WO2019090705A1 - 导航参考件 - Google Patents

导航参考件 Download PDF

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Publication number
WO2019090705A1
WO2019090705A1 PCT/CN2017/110488 CN2017110488W WO2019090705A1 WO 2019090705 A1 WO2019090705 A1 WO 2019090705A1 CN 2017110488 W CN2017110488 W CN 2017110488W WO 2019090705 A1 WO2019090705 A1 WO 2019090705A1
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WIPO (PCT)
Prior art keywords
reference frame
navigation
base
base assembly
screw
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PCT/CN2017/110488
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English (en)
French (fr)
Inventor
唐佩福
胡磊
康伟伟
王炳强
孙之建
王利峰
赵燕鹏
Original Assignee
威海威高骨科手术机器人有限公司
唐佩福
胡磊
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Application filed by 威海威高骨科手术机器人有限公司, 唐佩福, 胡磊 filed Critical 威海威高骨科手术机器人有限公司
Priority to PCT/CN2017/110488 priority Critical patent/WO2019090705A1/zh
Publication of WO2019090705A1 publication Critical patent/WO2019090705A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis

Definitions

  • the present invention relates to a navigational reference for orthopedic surgery, and more particularly to a navigational reference for use in a long bone reduction procedure.
  • a navigation system capable of locating the posture of the target bone in real time has become an indispensable auxiliary system.
  • the navigation system can reduce the difficulty of surgery and improve the fineness of the operation.
  • the current mainstream navigation system uses infrared optical positioning technology to identify the imaging coordinates of the patient's bone to be operated with the actual world coordinates by identifying the tracer fixed to the patient's bone; by identifying the surgical tool and the navigation reference A tracer that tracks and locates the orientation of the surgical tool and navigation reference relative to the patient.
  • the tracer device includes a bone block fixing portion 1, an operation portion 2, and a tracer portion 3.
  • the fixing portion 1 is a cylinder
  • the operating portion 2 includes a grip rod, a connecting rod and a sleeve sleeved on the fixing portion 1.
  • the trace portion 3 includes a Y-shaped or T-shaped bracket and an indication composed of three infrared reflecting balls.
  • the tracker array is fixed to the fixed portion 1 at the bottom end of the bracket. While maintaining the orientation of the fixed portion 1 and the tracer portion 3, the prior art tracer device allows the operation portion 2 held by the doctor to rotate, thereby facilitating the doctor to operate from different angles.
  • the prior art tracer device is directed to the navigational needs of an orbital surgery, the tracer of which is fixedly coupled to the fixed portion.
  • the tracker needs to track both the tracer located on the bone to be repositioned and the coordinates of the tracer located on the reference piece.
  • the angle of the tracer array is preferably adjustable.
  • the present invention provides a navigation reference for use in orthopedic surgery comprising: a base assembly on a lower side; a rotary bracket located above the base assembly and rigidly coupled to the base assembly a bracket having a spherical recess, a ball head rotatable within the spherical recess, and the ball head A locking screw locked at a working angle; a reference frame located above the rotating bracket and rigidly coupled to the rotating bracket, at least four tracers mounted on the reference frame and in the same plane.
  • the navigation reference of the present invention is more responsive to and meets the requirements of the tracer orientation adjustability of the reference piece during orthopedic surgery.
  • Figure 1 is a side view and a plan view of a prior art traction frame
  • FIG. 2 is a perspective view of the navigation reference member as seen from the front side in accordance with one embodiment of the present invention
  • FIG. 3 is a perspective view of the navigation reference member seen from the side rear, in accordance with one embodiment of the present invention.
  • FIG. 4 is a front elevational view of a navigational reference member in accordance with one embodiment of the present invention.
  • the navigation reference member includes: a base assembly on a lower side; a rotating bracket disposed on the base assembly and rigidly coupled to the base assembly, including a bracket base 220 having a spherical recess, capable of a ball head 240 that rotates within the spherical recess, and a locking screw 260 (shown as three) that locks the ball head 240 at an operating angle; above the rotating bracket and rigidly connected to the At least four tracers 140 are mounted on the reference frame 120 for the reference frame 120 of the rotating support. As shown, by way of example, the four tracers 140 that make up the tracer array are in the same plane.
  • the navigation reference of the above embodiment provides better navigation due to the rotating bracket. Specifically, in orthopedic surgery, the tracer is first attached to the bone to be restored, and then the orientation of the tracker is adjusted to obtain better navigation data about the bone to be restored. Thereafter, the orientation of the tracer on the navigation reference member is adjusted by rotating the bracket so that the tracker can also obtain better data about the navigation reference member at the same time.
  • the base assembly includes a base 320 and a slider 340 forming a dovetail slot fit, and locking the slider 340 to the base The locking knob 360 in the seat 320.
  • the locking knob 360 has a screw that passes through the slider 340. When the slider 340 reaches the proper position within the base 320, the locking knob 340 can be rotated to engage the base 320 below the screw.
  • the base assembly further includes a attachment screw 390 on the underside of the base 320 for attaching the base assembly to a motion platform for orthopedic surgery.
  • the robot when a robot is applied to perform an operation, the robot may have a six degree of freedom motion platform such as a stewart platform.
  • the navigation reference member of the above embodiment can be mounted to the above-described six-degree-of-freedom motion platform of the robot by the connection screw 390.
  • the base assembly further includes a back coupled to the back side of the base 320 (left side of Figure 2, right side of Figure 3) Board 380.
  • the backing plate 380 can be mounted to the base 320 by three screws (lower right in FIG. 3).
  • the navigation reference further includes a connector 160 that is rigidly coupled to the reference frame 120 on an upper side and rigidly coupled to the lower side
  • the ball head 240 of the rotating bracket As an example, the outer contour of the connector 160 is cylindrical.
  • the reference frame 120 has a rectangular arrangement of screw holes, and the connection base 160 has a screw hole corresponding to the position of the screw hole. To be connected to the reference frame 120 by screws.
  • the ball head 240 includes a ball stud integrally formed therewith, the connecting base 160 having a rod hole for accommodating the ball stud and a screw 162 for locking the ball stud in the rod hole ( Shown in Figure 2).
  • the connecting seat 160 connects the reference frame 120 and the rotating bracket together by forming portions matching the reference frame 120 and the rotating bracket on the upper and lower sides, respectively.
  • the reference frame 120 is of a cross structure (symmetric or asymmetrical, both are available), and four tracers 140 are mounted at the end of the cross structure
  • the screw hole of the reference frame 120 is located at the center of the cross structure.
  • the above reference frame structure design makes the distribution of several tracers the most dispersed; at the same time, the center of gravity of the whole device is still substantially at the center of the reference frame, so that the reference frame can stably stay at any pitch angle.
  • the connector can be formed integrally with the reference frame or the rotating bracket; instead of the locking knob, a front plate similar to the back plate can be used to lock the base and the slider; since the cross structure of the reference frame can be asymmetric, The shorter side adds weight so that the center of gravity of the entire reference frame is just at the ball head of the rotating bracket.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Surgical Instruments (AREA)

