WO2020155562A1

WO2020155562A1 - Positioning guiding device, and positioning guiding system for vertebral pedicle fixation

Info

Publication number: WO2020155562A1
Application number: PCT/CN2019/095388
Authority: WO
Inventors: 罗怡平; 陈自强; 张玮; 晏梓钧; 李明
Original assignee: 上海长海医院
Priority date: 2019-01-31
Filing date: 2019-07-10
Publication date: 2020-08-06

Abstract

Disclosed is a positioning guiding device (10), comprising an initial position locating plate (11), a circuit opener portion (14), a screw driver portion (13), and a screw tap portion (12), wherein the initial position locating plate (11) has a circuit opener placement position (111), a screw driver placement position (112), and a screw tap placement position (113); the circuit opener portion (14) has a circuit opener through hole; the screw driver portion (13) has a screw driver through hole; the screw tap portion (12) has a screw tapper through hole (12122); the circuit opener portion (14), the screw driver portion (13) and the screw tap portion (12) are each provided with a sensor; and an axis of the circuit opener through hole, an axis of the screw driver through hole, and an axis of the screw tapper through hole (12122) are all parallel to each other. A positioning guiding system (100) for vertebral pedicle fixation is disclosed, the system comprising the positioning guiding device (10), a communication portion (202), a data calling portion (206), a data operation portion (209), an instrument calibration portion (201), a data addition portion (213), a data update portion (214), a data generation portion (207), a data deletion portion (208), a data storage portion (210), a data determination portion (211), a picture storage portion (205), a picture display portion (203), and a control portion (212).

Description

Positioning guiding device and spine pedicle fixed positioning guiding system

Technical field

The invention belongs to the field of medical equipment, and particularly relates to a positioning and guiding device and a spine pedicle fixed positioning and guiding system.

Background technique

At present, pedicle screws are one of the most widely used internal fixation instruments in spinal surgery. The successful and safe implantation of pedicle screws is the key to the success of the operation.

The current pedicle internal fixation has some difficulties that plague physicians as follows: 1) Because the outer diameter of the nail path opening device is only about 1/3 of the diameter of the supporting wire tapping device and the nailing device. 2) Because of the patient’s bone condition, the doctor’s operating experience, and the unexpected conditions during the operation, multiple openings often occur during the pedicle internal fixation operation, that is, there are multiple openings in one nail channel opening. Nail paths, and only one of these nail paths is the correct nail path required. 3) Human bones are brittle but not firm. These three reasons often cause the internal fixation screw to deviate from the correct nail path during the operation, which may cause serious damage to the nerve and blood vessel structure and cause potential problems, such as hypoesthesia, nerve damage, bleeding and destruction of the original structure. At present, some navigation technologies have been used in surgery to assist in real time, and many ongoing research activities are aimed at finding various alternatives to avoid improper placement of pedicle screws. The existing methods that can be used for navigation include intraoperative fluoroscopy, computer-assisted surgery (CAS), ultrasound image-guided pedicle screw insertion, and non-imaging navigation. These methods provide new methods and new ideas for opening and accessing intraoperative navigation. However, the existing devices on the market have large radiation that poses a threat to the health of staff, and the system and procedures are cumbersome and time-consuming to operate and are not easy to carry. Other problems have brought certain restrictions to the further development of the navigation of the approach.

Summary of the invention

In order to solve the above problems, the purpose of the present invention is to provide a positioning and guiding device and a spine pedicle fixation and positioning and guiding system, which can quickly and accurately guide the pedicle screw so that the pedicle screw is in a predetermined direction And distance to move.

In order to achieve the above objectives, the present invention adopts the following technical solutions:

The present invention provides a positioning and guiding device for positioning a spinal pedicle fixation device, which is characterized in that it includes an initial position positioning plate, which is in the shape of a plate, and has opener placement positions and nails arranged in sequence and parallel to each other. The position of the circuit breaker and the position of the wire tapping; the circuit breaker part, which is in the shape of a rectangular parallelepiped, is horizontally arranged on the position of the circuit breaker, and includes the first sensor ring card assembly, the upper spacer of the circuit breaker and the circuit breaker connected from top to bottom. The lower gasket, between the upper gasket of the opener and the lower gasket of the opener is provided with opener through holes that penetrate the two corresponding sides of the opener part; the upper nailer part is rectangular parallelepiped and placed horizontally on the upper nailer It includes the second sensor ring clamp assembly, the upper spacer of the upper nailer and the lower spacer of the upper nailer, which are connected in sequence from top to bottom. A through-hole is provided between the upper spacer of the upper nailer and the lower spacer of the upper nailer. The nailer through holes on the two corresponding sides of the upper nailer part; and the threaded tapping part, which is in the shape of a cuboid and is horizontally arranged on the threaded tap placement position, including the threader holding component, the threader holding component including The threaded tap holding card is provided with a threaded tapper through hole penetrating the two corresponding sides of the threaded tapping part, wherein the first sensor ring card assembly is arranged on the upper part of the opener part, and the second sensor ring card The component is arranged on the upper part of the nailer part, the first sensor ring card assembly contains a first sensor ring card and a first sensor arranged in the first sensor ring card, and the second sensor ring card assembly contains a second sensor ring card and a set The second sensor in the second sensor ring card, the third sensor is arranged in the thread tapping card, the center point of the first sensor, the center point of the second sensor and the center point of the third sensor are all on the same straight line .

In the positioning and guiding device provided by the present invention, it may also have the feature that the opener placement position, the nailer placement position, and the wire tap placement position are all rectangular through holes that penetrate the upper and lower end surfaces of the initial position positioning plate.

The positioning and guiding device provided by the present invention may also have such a feature: wherein the first sensor ring clip and the second sensor ring clip are both cylindrical and used to fix the first sensor and the second sensor.

The positioning and guiding device provided by the present invention may also have the feature: wherein the first sensor, the second sensor and the third sensor are all attitude sensors.

In the positioning and guiding device provided by the present invention, it may also have such features: wherein the upper gasket of the opener is a rectangular flat plate, and the lower gasket of the opener is a plate with a "V"-shaped first through slot in the middle and the first The through-slot notch is arranged toward the gasket on the opener, and the first through-slot and the gasket on the opener jointly form a through hole for the opener.

In the positioning and guiding device provided by the present invention, it may also have such a feature: wherein the upper gasket of the nailer is a rectangular parallelepiped, a second through groove is provided in the middle, and the second through groove has a bottom surface that is a circular arc surface. The lower gasket of the nail set is a plate body, the middle part is provided with a third through groove, the third through groove has a bottom surface of a circular arc surface, the second through groove notch and the third through groove notch are arranged oppositely and coincide with each other. The through groove and the third through groove jointly form a through hole for the nailer.

In the positioning and guiding device provided by the present invention, it may also have the feature: wherein the upper part of the thread tapper holding card has a flat-bottomed square recess, and the bottom surface of the square recess is parallel to the horizontal plane for fixing the sensor, and the thread tapper through hole is arranged in Below the square recess, a gap extends from the edge of the through hole of the thread tapper in a direction parallel to the bottom surface of the square recess. The gap divides the side of the thread tapper into two free ends.

