screw bore 220 is in the same position.
  • the angle of the first light irradiator 330a and the second light irradiator 330b can be adjusted to perform correction for accurately displaying a position before performing the work, thereby reducing the error of the work and achieving precision.
  • the light emitters 330a and 330b may be provided with a laser irradiator. That is, the light irradiators 330a and 330b may display the position of the second screw bore 220 provided at the end of the nail 200 in which the intersection formed by the irradiated laser meets the laser.
  • a laser since it is not affected by ambient light, it can always be corrected before inserting the nail 200 to point to a predetermined position.
  • the light irradiators 330a and 330b may irradiate a linear beam.
  • the term "linear beam” generally refers to light rays traveling in a straight line, but more specifically, refers to light rays forming a plane so that the linear beams meet and cross each other. Referring to FIG. 5, an intersection line YY ′ formed by the linear beams irradiated from the first light irradiator 330a and the second light irradiator 330b meets the center of the cutout portion I.
  • human tissue may be incised such that a set screw may be inserted toward the second screw bore 220 through drilling.
  • the marker module 300 obtains the shape data of the nail 200 through 3D scanning, and based on the shape data of the nail 200, the arms 320a and 320b and the tilting members 370a and 370b. It may further include an irradiation control unit (not shown) for correcting the operation of the.
  • shape data of the nail 200 such as a bent angle or a distorted angle of the nail 200, which may cause a position display error of the bone fixation device 1 may be obtained through 3D scanning.
  • the irradiation adjusting unit controls the motions of the arms 320a and 320b and the tilting members 370a and 370b, that is, the rotation angle, to fit the nail 200. Irradiation angles and positions of the irradiators 330a and 330b can be corrected.
  • a motor (not shown) may be additionally connected to the arms 320a and 320b and the tilting members 370a and 370b, respectively, and the irradiation control unit may be configured to control the motor to provide a light irradiator suitable for the nail 200. The irradiation angles and positions of the 330a and 330b can be corrected.
  • the targeting guide 100 or the nail 200 may further include a bone marrow internal position detecting unit 120 for measuring posture information of the nail.
  • the screw bore may include a first screw bore 210 and a second screw bore 220, but for convenience of description, the screw bore will be described as referring to the second screw bore 220.
  • the bone marrow internal posture detection unit 120 may include an inertial sensor capable of measuring posture information of a nail including gravity acceleration, angular velocity, or a magnetic field.
  • the inertial sensor may be provided with a 9-axis inertial sensor. That is, the bone marrow internal position detection unit 120 may measure gravity acceleration, angular velocity, or magnetic field with respect to three axes of the nail 200.
  • the bone fixation system is a processor that converts the scan incidence angle information for the screw bore 220 so that the drill injection path is aligned with the screw bore 220 based on the nail posture information measured by the intramedullary intraocular posture detection unit 120. It may include a unit (not shown) and a communication unit (not shown) for transmitting the scan incident angle information converted from the processor unit.
  • the processor unit (not shown) and the communication unit (not shown) may be included in a separate device or system, but may also be included in the bone marrow internal position sensor 120.
  • the posture information of the nail measured from the inertial sensor may be transmitted to the processor unit, and the scan incidence angle of the drill 400 to be described below is aligned so that the screw bore 220 and the scan path are aligned based on the transmitted posture information of the nail.
  • the information may be converted into information, and the converted scan incident angle information may be transferred to a display unit 600 or a display (not shown) which will be described later to enable an operator to intuitively recognize the scan path.
  • the bone fixation system may further include a display (not shown).
  • the display may receive scan incident angle information from a communication unit (not shown), and display the received scan incident angle information in a roll, pitch, or yaw value.
  • the display may display scan incidence angle information when the drill path of the drill is correctly aligned with the screw bore.
  • a pitch or yaw value among scan incidence angle information compensated by a roll or yaw value that is nail posture information and posture information of a drill is a target value.
  • the circle may appear at one end of the drill displayed on the display, and the circle may disappear when the value is out of the target value.
  • the bone fixation system is connected to the targeting guide 100, the targeting guide 100 on one side, the nail 200 having a screw bore 220 on the other side and the fixing screw with the screw bore 220 It may include a drill 400 for injection.