Abstract

本发明公开一种导航参考件，其在骨科手术中使用，其包括：位于下侧的基座组件；位于所述基座组件上方并且刚性连接到所述基座组件的旋转支架，其包括具有球形凹陷的支架座（220）、能够在所述球形凹陷内转动的球头（240），以及将所述球头（240）锁定在工作角度下的锁紧螺钉（260）；位于所述旋转支架上方并且刚性连接到所述旋转支架的参考架（120），至少四个示踪器（140）安装在所述参考架（120）上并且位于同一平面内。由于携带示踪器的参考架的角度可调，本发明的导航参考件更适应和满足骨科手术中的导航要求。

Description

导航参考件 技术领域
本发明涉及用于骨科手术的导航参考件，尤其是一种在长骨复位手术中使用的导航参考件。
背景技术
在骨科手术中，能够实时定位追踪目标骨的位姿的导航系统已经成为必不可少的辅助系统。结合日益先进的图像显示，导航系统能够降低手术的难度并提高手术的精细程度。
目前的主流导航系统采用红外线光学定位技术，通过识别固定于患者骨上的示踪器，将患者待手术骨的影像学坐标与实际的世界坐标配准；通过识别手术工具和导航参考件上的示踪器，追踪和定位手术工具与导航参考件相对于患者的方位。
参考图1，其为CN105877911A的附图，示出一种用于眼眶外科手术的导航系统的示踪装置。该示踪装置包括骨块固定部1、操作部2和示踪部3。其固定部1为圆柱体，操作部2包括握杆、连杆和套在固定部1上的套管，示踪部3包括Y形或T形的支架和由3个红外反光球组成的示踪器阵列，支架的底端固定到固定部1上。在保持固定部1和示踪部3的方位不变的同时，该现有技术示踪装置允许医生所握持的操作部2转动，由此便于医生从不同角度操作。
该现有技术示踪装置针对的是眼眶外科手术的导航需要，其示踪部相对于固定部为固定连接。在骨科手术特别是长骨复位手术中，跟踪器既需要追踪位于待复位骨上的示踪器，也需要追踪位于参考件上的示踪器的坐标。此时，为了让跟踪器能准确的获取两者的坐标，示踪器阵列的角度最好可调。
因此，存在这样的需要，即，提供一种用于骨科手术的导航参考件，其上示踪器阵列的角度可调。
发明内容
有鉴于此，本发明的目的是提出一种导航参考件，其用于骨科手术中，其上的示踪器阵列的角度可以调整以便于跟踪器获取数据。
为实现上述目的，本发明提供一种导航参考件，在骨科手术中使用，其包括：位于下侧的基座组件；位于所述基座组件上方并且刚性连接到所述基座组件的旋转支架，其包括具有球形凹陷的支架座、能够在所述球形凹陷内转动的球头，以及将所述球头 锁定在工作角度下的锁紧螺钉；位于所述旋转支架上方并且刚性连接到所述旋转支架的参考架，至少四个示踪器安装在所述参考架上并且位于同一平面内。
与现有技术的示踪装置相比，本发明的导航参考件更适应和满足骨科手术中对参考件的示踪器方位可调性的要求。
附图说明
参考附图和说明书可以更好地理解本发明。附图中的部件不一定按比例绘制，其用意仅在于阐明本发明的原理。在附图中：
图1为现有技术的牵引架的侧视图和俯视图；
图2为根据本发明的一个实施例的导航参考件的从侧前方看到的立体图；
图3为根据本发明的一个实施例的导航参考件的从侧后方看到的立体图；
图4为根据本发明的一个实施例的导航参考件的正视图。
具体实施方式