The invention provides a spine pedicle fixation positioning and guiding system, which is used for positioning and guiding a spine pedicle fixation device. The spine pedicle fixation device includes an opener, a wire tap and a nailing device. Its characteristics are Lie in, including: positioning and guiding devices; and

The central management device communicates with the positioning and guiding device; among them, the positioning and guiding device is the positioning and guiding device in <Scheme 1>, the opener part is used to install the opener to form an open circuit mechanism with the opener, and the tapping part is used for installation The tapping device forms a tapping mechanism with the tapping device. The nailing device is used to install the nailing device to form a nailing mechanism with the nailing device. The first sensor, the second sensor and the third sensor are respectively used for collecting The coordinates of the instant space location point where the first sensor is located, the coordinates of the instant space location point where the second sensor is located, and the coordinates of the instant space location point where the third sensor is located. The first sensor is used to collect the instantaneous space location point where the first sensor is located. The coordinates of the spatial location point to obtain the instant spatial location point of the first sensor as the spatial point A; the second sensor is used to collect the coordinates of the instant spatial location point where the second sensor is located, thereby obtaining the instant space of the second sensor The location point is used as the space point B; the third sensor is used to collect the coordinates of the instant space location point where the third sensor is located, so as to obtain the instant space location point of the third sensor as the space point C; the space point A and the space point The line where B is located is the space line AB, and the line where the space point B and the space point C are located is the space line BC; the central management device includes: a communication unit for receiving open-circuit coordinates, nailing coordinates, and tapping coordinates, and is used to use open-circuit mechanisms When receiving the coordinates of the start point of the open circuit and the end point of the open circuit, the coordinates of the start point of the open circuit are the coordinates of the instant space position when the head of the open circuit is placed at the first predetermined point. The end point of the open circuit is when the open circuit mechanism is drilled to the predetermined depth to obtain the open channel The coordinates of the real-time spatial position point, used to receive the coordinates of the starting point of the thread tapping and the coordinates of the real-time point of the threading when using the tapping mechanism. The starting point coordinate of the threading is the real-time spatial position when the head of the tapping mechanism is placed at the first predetermined point. The coordinates of the point, the instant point coordinates of the tapping are the coordinates of the instant space position point when the tapping mechanism taps the open channel to obtain the instant space position point of the tapping channel, which is used to receive the starting point coordinates of the nail and the coordinates of the instant point when the nailing mechanism is used. , The starting point coordinates of the nailing are the coordinates of the instant space position when the head of the nailing mechanism is placed at the first predetermined point, and the coordinates of the nailing instant point are the instants when the nailing mechanism places the pedicle screw in the tapping channel The coordinates of the space position point, the instrument calibration part, is used to calibrate the opening mechanism, the nail mechanism and the tapping mechanism; when the angle between the space line AB and the space line BC is less than or equal to 1/100 degrees, the space point A When the distance to the space point B and the distance between the space point B and the space point C are all equal to the predetermined length, the calibration is completed; the data calculation unit is used to calculate the coordinates of the start point and the end point of the open circuit when the open circuit mechanism is used to obtain the corresponding open circuit The direction of travel is used to calculate the starting point coordinates of the thread tapping and the instant point coordinates of the thread when using the thread tapping mechanism to obtain the corresponding initial direction of the thread tap. The coordinates are calculated to obtain the corresponding initial direction of the screw. The data judging part is used to determine whether the initial direction of the screw tap and the initial line of defense of the screw are consistent with the open-circuit travel direction. When the starting direction and the open travel direction are the same, the tapping mechanism will tap the open channel. When the initial direction of the tapping is judged to be inconsistent with the open travel direction, the head of the tapping mechanism will be changed to obtain a new initial tapping. direction,

When it is judged that the initial direction of the nailing is consistent with the open-circuit traveling direction, the nailing mechanism performs the nailing operation on the tapping hole. When the initial direction of the nailing is judged to be inconsistent with the open-circuit traveling direction, the head of the nailing mechanism is changed to obtain The new initial direction of nailing; the control part is used to control the rest of the central management device, the screen storage part stores the management screen, the management screen includes: control button area, position display area and data display area, control The button area includes a number of buttons for operation; and the screen display part is used to display the management screen, and the control button area includes accessor selection buttons for generating open data strings, nailing data strings, and tapping data strings. The initialization button used to select the type and position of fixed vertebrae for pedicle surgery, the record button used to obtain the open coordinate, the nail coordinate and the tap coordinate respectively, the mark button used to update and save the open data string, and the Exit button to delete the open data string that has not been updated.

In the spine pedicle fixation and positioning guidance system provided by the present invention, it may also have such features: wherein, the central management device further includes a data calling part, a data generating part, a data adding part, a data updating part, and a data deleting part , The data calling part is used to call the open-circuit coordinates, the nailing coordinates and the tapping coordinates; the data generating part is used to generate the open-circuit data string, the nailing data string and the tapping data string; the data adding part is used to add the open-circuit coordinates into the open data String, add the upper nail coordinates to the upper nail data string and add the thread tap coordinates to the thread tap data string; the data update part is used to update the open data string, the upper nail data string and the thread tap data string; for the data deletion part To delete the open data string.

In the spine pedicle fixation and positioning guidance system provided by the present invention, it may also have such a feature: wherein the central management device includes a voice prompting part for emitting buzzers of different frequencies according to the judgment result of the data judgment part , The control button area includes the prompt sound switch button, which is used to select on or off the buzzer sound from the sound prompt part.

The role and effect of the invention

According to the positioning and guiding device and the spine pedicle fixed positioning and guiding system of the present invention, because the positioning and guiding device includes an initial position positioning plate, an opener part, a nailer part and a tapping part, the initial position positioning plate has an opener placement position, Nailer placement position and wire tap placement position; the opener part is set on the opener placement position and has a through hole for the opener; the nailer part is set on the nailer placement position and has a through hole for the nailer; wire tap The part is arranged on the tap placement position and has a tap through hole. The apertures of the opener through hole, the nailer through hole and the tap through hole can all be adjusted within a certain range. The opener part, the upper nailer part and the tapping part are all provided with sensors, and the axis of the opener through hole, the axis of the upper nailer through hole and the axis of the threader through hole are all parallel to each other. Because the initial position positioning plate keeps the mutual positional relationship of multiple sensors fixed, so that the sensor can be connected with the central management device. After the connection with the device is completed, the opener part, the nailer part, and the nailer part connected with the sensor can be adjusted. The wire tapping part is operated separately and the central management device is tracked and marked, and the pedicle surgery internal fixation instrument is respectively connected with the opener part, the nailer part and the wire tapping part. Therefore, the positioning and guiding device of the present invention uses the pedicle surgery internal fixation instrument in combination with the sensor, which can quickly and accurately guide the spine pedicle fixation instrument so that the pedicle screw can move in the predetermined direction and distance. Moreover, the invention has better portability, accuracy and maneuverability than previous technologies.

Because the spine pedicle fixation positioning and guiding system has a positioning guiding device and a central management device that communicate with each other through a sensor, the positioning guiding device is connected with the opener, wire tap and nailing device for internal fixation surgery, and the central management device is connected to the sensor. Real-time three-dimensional coordinates are obtained and recorded, and the three-dimensional coordinates are calculated to obtain the correct open direction and open distance. The internal fixation mechanism is guided to operate based on the open direction and open distance. Therefore, the fixed positioning of the spine pedicle of the present invention The guiding system can quickly and accurately guide the spine pedicle fixation device so that the pedicle screw can move in a predetermined direction and distance, and the operation is simple and easy to carry.

Description of the drawings

Figure 1 is a schematic structural diagram of a spine pedicle fixation positioning and guiding system in an embodiment of the present invention;

Figure 2 is a schematic structural diagram of a positioning and guiding device in an embodiment of the present invention;

Figure 3 is a schematic structural diagram of an initial position positioning plate in an embodiment of the present invention;

4 is an exploded view of the opener part of the positioning and guiding device in the embodiment of the present invention;

Figure 5 is an exploded view of the nailer part of the positioning and guiding device in the embodiment of the present invention;

Figure 6 is an exploded view of the tapping part of the positioning and guiding device in the embodiment of the present invention;

Figure 7 is a side sectional view of the wire tapper holding card of the positioning and guiding device in the embodiment of the present invention;

Figure 8 is a bottom view of the wire tapper holding card of the positioning and guiding device in the embodiment of the present invention;

9 is a structural block diagram of the central management device of the spine pedicle fixed positioning and guiding system in the embodiment of the present invention;

10 is a schematic diagram of the management screen of the spine pedicle fixation positioning and guiding system in an embodiment of the present invention;

11 is a schematic diagram of the control button area of the spine pedicle fixation positioning and guiding system in the embodiment of the present invention;

12 is a second schematic diagram of the control button area of the spine pedicle fixation positioning and guiding system in the embodiment of the present invention;

Figure 13 (a)-Figure 13 (c) is an implementation flow chart of the spine pedicle fixation positioning and guiding system combined with practical application in the embodiment of the present invention; and

Figures 14(a)-14(b) are schematic diagrams of steps of the method of implanting pedicle screws in an embodiment of the present invention.

detailed description

In order to make the technical means, creative features, objectives and effects of the present invention easy to understand, the following embodiments are combined with the accompanying drawings to specifically illustrate the spine pedicle fixation positioning and guiding system of the present invention.