  • the targeting guide 100 or the nail 200 may include a bone marrow internal position detecting unit 120 that measures posture information of the nail.
  • the bone marrow internal position detection unit 120 may be attached to one side of the targeting guide 100.
  • the intramedullary intramedullary posture detection unit 120 may include an inertial sensor capable of measuring posture information of a nail including gravity acceleration, angular velocity, or magnetic field.
  • the inertial sensor may be provided with a 9-axis inertial sensor. That is, the bone marrow internal position detection unit 120 may measure gravity acceleration, angular velocity, or magnetic field with respect to three axes of the nail 200.
  • the drill 400 may include a drill posture detection unit 410 for measuring posture information of the drill, and drills on the screw bore 220 based on the measured posture information of the nail and the posture information of the drill.
  • the scanning direction of 400 can be corrected.
  • the drill posture detection unit 410 may include an inertial sensor capable of measuring posture information of a drill including gravity acceleration, angular velocity, or a magnetic field, like the bone marrow internal posture detection unit 120 described above.
  • the inertial sensor may be provided with a nine-axis inertial sensor, it can measure the gravity acceleration, the angular velocity or the magnetic field for the three axes of the drill (200).
  • the drill posture detection unit 410 may measure the scanning direction of the drill 400 in real time.
  • the scan direction of the drill 400 measured in real time may be basic information that is converted into scan incident angle information of the drill 400.
  • the bone fixation system scans the drill 400 on the screw bore 220 based on the nail posture information measured from the intramedullary intraocular posture detection unit 120 and the posture information of the drill measured from the drill posture detection unit 410.
  • the scan direction corrector 500 may be included to correct the direction.
  • the scanning direction corrector 500 may be disposed together with the display unit 600 on one side of the drill 400 in consideration of the display unit 600 to be described later disposed on one side of the drill 400. It may also be included as a module.
  • the scan direction corrector 500 may convert the measured posture information of the nail into scan direction information. Due to this, the scanning path of the drill 400 can be aligned with the screw bore 220, and can improve the scanning accuracy.
  • the scanning direction corrector 500 may compensate the scanning direction such that the yaw value of the nail posture information and the yaw value of the posture information of the drill are perpendicular to each other.
  • the roll and yaw values of the nail posture information may indicate the degree and direction of inclination of the plane on which the screw bore 220 is disposed, and the pitch and yaw of the posture information of the drill.
  • the value may indicate the degree to which the plane including the scan path of the drill 400 is tilted.
  • the yaw value of the nail posture information and the yaw value of the posture information of the drill are perpendicular to each other, indicating that the plane in which the screw bore 220 is disposed and the scan path of the drill 400 are perpendicular to each other. This may mean that the scan path of the drill 400 is aligned to face the screw bore 220, thereby improving the accuracy of the accurate scan.
  • the scan direction corrector 500 may convert the scan incident angle information of the drill 400 based on the scan direction measured in real time. have. This is because the operator initially positions the drill so that the entry point of the drill is aligned with the screw bore 220 of the nail using a roll of the nail posture information and a pitch of the drill posture information. Even if the fixing screw is directed toward the screw bore 220 so that the yaw value of the posture information is perpendicular to the yaw value of the nail, an error may occur in real time for a non-robot person. There is a need to measure the scanning direction in real time. Therefore, the scanning direction is measured in real time from the drill posture detection unit 410, so that the operator can intuitively recognize the converted scan incident angle information, and the scanning accuracy can be further improved.
  • the bone fixation system may further include a display unit that provides measured posture information of the nail, measured drill posture information, converted scan direction information, or converted scan incident angle information.
  • the display unit 600 may be provided with a display (not shown).
  • the display unit 600 may be disposed on one side of the drill 400 so that the operator can immediately recognize even while scanning the fixing screw on the screw bore 220. Specifically, referring to FIG. 9, information about two axial directions and a rotation direction may be presented on an imaginary plane that meets the scan path of the drill 400.
  • the display 600 may be intuitively recognized by the operator when the pitch, yaw, or scan incident angle information of the drill 400 reaches a predetermined target value within an allowable error range.