下面的说明涉及根据本发明一个实施例的导航参考件，其在骨科手术中使用。图1和图2示出所述导航参考件的从不同角度看到的立体图。如图所示，导航参考件包括：位于下侧的基座组件；设置在所述基座组件上并且刚性连接到所述基座组件的旋转支架，其包括具有球形凹陷的支架座220、能够在所述球形凹陷内转动的球头240，以及将所述球头240锁定在工作角度下的锁紧螺钉260(图中示出为三个)；位于所述旋转支架上方并且刚性连接到所述旋转支架的参考架120，至少四个示踪器140安装在所述参考架120上。如图所示，作为示例，组成示踪器阵列的所述四个示踪器140位于同一平面内。
由于具有旋转支架，上述实施例的导航参考件能提供更好的导航。具体地说，在骨科手术时，先将示踪器附着至待复位骨上，然后调节跟踪器的方位以获取较好的关于待复位骨的导航数据。之后，通过旋转支架来调节导航参考件上的示踪器的方位，使得跟踪器同时也能获取较好的关于导航参考件的数据。
此外，使用至少四个示踪器，能够计算出位置和姿势，这是骨科复位所必需的。
仍参考图2和图3，根据本发明的一个实施例，优选地，所述基座组件包括形成燕尾槽配合的基座320和滑块340，以及将所述滑块340锁定在所述基座320内的锁紧旋钮360。
具体地说，锁紧旋钮360具有穿过滑块340的螺钉，当滑块340到达基座320内适当位置时，可以转动锁紧旋钮340，让其螺钉项紧下方的基座320。
参考图4，其示出根据本发明的一个实施例的导航参考件的正视图。如图所示，优选地，所述基座组件还包括在所述基座320下侧的连接螺钉390，其用于将所述基座组件连接到骨科手术使用的运动平台。
例如，当应用机器人来执行手术时，机器人可具有例如stewart平台这样的六自由度运动平台。通过连接螺钉390，上述实施例的导航参考件可安装到机器人的上述六自由度运动平台上。
仍参考图2和图3，根据本发明的一个实施例，优选地，所述基座组件还包括连接到所述基座320背侧(图2的左侧、图3的右侧)的背板380。作为示例，所述背板380可通过三个螺钉(图3右下方)安装到基座320上。
仍参考图2和图3，根据本发明的一个实施例，优选地，所述导航参考件还包括连接座160，其在上侧刚性连接到所述参考架120并且在下侧刚性连接到所述旋转支架的所述球头240。作为示例，所述连接座160的外部轮廓为圆柱形。
更进一步地，如图2和图3所示，在一个优选实施例中，所述参考架120具有矩形排列的螺钉孔，所述连接座160具有与所述螺钉孔的位置相对应的螺钉孔以通过螺钉连接到所述参考架120。
同时，所述球头240包括与其一体形成的球头杆，所述连接座160具有容纳所述球头杆的杆孔以及将所述球头杆锁紧在所述杆孔内的螺钉162(图2中示出)。
这样，通过在上下两侧分别形成与参考架120和旋转支架相适配的部分，连接座160将参考架120和旋转支架连接到一起。
仍参考图2和图3，根据本发明的一个实施例，优选地，所述参考架120为十字架结构(对称或非对称均可用)，四个示踪器140安装在所述十字架结构的末端，所述参考架120的螺钉孔位于所述十字架结构的中心。
上述参考架结构设计，使几个示踪器分布的最分散；同时整个装置的重心仍大体在参考架的中心，便于参考架稳定地停留在任一俯仰角度。
借助于上面所公开的实施例，本领域技术人员还可以想到多种变型和改进。例如，连接座可以与参考架或旋转支架形成为一体；代替锁紧旋钮，可以使用与背板类似的前板来锁定基座和滑块；由于参考架的十字架结构可以是非对称结构，可以在较短的一侧增加配重，使得整个参考架的重心刚好在旋转支架的球头处。
尽管已经公开多个示例性实施例，但是本领域技术人员将理解，在不偏离本发明的精神和保护范围的情况下，可做出各种改变和改进，并可适当地替代执行相同功能的部件。应注意，参考一个附图说明的特征可以与其他附图的特征组合起来，即使未明确提及。