As shown in FIG. 1, a spine pedicle fixation positioning and guiding system 100 is used for positioning and guiding a spine pedicle fixation device. The spine pedicle fixation device includes an opener Q1, a tapping device Q2, and an upper nail The shapes of the opener Q3, the opener Q1, the wire tapping device Q2 and the nailing device Q3 are all straight rod-shaped, and are characterized in that they include a positioning guide device 10 and a center management device 20,

The positioning and guiding device 10 and the central management device 20 adopt a wired network 30 or a wireless network 30 for communication connection. The wired network 30 uses any one of twisted pair, coaxial cable, and optical fiber as the transmission medium, and the wireless network 30 uses any of Bluetooth, WIFI, 3G, 4G, zigbee, and EnOcean technologies. In this embodiment, positioning-oriented The device 10 and the central management device 20 adopt a Bluetooth wireless network 30 for communication connection.

As shown in FIG. 2, the positioning and guiding device 10 is used to connect the opener Q1, the tapping device Q2, and the nailing device Q3 to the sensor correspondingly to form an opening mechanism 14A, a tapping mechanism 12A, and a nailing mechanism 13A. It includes an initial position positioning plate 11 and a rectangular opener part 14 arranged on the initial position positioning plate 11 and parallel to each other, a rectangular upper staple part 13 and a rectangular tapping part 12.

As shown in FIG. 3, the initial position positioning plate 11 has an opener placement position 111, a nailer placement position 112, and a wire tap placement position 113;

The opener placement position 111, the nailer placement position 112, and the wire tap placement position 113 may have a groove structure or a through-hole structure. In this embodiment, the opener placement position 111, the nailer placement position 112, and the wire tap placement position 113 are sequentially arranged from left to right, and are preferably rectangular through holes penetrating the upper and lower end surfaces of the initial position positioning plate 10.

As shown in FIG. 4, the opener part 14 is in the shape of a rectangular parallelepiped, and is detachably disposed on the opener placement position 111 for connecting with the rod-shaped opener Q1 to form an opening mechanism 14A. It includes a first sensor ring card assembly 141, an upper spacer 142 of an opener, a lower spacer 143 of an opener, and a first connecting bolt 144 which are connected in sequence from top to bottom.

The first sensor ring card assembly 141 is arranged on the upper part of the opener part 14 and includes a square first sensor 1411 and a first sensor ring card 1412. The first sensor ring card 1412 is a bottomless cylinder with a rectangular parallelepiped shape and passes through four An adjustable set screw on the side fixes the first sensor 1411 in the first sensor ring card 1412. In this embodiment, the first sensor 1411 is preferably an LPMS-B2 nine-axis Bluetooth attitude sensor with a switch and a communication status indicator. , Working temperature -20℃-60℃, rechargeable, can be used continuously for 8 hours under fully charged state.

The gasket 142 on the circuit breaker is a rectangular metal plate and is arranged adjacent to the first sensor ring clamp assembly 141. The four corners of the gasket 142 on the circuit breaker are connected to the first sensor ring clamp assembly 141 by the first connecting bolts 144 and are connected to each other. Coincide.

The lower gasket 143 of the opener is in the shape of a plate, and is arranged adjacent to the upper gasket 142 of the opener. The four corners of the lower gasket 143 of the opener are connected with the upper gasket 142 of the opener by the first connecting bolts 144 and are mutually consistent. In the middle of the upper end surface of the lower gasket 143 of the opener, there is a first through groove 145 with a "V"-shaped cross section, and the notch of the first through groove 145 is set toward the upper gasket 142 of the opener. This notch arrangement makes the first through groove 145 and the opener upper gasket 142 jointly form the opener through hole, that is, a through opener part 14 is formed between the opener upper gasket 142 and the opener lower gasket 143 Two opener through holes on the corresponding side, the opener through-hole axis is perpendicular to the height direction of the opener part 14, and the gap between the upper spacer 142 of the opener and the lower spacer 143 of the opener can be adjusted by adjusting the first connecting bolt 144 The size further changes the size of the opener through hole, and the opener Q1 passing through the opener through hole can be clamped and fixed to form the open circuit mechanism 14A, and the head of the opener Q1 is the head of the open circuit mechanism 14A.

There is a first protrusion 146 with a trapezoidal cross section on the bottom surface of the lower gasket 143 of the opener and corresponding to the first through groove 145. The upper end surface of the first protrusion 146 has a smaller area than the lower end surface. Looking up from directly below the lower spacer 143 of the circuit breaker, the shape of the first protrusion 146 is the same rectangle as the position 111 of the circuit breaker. The first protrusion 146 is inserted into the opener placement position 111 so that the opener portion 14 is horizontally embedded on the opener placement position 111.

As shown in Fig. 5, the upper nailer part 13 is in the shape of a rectangular parallelepiped, and is detachably arranged on the upper nailer placement position 112 for connecting with the rod-shaped upper nailer Q3 to form a nailing mechanism 13A, including the upper-to-bottom order The second sensor ring clip assembly 131, the upper nailer upper gasket 132, the upper nailer lower gasket 133 and the second connecting bolt 134 are connected.

The second sensor ring clip assembly 131 is arranged on the upper part of the upper nail part 13 and includes a square second sensor 1311 and a second sensor ring clip 1312. The second sensor ring clip 1312 is a bottomless cylinder with a rectangular parallelepiped shape and passes through the four Adjustable set screws on two sides fix the second sensor 1311 in the second sensor ring card 1312. In this embodiment, the second sensor 1311 is preferably an LPMS-B2 nine-axis Bluetooth attitude with a switch and a communication status indicator. The sensor, the working temperature is -20℃-60℃, can be recharged, and can be used continuously for 8 hours when fully charged.

The upper washer 132 of the nailer is a rectangular parallelepiped and is arranged adjacent to the second sensor ring clip assembly 131. The four corners of the upper washer 132 of the nailer are connected to the second sensor ring clip assembly 131 by the second connecting bolts 134 and are mutually connected. Coincide. A second through groove 136 is provided in the middle of the lower end surface of the upper gasket 132 of the upper nailer. The bottom surface of the second through groove 136 is a circular arc surface, and the cross-sectional area of the second through groove 136 is the same.

The upper nailer lower gasket 133 has a plate shape and is arranged adjacent to the upper nailer upper gasket 132. A third through groove 138 is provided in the middle of the upper end surface of the upper nailer lower gasket 133. The bottom surface is a circular arc surface, and the shape and size of the circular arc surface and the bottom surface of the second through groove 136 are the same. The four corners of the lower washer 133 of the upper nailer are connected with the upper washer 132 of the upper nailer by the second connecting bolts 134 and are mutually matched.

The notches of the third through groove 138 and the notches of the second through groove 136 are arranged opposite to and coincide with each other. This arrangement of the notches makes the second through groove 136 and the third through groove 138 jointly form the upper nailer through hole, namely The upper nailer through hole is formed between the upper nailer upper washer 132 and the upper nailer lower washer 133, which penetrates two corresponding sides of the upper nailer part 13, and the height of the upper nailer through hole axis and the upper nailer part 13 The direction is vertical, and the gap between the upper nailer upper gasket 132 and the upper nailer lower gasket 133 can be adjusted by adjusting the second connecting bolt 134, so that the size of the upper nailer through hole can be changed. Furthermore, the nailing device Q3 passing through the through hole of the nailing device can be clamped and fixed to form the nailing mechanism 13A, and the head of the nailing device Q3 is the head of the nailing mechanism 13A.

There is an arc-shaped second protrusion 137 on the bottom surface of the upper nailer lower gasket 133 corresponding to the third through groove 138. The second protrusion 137 and the third through groove 138 have the same shape.

Looking up from directly below the upper nailer lower gasket 133, the second protrusion 137 has the same rectangular shape as the upper nailer placement position 112. The second protrusion 137 is embedded in the upper stapler placement position 112 so that the upper stapler portion 13 is horizontally embedded on the upper stapler placement position 112.

As shown in Figure 6, the tapping part 12 is in the shape of a cuboid, used to connect with the rod-shaped tapping device Q2 to become a tapping mechanism, and is detachably set on the tap placement position 113, including the tapping device holding card 1212 and setting Hold the third sensor 1211 on the upper part of the card 1212 on the wire tapper.