  • a scan induction circle or a dot, which is a shape, may be displayed on the display unit 600.
  • Direction may appear.
  • the range in which the error is allowed and the target value may be preset by the user as needed.
  • position information 610 such as x, y, and z or rotation information 620 such as roll, pitch, or yaw, or both position information and rotation information may be displayed.
  • the operator may control the scan path of the drill 400 to be aligned with the screw bore 220 with reference to the position information 610, the rotation information 620, or the scan guide display.
  • the drill 400 may further include a control unit 420 including a drill posture detecting unit 410, a scan direction correcting unit 500, or a display unit 600. That is, the drill posture detecting unit 410, the scan direction correcting unit 500, or the display unit 600 may be provided separately from the drill 400, but may be embedded in the drill 400.
  • a surgical procedure using a bone fixation system for surgical position indication is described.
  • detailed description will be omitted in the overlapping range.
  • Surgical operation method using a bone fixation system a marker in the bone marrow acuity including a targeting guide 100 and a nail 200 connected to one side of the targeting guide 100 and having a screw bore 220 at the end thereof.
  • Correcting the alignment to the bore 220, cutting the skin and inserting the nail 200 into the cut-out site, and scanning the fixing screw in a position indicated by the intersection where the irradiated light meets. can do.
  • the surgical operation method using the bone fixation system may further include correcting the direction of scanning the fixation screw for the screw bore based on the measured posture information of the nail and the measured posture information of the drill.
  • the scanning direction may further include the step of compensating.
  • the roll and yaw value which is the measured posture information of the nail, is compensated to the pitch and yaw values of the measured posture information of the drill. And positioning the drill so that the injection path of the drill is aligned with the screw bore and scanning the fixing screw.
  • Surgical methods using a bone fixation system prior to the step of coupling the marker module to the intramedullary nails, obtaining the shape data of the nail through three-dimensional scanning and the shape of the light irradiator based on the shape data of the nail
  • the method may further include correcting the irradiation angle and the position.
  • the accuracy of a procedure of injecting a fixation screw into a screw bore was measured using a bone fixation device for displaying a surgical position.
  • Tables 1 to 3 show the results of an experimental example of performing a procedure of injecting a fixed screw into the screw bore for a novice group and a professional group.
  • p> .05 indicates that no skill is required to perform a bone fixation procedure using a bone fixation system in view of the fact that no difference was observed in the novice population. In other words, not only beginners with good hand technique but also beginners with poor hand technique can use bone fixation system to sufficiently perform bone fixation procedure.
  • p> .05 does not require any professional skills between expert groups to perform bone fixation using the bone fixation system in view of the fact that no differences were observed within the expert group. Indicates.
  • the operation of the bone fixation system comprising a bone fixation device according to an embodiment.
  • An operator may acquire shape data of the nail 200 through 3D scanning.
  • the scan insertion point is displayed at an arbitrary position from an intersection where light emitted from the first light irradiator 330a and the second light irradiator 330b of the marker module 300 meet based on the acquired shape data of the nail 200. do.
  • the first light irradiator 330a and the second light irradiator 330b are formed of the first arm 320a and the second arm 320b by the first arm adjusting member 340a and the second arm adjusting member 340b.
  • Shape of the nail 200 obtained through three-dimensional scanning by adjusting the angle and the angle of the tilting members 370a and 370b connected to one end of the first arm 320a and one end of the second arm 320b.
  • the light may be irradiated from the data to face the position of the second screw bore 220 of the nail 200.
  • an injection insertion point marked at an arbitrary position may be marked to penetrate the second screw bore 220.
  • the operator may adjust the targeting guide 100 to insert the nail 200 into a necessary part of the human body.
  • the operator may insert a fixing screw penetrating the through bore 110 of the targeting guide 100 and the first screw bore 210 aligned with the through bore 110.
  • the fixing screw may be inserted into the drill 400 with respect to the injection insertion point indicated on the skin on the human tissue, toward the second screw bore 220 which is not hidden by the human tissue.