Claims (7)

  1. 一种导航参考件，在骨科手术中使用，其包括：
    位于下侧的基座组件；
    设置在所述基座组件上并且刚性连接到所述基座组件的旋转支架，其包括具有球形凹陷的支架座(220)、能够在所述球形凹陷内转动的球头(240)，以及将所述球头(240)锁定在工作角度下的锁紧螺钉(260)；
    位于所述旋转支架上方并且刚性连接到所述旋转支架的参考架(120)，至少四个示踪器(140)安装在所述参考架(120)上。
  2. 根据权利要求1所述的机器人的导航参考件，其中，
    所述基座组件包括形成燕尾槽配合的基座(320)和滑块(340)，以及将所述滑块(340)锁定在所述基座(320)内的锁紧旋钮(360)。
  3. 根据权利要求2所述的导航参考件，其中
    所述基座组件还包括在所述基座(320)下侧的连接螺钉(390)，其用于将所述基座组件连接到骨科手术使用的运动平台。
  4. 根据权利要求2所述的导航参考件，其中
    所述基座组件还包括连接到所述基座(320)背侧的背板(380)。
  5. 根据权利要求1所述的导航参考件，还包括
    连接座(160)，其在上侧刚性连接到所述参考架(120)并且在下侧刚性连接到所述旋转支架的所述球头(240)。
  6. 根据权利要求5所述的导航参考件，其中
    所述参考架(120)具有矩形排列的螺钉孔，所述连接座(160)具有与所述螺钉孔的位置相对应的螺钉孔以通过螺钉连接到所述参考架(120)；
    所述球头(240)包括与其一体形成的球头杆，所述连接座(160)具有容纳所述球头杆的杆孔以及将所述球头杆锁紧在所述杆孔内的螺钉(162)。
  7. 根据权利要求6所述的导航参考件，其中
    所述参考架(120)为十字架结构，四个示踪器(140)安装在所述十字架结构的末端，所述参考架(120)的所述矩形排列的螺钉孔位于所述十字架结构的中心。
PCT/CN2017/110488 2017-11-10 2017-11-10 导航参考件 WO2019090705A1 (zh)

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