The wire tapper holding card 1212 is in the shape of a cuboid, the upper end surface has a flat-bottomed square recess 12121, and the bottom surface of the square recess 12121 is parallel to the horizontal plane. The wire tapper holding card 1212 fixes the square third sensor 1211 in the square recess 12121 through four adjustable fastening screws located on the upper part of the four sides of the wire tapper holding card 1212. In this embodiment, the third sensor 1211 is preferably an LPMS-B2 nine-axis Bluetooth attitude sensor with a switch and a communication status indicator. The operating temperature is -20°C-60°C, rechargeable, and can be used continuously for 8 hours under full power. .

The tapping device holding card 1212 is provided with tapping through holes 12122 passing through the two corresponding sides of the tapping part 12. The tapping through holes 12122 are arranged below the square recess 12121. The axis of the tapping through holes 12122 is aligned with the tapping The height direction of the section 12 is vertical. A gap 12124 extends from the edge of the thread tapper through hole 12122 in a direction parallel to the bottom surface of the square recess 12121. The gap 12124 divides one side of the thread tapper holding card 1212 into two free ends, which are the upper part of the gap 12124. The free end B and the lower free end A located at the lower part of the gap 12124.

As shown in Fig. 7 and Fig. 8, a threaded through hole 12126 is provided at the two corners of the lower free end A close to the thread tapper holding card 1212, and the upper free end B is close to the two corners of the thread tapper holding card 1212. A threaded blind hole 12125 is respectively provided. The threaded blind hole 12125 corresponds to the threaded through hole 12126. When the adjusting screw 122 is screwed into the threaded through hole 12126 and the threaded blind hole 12125, the adjusting screw can be screwed into the threaded blind hole 12125. The width of the gap 12124 is adjusted by the depth of the gap 12124 to make the size of the tapper through hole 12122 change, and then the tapper Q2 passing through the through hole of the tapper can be clamped and fixed to form the tapping mechanism 12A. The head is the head of the wire tapping mechanism 12A.

A third protrusion 12123 is provided in the middle of the bottom surface of the thread tapper holding card 1212. The third protrusion 12123 is in the shape of a rectangular parallelepiped and its length direction is consistent with the axial direction of the thread tapper through hole 12122.

Looking up from directly below the wire tapping device holding card 1212, the shape of the third protrusion 12123 is the same rectangle as the wire tap placement position 113. The third protrusion 12123 is embedded in the tap placement position 113 so that the tap portion 12 is horizontally embedded on the tap placement position 113.

The center points of the first sensor 1411, the second sensor 1311, and the third sensor 1211 are all located on the same straight line. The distance from the opener portion 14 to the upper stapler portion 13 is taken as the first distance, and the upper stapler portion 13 to the tapping portion 12 is taken as the second distance. Both the first distance and the second distance are equal to the predetermined length. In this embodiment, The predetermined length is 1 cm.

The opener part 14, the nailer part 13 and the tapping part 12 are sequentially removed from the initial position positioning plate 10, and the first connecting bolt 144, the second connecting bolt 134 and the adjusting screw 122 are loosened.

Pass the opener Q1 through the opener part 14 through the opener through hole and tighten the first connecting bolt 144 so that the opener part 14 and the opener Q1 are fixed together to obtain the open circuit mechanism 14A; pass the through hole of the tapping device Q2 through the tap Part 12 and tighten the adjusting screw 122 so that the tapping part 12 and the tapping device Q2 are fixed together to obtain the tapping mechanism 12A; pass the upper nailer Q3 through the upper nailer part 13 through the upper nailer through hole and tighten the second connecting bolt 134 fixes the nailing device 13 and the nailing device Q3 together to obtain the nailing mechanism 13A, and the head of the nailing device Q3 is the head 13A of the nailing mechanism. In this embodiment, in this embodiment, the opener Q1, the nailing device Q3, and the tapping device Q2 are all rods with a circular cross-section and have a top end and a handle end for people to hold.

Place the opening mechanism 14A, the nailing mechanism 13A, and the tapping mechanism 12A from left to right, corresponding to the opener placement position 111, the nail placement position 112 and the tapping position 113 embedded on the initial position positioning plate 10 in turn. At this time, the opener Q1, the nailer Q3, and the wire tapper Q2 are parallel to each other. In this embodiment, the handle ends of the opener Q1, the nailer Q3, and the wire tapper Q2 are all set toward the back of the initial position positioning plate 10.

The first sensor 1411 is used to collect the coordinates of the instant spatial location point of the first sensor 1411, the second sensor 1311 is used to collect the coordinates of the instant spatial location point of the second sensor 1311, and the third sensor 1211 is used to collect the third sensor The coordinates of the instant spatial position point where 1211 is located. In this embodiment, when the first sensor 1411, when the second sensor 1311, and when the switch of the third sensor 1211 is turned on, the corresponding communication status indicator is in the first blinking state When the communication connection with the central management device 20 is completed, the communication status indicator changes to the second blinking state.

The instant space position of the first sensor 1411 is taken as space point A, the coordinates of space point A are open-circuit coordinates, the instant space position of the second sensor 1311 is taken as space point B, and the coordinates of space point B are the nailing coordinates. The instant space position point of the third sensor 1211 is taken as the space point C, and the coordinates of the space point C are the tapping coordinates. The line between the space point A and the space point B is called the space line AB, and the line where the space point B and the space point C are located Called the space line BC.

The angle between the space line AB and the space line BC is less than or equal to 1/100 degrees, the distance between the space point A and the space point B, and the distance between the space point B and the space point C are all equal to the predetermined length. In this embodiment, the space The line AB coincides with the space line BC, the distance between space point A and space point B, and the distance between space point B and space point C are all 1 cm.

The central management device 20, operated by the device operator, is in communication connection with the positioning and guiding device 10, and is used to obtain and record the coordinates of the spatial position points of the opener Q1, the tapping device Q2, and the nailing device Q3 connected to the positioning and guiding device 10 Calculate the coordinates of the spatial location point to obtain the internal fixed channel parameters, and guide the operation of the tapping device Q2 and the nailer Q3 according to the internal fixed channel parameters. The central management device 20 is any one of a desktop computer, a notebook computer, or a tablet computer. In this embodiment, the central management device 20 is a notebook computer.

The distance between the positioning and guiding device 10 and the central management device 20 is within 10 meters.

The positioning and guiding device 10 is communicated with the central management device 20. When the opening mechanism 14A, the nailing mechanism 13A, and the tapping mechanism 12A are recognized by the central management device 20 through the calibration operation, the communication unit 202 receives the open coordinates and the nailing coordinates. And the tapping coordinates realize that the opening mechanism 14A, the nailing mechanism 13A and the tapping mechanism 12A complete the communication connection. At this time, the opening mechanism 14A, the nailing mechanism 13A and the tapping mechanism 12A are respectively removed from the initial position positioning plate 11. In this embodiment, when the calibration operation is successful, the indicator lights on the three sensors change from flashing to breathing, and the sound prompting part 204 attached to the central management device 20 will emit a "Once per second and a duration of 0.1 second". When "bi" sounds, it means that the communication connection has been completed, and the central management device 20 will be able to perform display operations on the opener Q1, the tapping device Q2, and the nailing device Q3. In this way, the wrong operation of the opening mechanism 14A, the nailing mechanism 13A, and the wire tapping mechanism 12A can be prevented.

As shown in FIG. 9, the center management device 20 includes a communication unit 202, a data call unit 206, a data calculation unit 209, an equipment correction unit 201, a data addition unit 213, a data update unit 214, a data generation unit 207, a data deletion unit 208, The data storage unit 210, the data judgment unit 211, the sound presentation unit 204, the screen storage unit 205, the screen display unit 203, and the control unit 212 connected to the above-mentioned respective units.

The communication unit 202 is used for receiving open-circuit coordinates, nailing coordinates and wire tapping coordinates,

It is used to receive the coordinates of the start point of the open circuit and the coordinates of the end point of the open circuit when the open circuit mechanism 14A is used. The coordinates of the open circuit start point are the coordinates of the instant spatial position point when the head of the open circuit mechanism 14A is placed at the first predetermined point. The opening mechanism drills to a predetermined depth to obtain the coordinates of the instant space position point when the opening hole is opened,

It is used to receive the coordinates of the start point of the tapping and the coordinates of the instant point of the tapping when the tapping mechanism 12A is used. The coordinates of the tapping start point are the coordinates of the instantaneous space position when the head of the tapping mechanism 12A is placed at the first predetermined point. The coordinates of the instant point of tapping are the coordinates of the instant spatial position point when the tapping mechanism 12A taps the open channel to obtain the tapping channel.