  • the posture information of the nail and the posture information of the drill may be measured from the bone marrow internal position detecting unit 120 and the drill posture detecting unit 410, and an injection path of the drill 400 is established based on the measured posture information.
  • the scanning direction of the drill 400 can be compensated for to align with the two screw bore 220.
  • the operator can check in real time the posture information of the drill measured through the display unit 600 whether the scan path of the drill 400 is aligned with the second screw bore 220, and thus the correct scan of the fixing screw May be possible.
  • Location display device has the advantage that can accurately display the desired position using a light in a variety of fields, such as construction, medical, precision equipment, and the like can display the location without applying a direct physical force to the object .
  • the bone fixation device for displaying the surgical position has the advantage of accurately displaying the position without radiographing about the position of the hole requiring drilling in the bone, and can display the position without limitation of space or cost. Has an advantage.
  • the bone fixation device and the bone fixation system including the same to improve the injection accuracy can significantly reduce the error in the scanning direction of the drill injected into the human body by measuring the posture of the bone marrow and the posture of the drill.
  • the advantage is that the operator can provide information in a form that can be intuitively recognized about the scanning direction of the drill.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Pathology (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • Immunology (AREA)
  • General Physics & Mathematics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Surgical Instruments (AREA)

Abstract

Selon l'un de ses modes de réalisation, l'invention concerne un appareil de fixation d'os pouvant comprendre : un guide de ciblage; un clou relié au niveau d'un côté au guide de ciblage et pourvu d'un trou de vis sur l'autre côté; et une perceuse destinée à introduire une vis de fixation dans le trou de vis. Le guide de ciblage ou clou peut comprendre une unité de détection de position de clouage destinée à mesurer des informations de position du clou. La perceuse peut comprendre une unité de détection de position de perceuse destinée à mesurer les informations de position de la perceuse. Ce système de fixation d'os, destiné à améliorer la précision de perçage, peut corriger la direction de perçage de la perceuse dans le trou de vis sur la base des informations de position mesurées du clou et de la perceuse.
PCT/KR2017/005949 2016-06-08 2017-06-08 Appareil de fixation d'os et système le comprenant WO2017213432A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2016-0071297 2016-06-08
KR1020160071297A KR101800125B1 (ko) 2016-06-08 2016-06-08 골 고정 장치 및 이를 포함하는 시스템

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20040010240A (ko) * 2002-07-18 2004-01-31 바이오센스, 인코포레이티드 골수내 네일에서 록킹 스크류의 말단 타겟팅
JP2005103275A (ja) * 2003-09-30 2005-04-21 Depuy Products Inc 骨髄内釘の中における係止ねじの遠位側位置合わせのための方法および装置
US20100069911A1 (en) * 2008-07-24 2010-03-18 OrthAlign, Inc. Systems and methods for joint replacement
KR20120027252A (ko) * 2009-04-27 2012-03-21 스미스 앤드 네퓨, 인크. 랜드마크를 식별하는 시스템 및 방법
KR20140009359A (ko) * 2011-02-18 2014-01-22 디퍼이 신테스 프로덕츠, 엘엘씨 일체형 내비게이션 및 안내 시스템을 갖는 도구와 관련 장치 및 방법

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI678184B (zh) 2014-04-25 2019-12-01 德派信迪思產品公司 瞄準裝置系統

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20040010240A (ko) * 2002-07-18 2004-01-31 바이오센스, 인코포레이티드 골수내 네일에서 록킹 스크류의 말단 타겟팅
JP2005103275A (ja) * 2003-09-30 2005-04-21 Depuy Products Inc 骨髄内釘の中における係止ねじの遠位側位置合わせのための方法および装置
US20100069911A1 (en) * 2008-07-24 2010-03-18 OrthAlign, Inc. Systems and methods for joint replacement
KR20120027252A (ko) * 2009-04-27 2012-03-21 스미스 앤드 네퓨, 인크. 랜드마크를 식별하는 시스템 및 방법
KR20140009359A (ko) * 2011-02-18 2014-01-22 디퍼이 신테스 프로덕츠, 엘엘씨 일체형 내비게이션 및 안내 시스템을 갖는 도구와 관련 장치 및 방법

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