It is used to receive the coordinates of the starting point of nailing and the coordinates of the immediate point of nailing when using the nailing mechanism 13A. The coordinates of the starting point of nailing are the coordinates of the instant space position point when the head of the nailing mechanism 13A is placed at the first predetermined point. The real-time coordinates of the nail are the coordinates of the real-time spatial position point when the screw mechanism 13A places the pedicle screw in the tapping hole;

The data calling part 206 is used to call the open-circuit coordinates, the nailing coordinates and the tapping coordinates received by the communication part 202;

The data calculation unit 209 is used to calculate the coordinates of the open start point and the end point of the open circuit to obtain the corresponding open travel direction when the open circuit mechanism 14A is used, and is used to calculate the coordinates of the start point and instant point coordinates of the wire tapping when the wire tapping mechanism 12A is used. Perform calculations to obtain the corresponding initial direction of the screw tap, which is used to calculate the starting point coordinates of the nail and the instant point coordinates of the nail when the nailing mechanism 13A is used to obtain the corresponding initial direction of the nail.

The instrument calibration unit 201 divides the opening mechanism 14A, the nailing mechanism 13A, and the tapping mechanism 12A according to the angle between the space line AB and the space line BC, the distance between the space point A and the space point B, and the distance between the space point B and the space point C Perform the calibration operation. When the angle between the space line AB and the space line BC is less than or equal to 1/100 degrees, the distance between the space point A and the space point B, and the distance between the space point B and the space point C are all predetermined lengths, the calibration is passed, The central management device 20 communicates with the opening mechanism 14A, the nailing mechanism 13A, and the tapping mechanism 12A. Otherwise, the central management device 20 will disconnect the communication connection with the opening mechanism 14A, the nailing mechanism 13A, and the tapping mechanism 12A. In the embodiment, the distance between the space point A and the space point B, and the distance between the space point B and the space point C are both 1 cm;

The data generating unit 207 is used to generate an open data string, a nailing data string and a wire tapping data string;

The data adding part 213 is used to add the open-circuit coordinates to the open-circuit data string, add the screw-up coordinates to the screw-up data string, and add the wire tap coordinates to the wire tap data string;

The data update unit 214 is used to update the open data string, the nailing data string and the wire tapping data string;

The data deleting unit 208 is used to delete the open data string;

The data storage unit 210 is used to store the calculation result value as a reference result value;

The sound prompt part 204 is used to emit different frequency beeps according to different judgment result values, including a normal state prompt beep sound and an abnormal state prompt beep sound;

The screen storage unit 205 stores a management screen as shown in FIG. 10. The management screen includes a control key area C, a position display area V, and a data display area D.

The control button area C contains a plurality of buttons. Through the operation of the plurality of buttons, the corresponding processing of the open-circuit coordinates, the nailing coordinates and the tapping coordinates are realized, and the central management device 20 is then driven according to the opening mechanism 14A, the nailing mechanism 13A and the wire The movement of the attack mechanism 12A performs corresponding operations. Including the accessor selection buttons used to generate the open-circuit data string, the nailing data string and the wire tapping data string, the initialization button for selecting the type and position of the pedicle to be fixed, and the initialization buttons for obtaining the open-circuit coordinates, the nailing coordinates and the wire respectively. The record button of tapping coordinates, the mark button to update and save the open data string, the exit button to delete the open data string that has not been updated and saved, and the button to choose to turn on or off the prompt buzzer sound from the sound prompt Prompt tone switch button.

The position display area V graphically displays the position of the open-circuit coordinates, the nail coordinates and the tapping coordinates, including a position target image V1, which is composed of multiple concentric circles and the diameters of the multiple concentric circles are from small to large In an arithmetic sequence, the position target image V1 shows graphic marks of open-circuit coordinates, nailing coordinates, and tapping coordinates.

The data display area D is used to display the values of open-circuit coordinates, nail-up coordinates and tapping coordinates, and is divided into two sides of the position display area V.

The screen display part 203 is used to display the management screen. The function of the management screen is to display the open coordinate, the nail coordinate and the graphic mark of the tap coordinate in the position display area V, and the open coordinate and the nail coordinate in the position data display area D And the value of the tapping coordinates and the corresponding processing of the open-circuit coordinates, the nailing coordinates and the tapping coordinates through multiple keys in the control key area C;

In the position display area V, the multiple loops of the position target image V1 are displayed in red in the initial state. After the positioning and guiding device 10 and the central management device 20 complete the communication connection, graphic marks P1, P2, P3 representing the spatial positions of the open-circuit coordinates, the nailing coordinates, and the tapping coordinates respectively appear in the position target map image V1. In this embodiment, the graphic mark P1 of the open coordinate, the graphic mark P2 of the nailing coordinate, and the graphic mark of the tapping coordinate are a green dot, a red dot, and a yellow dot, respectively.

When the accessor selection button is pressed, a drop-down menu will appear below. The drop-down menu includes the "opener" tab, the "nailer" tab and the "wire tap" tab. When the "opener" tab When selected, an open data string will be generated in the data generating unit 207. When the "nailer" tab is selected, a nailing data string will be generated in the data generating section 207. When the "wire tap" tab is selected, a wire tap data string will be generated in the data generating section 207.

The initialization button is used to select the type and position of the internal fixation pedicle and write the related information of the pedicle into the open data string, the nailing data string and the wire tapping data string. "Initialize" is displayed on the surface of this button. After pressing this button, as shown in Figure 11, the button will display two rows and two columns of three buttons arranged in a matrix and an input box. They are the vertebrae of the pedicle type to be operated at the upper left corner of the matrix. Arch root type selection button, press this button, a drop-down menu will appear below, which are: tab "C", representing the cervical spine; tab "T", representing the thoracic spine, tab "L", representing the lumbar spine, tab " S" represents the sacrum; the pedicle position selection button at the upper right corner of the matrix, select the corresponding pedicle type in the pedicle type selection button, and then press this button, a drop-down menu will appear below, including It is displayed as the sequence number of the selected pedicle type starting from "1". The sequence number is determined based on common knowledge in the field; the left and right side selection buttons of the pedicle located in the lower left corner of the matrix, press this button, A drop-down menu will appear below, which are: the tab with "L" on the surface represents the left side, and the button with "R" on the surface represents the right side (according to common knowledge in the field, the human pedicle is butterfly-shaped, divided into left and (Right side), after the above three buttons select the corresponding tabs, the pedicle type, the sequence position of the pedicle and the direction of the pedicle internal fixation of the internal fixation operation are determined; the input box at the lower right corner of the matrix is Remark input box, used to manually input remarks. The three information data of internal fixation pedicle type, position and operation position will be added into the open-circuit data string, nailing data string or wire tapping data string. In this embodiment, the key combination shown in FIG. 12 indicates that the operation of nailing the right side of the fifth thoracic vertebra is ready to be performed.

The record button is used to obtain the coordinates of the open circuit, the coordinate of the nail and the coordinate of the tapping. Specifically, the surface of the record button initially displays "record". When the open mechanism 14A is operated, after pressing this button, the display on the button surface will be At the same time, the control unit 212 controls the open-circuit coordinates acquired by the data calling unit 206 as the open-circuit starting point coordinates and adds the open-circuit data string through the data adding unit 212. When the button is pressed again, the display on the button surface will change to At the same time, the control unit 202 controls the open coordinate acquired by the data calling unit 206 as the second open coordinate and adds the open data string through the data adding unit 212, and controls the data computing unit 209 to pass the open starting point in the open data string The coordinates and the coordinates of the open end point are calculated to obtain the open travel direction and used as the open calculation result value. The open direction is the direction of the straight line where the open start point coordinates and the open end point coordinates are located; when the nailing mechanism 13A is operated, the button surface is displayed after being pressed It will become "end". At the same time, the control unit 212 controls the nailing coordinates acquired by the data calling unit 206 as the starting point coordinates of the nailing and adds the nailing data string through the data adding unit 212, and the nailing mechanism 13A is continuously operating. , According to the real-time nailing coordinates acquired by the data calling unit 206 as the nailing real-time point coordinates, the control unit 212 calculates the nailing starting point coordinates and the nailing real-time point coordinates through the data computing unit 209 to obtain the nailing travel direction and use it as the nailing calculation The result value, the traveling direction of the nail is the direction of the straight line where the start point coordinates of the nail and the instant point coordinates of the nail are located. When the record button is pressed again, the button surface display will change to "record". The point coordinates are used as the first nailing coordinates, and the nailing operation is continued until the end of the nailing operation, and the obtained nailing instant point coordinates are used as the second nailing coordinates, and the control part 202 will control the data calling part 206 to no longer obtain new nailing coordinates; When the tapping mechanism 12A is operated and pressed, the display on the button surface will change to "end". At the same time, the control unit 212 controls the tapping coordinates acquired by the data calling unit 206 as the tapping starting point coordinates and adding them through the data adding unit 212 Enter the wire tapping data string, and during the continuous operation of the tapping mechanism 12A, the real-time wire tapping coordinates acquired by the data calling unit 206 are used as the real-time tapping coordinates, and the control unit 212 uses the data computing unit 209 to compare the coordinates of the tapping start point and the wire tapping point. The tapping instant point coordinates are calculated to obtain the tapping direction and used as the tapping calculation result value. The tapping direction is the direction of the straight line where the tapping start point coordinates and the tapping instant point coordinates are located. When the record button is pressed again, the button surface will display Will become "record". At this time, the obtained instant point coordinates of the wire tap will be used as the first tap coordinate, and the tapping operation will be continued until the end, and the obtained instant point coordinates of the tap will be used as the second tap coordinate. The control data calling unit 206 no longer obtains new tapping coordinates.

The mark button is used to mark the open-circuit travel direction and the open-circuit distance obtained through the acquisition operation. Specifically, the surface of the mark button displays "mark". When the open mechanism 14A presses this button after the acquisition operation, the data update unit 214 will Replace the first open-circuit coordinate and the second open-circuit coordinate in the open-circuit data string with the open-circuit travel direction and the open-circuit travel distance, and save the new open-circuit data string to the data storage unit 210. At this time, in the position target map image V1, The graphic mark P1 will be covered with a blue dot. Use the open circuit calculation result value as the reference result value.

"Exit" is displayed on the surface of the exit button. When pressed, the control unit 212 controls the data deletion unit 208 to delete the open data string that has not been marked.

The data judgment part 211 compares the reference result value and the calculation result value to obtain the corresponding judgment result value, which specifically includes comparing the thread tapping calculation result value with the reference result value. When they are equal, the judgment result value is "2"; no When they are equal, the judgment result value is "1"; compare the nailing calculation result value with the reference result value, when they are equal, the judgment result value is "2"; when they are not equal, the judgment result value is "1";

When the judgment result value is "2", the multiple circle line display of the position target image V1 will change from red to green, and the corresponding graphic mark P2 or graphic mark P3 coincides with the graphic mark P1; when the judgment result value is "1", The voice prompting part will emit an abnormal state prompting buzzer. When the judgment result value is "1", the voice prompting part will emit a normal state prompting buzzer and the multiple loops of the position target image V1 are displayed in red.

The prompt sound switch button is used to select to turn on or turn off the prompt buzzer sound emitted by the central management device 20. as well as

The control unit 212 is respectively connected to each unit, and is used for controlling each of the above-mentioned units to perform corresponding functions according to the operation of the device operator in the control key area.

As shown in Figure 13 (a)-Figure 13 (c), the implementation of the spine pedicle fixation positioning and guiding system combined with practical applications includes the following steps:

Connecting the opener Q1, the nailing device Q3, and the wire tapping device Q2 to the positioning and guiding device 10 to obtain the opening mechanism 14A, the tapping mechanism 12A, and the nailing mechanism 13A;

Place the positioning guide device 10 directly in front of the screen of the central management device 20 and turn on the sensors to perform the calibration operation;

After the calibration operation is completed, the real-time coordinates of the first sensor 1411 corresponding to the opening mechanism 14A are obtained and used as the open coordinates, and the real-time coordinates of the second sensor 1311 corresponding to the nailing mechanism 13A are obtained and used as the nailing coordinates, and the second sensor 1311 corresponding to the tapping mechanism 12A is obtained. The real-time coordinates of the three sensors 1211 are used as the tapping coordinates, and the opening mechanism 14A, the nailing mechanism 13A, and the tapping mechanism 12A are removed from the initial position positioning plate 11;

Determine the nail insertion point on the surface of the pedicle that needs internal fixation as the first predetermined point, operate the opening mechanism 14A, align the head of the opening mechanism 14A with the first predetermined point, and keep the opening mechanism 14A stationary;

In the control function button area C, select "opener" for the access button, and the control unit 212 will control the data generating unit 207 to generate an open data string;

Press the record button, the control unit 212 uses the open-circuit coordinates acquired by the control data calling unit 206 as the open-circuit starting point coordinates, and adds the open-circuit initial coordinates to the open-circuit data string through the data adding unit 213;

Use the open-circuit mechanism 14A to perform the open-circuit operation, that is, open an open channel for placing the pedicle internal fixation screw into the pedicle with the nail entry point as the entrance. After the open circuit is completed, keep the open-circuit mechanism 14A in place;

Press the record button again, the control unit 212 takes the open coordinates acquired by the control data calling unit 206 as the open end coordinates and adds them to the open data string through the data adding unit 213, and obtains the open according to the first open coordinates and the second open coordinates Direction of travel and distance of open road travel;

Press the mark button, the control unit 212 controls the data update unit 214 to replace the first open coordinate and the second open coordinate in the open data string with the open travel direction and the open travel distance, and then store the open data string into the data storage unit 210, The open-circuit travel direction is used as the reference result value, and the open-circuit mechanism 14A is set aside;

Operate the tapping mechanism 12A to tap the open channel so that the head of the tapping mechanism 12A is aligned with the first predetermined point. At this time, the data calling unit 206 uses the obtained tapping coordinates as the tapping starting point coordinates;

Manually rotate the tapping mechanism 12A slightly to cause the head of the tapping mechanism 12A to produce slight direction changes and distance changes. At this time, the data calling part 206 uses the tapping coordinates obtained in real time as the tapping instant point coordinates;

The data computing part 209 calculates the coordinates of the start point of the tapping and the coordinates of the instant point of the tapping to obtain the initial direction of the tapping;

The data judging part 211 judges whether the initial direction of the tapping is consistent with the reference result value, if they are not consistent, go to step S14, if they are consistent, go to step S15;

The sound prompt part 204 emits an abnormal state prompt buzzer, and then proceeds to step S11;

The voice prompt part 204 emits a normal state prompt buzzer and the multiple loop line display of the position target image V1 will change from red to green. In the control function button area C, select the "wire tap" button for the access device, and the data generation part A wire tapping data string will be generated;

Press the record button, the control unit 212 uses the tap coordinates acquired by the control data calling unit 206 from the communication unit 202 as the first tap coordinates, and adds the first tap coordinates to the tap data string in the data generation unit 207;

The tapping mechanism 12A is used to tap the open channel. During the tapping process, the data calling unit 206 uses the tapping coordinates obtained immediately as the second tapping coordinates;

The data calculation part 209 calculates the second thread tap coordinates and the first thread tap coordinates to obtain the thread tap travel direction and the thread travel distance, and uses the thread tap travel direction as the thread tap calculation result value;

The data judging part 211 judges whether the thread tapping calculation result value is consistent with the reference result value, if they are not consistent, go to step S20, if they are consistent, go to step S21;

In the open channel, the tapping mechanism is slightly rotated to change the second tapping coordinates. The data computing unit 209 calculates the second tapping coordinates and the first tapping coordinates to obtain the adjusted tapping direction as the new tapping direction. Tap the calculated result value, and then return to step S19;

When monitoring whether the graphic mark P1 and the graphic mark P2 in the target map image V1 overlap, if they overlap, it means that the wire tapping travel distance is consistent with the open path travel distance, go to step S22, if not, go to step S17;

Press the record button again, the tapping operation is completed, and the tapping hole is obtained, and the tapping mechanism 12A is taken out and set aside;

Attach the internal fixation screw to the head of the nailing mechanism 13A, operate the nailing mechanism 13A to align the head of the nailing mechanism 13A with the first predetermined point, and the data calling part 206 will use the acquired nailing coordinates as the starting point of the nailing coordinate;

Manually rotate the nailing mechanism 13A slightly to cause the head of the nailing mechanism 13A to produce slight direction changes and distance changes. At this time, the data calling part 206 uses the acquired nailing coordinates as the nailing instant point coordinates;

The data computing part 209 calculates the starting point coordinates of the nailing and the coordinates of the immediate point of the nailing to obtain the initial direction of the nailing;

The data judging part 211 judges whether the initial direction of the nailing is consistent with the reference result value, if they are not consistent, go to step S27, if they are consistent, go to step S28;

The sound prompt part 204 emits an abnormal state prompt buzzer, and then proceeds to step S24;

The voice prompt part 204 emits a normal state prompt buzzer and the multiple loop line display of the position target map image V1 will change from red to green. In the control function button area C, select the "nailer" for the entry button, and the data generation part A pinned data string will be generated;

Press the record button, the control unit 212 takes the nailing coordinates acquired by the control data calling unit 206 from the communication unit 202 as the first nailing coordinates, and adds the first nailing coordinates to the nailing data string in the data generating unit 207;

The nailing mechanism 13A is used to perform the nailing operation on the threaded hole. During the nailing process, the data calling part 206 uses the acquired nailing coordinates as the second nailing coordinates;

The data calculation part 209 calculates the second nailing coordinate and the first nailing coordinate to obtain the nail travel direction and the nail travel distance, and uses the nail travel direction as the nail calculation result value;

The data judging part 211 judges whether the nailing calculation result value is consistent with the reference result value, if they are not consistent, go to step S33, if they are consistent, go to step 34;

In the tap hole, slightly rotate the nailing mechanism 13A to change the second nailing coordinate. The data computing unit 209 calculates the second nailing coordinate and the first nailing coordinate to obtain the adjusted nail travel direction as the new Calculate the result value of nailing, and then return to step S32;

When monitoring whether the graphic mark P1 and the graphic mark P3 in the target map image V1 overlap, if they overlap, it means that the wire tapping travel distance is consistent with the open path travel distance, go to step S35, if not, go to step S30;

Press the record button again to complete the nailing operation.

The above implementation steps require the cooperation of the physician operating the positioning guiding device 10 and the system operator operating the center management device 20. Steps S1-S3 can be performed by the physician or system operator, and the physician operations are steps S4, S7, S10. , S11, S17, S20, S23, S24, S30, S33, among which steps S5, S6, S8, S9, S16, S22, S28, S29, S35 are involved in the operation of system operators, and the rest are all central management devices 20 automatic completion.

As shown in Figure 14 (a)-Figure 14 (b), a fixed positioning and guiding system is used to accurately position and guide the opening mechanism 14A, the tapping mechanism 12A, and the screw mechanism 13A to complete the implantation of the pedicle screw The steps of pedicle screw implantation method T100 are as follows:

Step T1: The communication unit 202 obtains the coordinates (i.e., real-time space coordinates) of the instant spatial position points of the opening mechanism 14A (i.e., the opening assembly), the tapping mechanism 12A (i.e., the tapping assembly), and the nailing mechanism 13A (i.e., the nailing assembly) ; Include the following sub-steps:

Step T1-1: Install the opener Q1 to the opener portion 14 to form an open circuit mechanism 14A, install the tapping device Q2 to the tapping portion 13 to form a tapping mechanism 12A, and install the nailer Q3 on the nailer portion 12 to form Nail mechanism 13A;

Step T1-2: Place the opening mechanism 14A, the tapping mechanism 12A, and the nailing mechanism 13A on the opener placement position 111, the nail placement position 112, and the tapping placement position 113, respectively;

Step T1-3: The central management device 20 (ie, the external device) obtains the coordinates of the instant spatial location points of the first sensor 1411, the second sensor 1311, and the third sensor 1211, and combines the first sensor 1411, the second sensor 1311, and the The real-time coordinates of the three sensors 1211 are used as the coordinates of the real-time spatial position point of the corresponding opening mechanism 14A, the real-time coordinates of the tapping mechanism 12A, and the real-time spatial position point of the nailing mechanism 13A;

Step T2: Remove the opening mechanism 14A, the tapping mechanism 12A, and the nailing mechanism 13A from the opener placement position 111, the nail placement position 113, and the tapping placement position 112 respectively;

Step T3: Operate the opening mechanism 14A to perform an opening operation on the surface of the pedicle to obtain an open channel, and the central management device 20 obtains the coordinates of the open start point and the open end point of the open channel, which specifically includes the following sub-steps:

Step T3-1: Determine the drilling point on the surface of the pedicle of the spine that needs to be fixed as the first predetermined point, place the head of the opening mechanism 14A at the first predetermined point, and set the real-time spatial position point obtained by the central management device 20 The coordinates are used as the starting point coordinates of the open circuit;

Step T3-2: Operate the opening mechanism 14A to drill a hole into the pedicle to a predetermined depth to obtain an open channel. At this time, the real-time coordinates obtained by the central management device 20 are used as the open end coordinates.

Step T4: The central management device 20 obtains the open direction and open distance according to the coordinates of the start point of the open circuit and the coordinates of the end point of the open circuit, and at this time, takes out the open circuit mechanism 14A;

Step T5: Operate the tapping mechanism 12A to tap the open channel to obtain the tapping channel. At this time, the central management device 20 obtains the tapping start point coordinates and the instantaneous point coordinates of the tapping channel through the second sensor 1311, which specifically includes the following step:

Step T5-1: Place the head of the wire tapping mechanism 12A at the first predetermined point, and the coordinates of the instant spatial position point obtained by the central management device 20 at this time are used as the wire tapping starting point coordinates;

Step T5-2: Operate the tapping mechanism 12A to tap the open channel to obtain the tapping channel. At this time, the coordinates of the instant spatial position point obtained by the central management device 20 are used as the instantaneous point coordinates of the tapping.

Step T6: The central management device 20 obtains the tapping direction and the tapping distance according to the coordinates of the instant point of the tapping and the coordinates of the start point of the tapping;

Step T7: The central management device 20 judges whether the tapping direction and the opening direction are the same, when the tapping direction is different from the opening direction, go to step T8, and when the tapping direction is the same as the opening direction, go to step T9;

Step T8: The central management device 20 sends out the first error alarm signal, and changes the tapping direction by adjusting the instant position of the tapping mechanism 12A to change the tapping instant point coordinates, and then enters step T7;

Step T9: The central management device 20 judges whether the tapping distance and the open circuit distance are equal. When the tapping distance is equal to the open circuit distance, the central management device 20 sends out the first correct prompt signal, takes out the tapping mechanism 12A, and enters step T10. When the wire distance is not equal to the open distance, continue the tapping operation so that the central management device 20 obtains the new wire tapping instant point coordinates, and enters step T6;

Step T10: Operate the screwing mechanism 13A provided with pedicle screws to place the pedicle screw in the tapping hole. At this time, the third sensor 1211 obtains the coordinates of the starting point of the screw and the coordinates of the instant point of the screw, which specifically includes the following sub-steps:

Step T10-1: Place the nailing mechanism 13A provided with the pedicle screw at the first predetermined point, and the coordinates of the instant space position point obtained by the central management device 20 at this time are used as the starting point coordinates of the nailing;

Step T10-2: Operate the screwing mechanism 13A to place the pedicle screw in the tapping channel, and at this time, the coordinates of the instant spatial position point obtained by the central management device 20 are used as the instantaneous point coordinates of the screw.

Step T11: The center management device 20 obtains the nailing direction and the nailing distance according to the nailing instant point coordinates and the nailing starting point coordinates;

Step T12: The central management device 20 judges whether the nailing direction and the opening direction are the same, when the nailing direction is different from the opening direction, go to step T13, and when the tapping direction is the same as the opening direction, go to step T14;

Step T13: The central management device 20 sends out a second error alarm signal, and changes the direction of the nail by adjusting the immediate position of the nailing mechanism 13A to change the coordinates of the nailing instant point, and then proceeding to step T12;

Step T14: The data judging unit 211 judges whether the screwing distance and the open distance are equal. When the tapping distance and the open distance are not equal, continue the screwing operation so that the external device obtains the new screwing instant point coordinates, and then enters step T11; When the nail distance is equal to the open distance, the voice prompt part 204 sends out the second correct prompt signal and enters the end state.

The function and effect of the embodiment

The spine pedicle fixation positioning and guiding system according to this embodiment includes a positioning and guiding device and a central management device. The positioning and guiding device includes an initial position positioning plate, an opener part, a nailer part and a tapping part, and the central management The device includes an instrument calibration part, the initial position positioning plate has an opener placement position, a nailer placement position, and a tap placement position; the opener part is set on the opener placement position and has an opener through hole; the nailer part is set on The nailer is placed on the position and has a through hole for the nailer; the tapping part is set on the tap position and has a through hole for the tapper, the through hole of the opener, the through hole for the nailer and the hole diameter of the tapper through hole Both can be adjusted within a certain range. The opener part, the nailer part and the tapping part are all equipped with sensors, and the three sensors are the same sensor. The axis of the opener through hole, the axis of the nailer through hole and the axis of the threader through hole are all Parallel to each other. When the opening mechanism obtained by connecting the opener and the opener part, the nailing mechanism obtained by connecting the nailer and the nailer part, and the nailing mechanism obtained by connecting the wire tap and the wire tapping part are installed in the opener respectively When the position, the nailer placement position, and the tap placement position, the instrument calibration department can perform calibration operations on the opening mechanism, the nailing mechanism and the tapping mechanism; the standard for successful calibration is the spatial position coordinate points collected by the first sensor and The angle between the space position coordinate points collected by the second sensor and the space position coordinate points collected by the third sensor is within 1/100 degrees. Therefore, the design of the positioning guide device can make the position of the opening mechanism, The position of the wire tapping mechanism and the nailing mechanism are quickly and accurately recognized by the central management device. Compared with the previous technology, the system connection operation of the opening mechanism, the nailing mechanism and the wire tapping mechanism is more convenient and simplified;

Because the opening mechanism includes the first sensor, the nailing mechanism includes the second sensor, and the tapping mechanism includes the third sensor, which are respectively connected to the central management device, it can collect the real-time spatial position of the opening mechanism, the wire tapping mechanism and the nailing mechanism. The coordinates are transmitted to the communication part of the central management device, that is, when the opening mechanism, the nailing mechanism and the tapping mechanism are individually operated, the real-time spatial position coordinates of the opening mechanism, the nailing mechanism and the tapping mechanism are collected in real time, thereby The central management device can perform real-time tracking and marking of the opening mechanism, the nailing mechanism and the threading mechanism, so the central management device can quickly and accurately identify and position the opening mechanism, the threading mechanism and the nailing mechanism. The invention has better accuracy and operability than previous technologies.

Because the spine pedicle fixation positioning and guiding system has a positioning and guiding device and a central management device that are communicatively connected, the central management device includes a data calculation unit, a data judgment unit, and a voice prompting unit. The data calculation unit can determine the coordinates of the starting point of the open circuit when using the open circuit mechanism Calculate with the coordinates of the open end point to obtain the corresponding open travel direction and open travel distance. When the tapping mechanism is used, the coordinates of the start point of the tapping and the coordinates of the instant point of the tapping can be calculated to obtain the corresponding initial direction of the tapping. The tapping coordinates and the second tapping coordinates are used to obtain the distance of the tapping. When using the tapping mechanism, the initial point coordinates of the tapping point and the instant point coordinates of the tapping can be calculated to obtain the corresponding initial direction of the tapping. The second tapping coordinate obtains the tapping travel distance; the data judging department can determine whether the initial direction of the tapping and the initial direction of the upper nail are consistent with the open travel direction. When the initial direction of the tapping is judged to be consistent with the open travel direction, the tapping mechanism will open The tunnel begins to perform tapping operations. When it is judged that the initial direction of the tapping is inconsistent with the open-circuit traveling direction, the head of the tapping mechanism is changed in direction to obtain a new initial direction of the tapping. When the tapping operation is performed, the data judgment unit can judge whether the wire tapping travel distance is consistent with the open-circuit travel distance. When it is judged that the wire tapping travel distance is consistent with the open-circuit travel distance, the tapping operation is ended and the nailing operation is started. When the distance between the tapping travel and the open-circuit travel distance is inconsistent, continue the wire tapping operation. When it is judged that the initial direction of the nailing is consistent with the open-circuit traveling direction, the nailing mechanism starts the nailing operation on the tapping hole. When the initial direction of the nailing is judged to be inconsistent with the open-circuit traveling direction, the head of the nailing mechanism is changed to produce direction. Get the new initial direction of the nail. When the nailing operation is performed, the data judging unit can determine whether the nail travel distance is consistent with the open travel distance. When it is determined that the nail travel distance is consistent with the open travel distance, the nailing operation is ended, and the pedicle screw implantation is completed. When it is judged that the nail travel distance is inconsistent with the open travel distance, continue the nailing operation. The voice prompting part is used to emit buzzers of different frequencies according to the judgment result of the data judgment part, that is, the spine pedicle fixation positioning and guiding system of this embodiment can guide based on the opening direction and distance obtained when the opening mechanism is operated The wire tapping mechanism and the nailing mechanism are operated. When the actual movement direction and actual movement stroke of the wire tapping mechanism and the nailing mechanism are the same or inconsistent with the open circuit direction and open distance The spinal pedicle fixation and positioning guide system of the embodiment can quickly and accurately perform spinal pedicle screw implantation, and can simplify the process of spinal pedicle screw implantation compared with the prior art, thereby improving the spinal pedicle screw The implantation operation efficiency can greatly improve the accuracy of the implantation of the spinal pedicle screw.

The foregoing embodiments are preferred cases of the present invention, and are not used to limit the protection scope of the present invention.

Claims

A positioning and guiding device for positioning the spine pedicle fixation device is characterized in that it includes:

The initial position positioning board is in the shape of a plate, and has the position of the opener, the position of the nailer and the position of the wire tap arranged in sequence and parallel to each other;

The opener part is in the shape of a cuboid and is horizontally arranged on the position of the opener, and includes a first sensor ring card assembly, an upper spacer for the opener, and a lower spacer for the opener, which are sequentially connected from top to bottom. Between the upper gasket and the lower gasket of the opener is provided with opener through holes penetrating two corresponding sides of the opener part;

The upper nailer part is in the shape of a rectangular parallelepiped, and is horizontally arranged on the upper nailer placement position, and includes a second sensor ring clip assembly, an upper nailer upper gasket, and an upper nailer lower gasket connected sequentially from top to bottom , An upper nailer through hole penetrating two corresponding sides of the upper nailer portion is provided between the upper nailer upper gasket and the upper nailer lower gasket; and

The wire tapping part, in the shape of a cuboid, is horizontally arranged on the wire tap placement position, and includes a wire tapper holding card assembly, the wire tapping device holding card assembly includes a wire tapping device holding card, and the wire tapping device holding card There are thread tapper through holes penetrating two corresponding sides of the thread tapping part,

Wherein, the first sensor ring clamp assembly is arranged on the upper part of the opener part, and the second sensor ring clamp assembly is arranged on the upper part of the nailer part,

The first sensor ring card assembly includes a first sensor ring card and a first sensor arranged in the first sensor ring card, and the second sensor ring card assembly includes a second sensor ring card and a first sensor arranged in the second sensor The second sensor in the ring card, and the third sensor is arranged in the wire tapper holding card,

The center point of the first sensor, the center point of the second sensor, and the center point of the third sensor are all located on the same straight line.
The positioning and guiding device according to claim 1, wherein:

Wherein, the opener placement position, the nailer placement position, and the wire tap placement position are all rectangular through holes penetrating the lower end surface of the initial position positioning plate.
The positioning and guiding device according to claim 1, wherein:

Wherein, the first sensor ring clip and the second sensor ring clip are both cylindrical, and are used to fix the first sensor and the second sensor.
The positioning and guiding device according to claim 1, wherein:

Wherein, the first sensor, the second sensor, and the third sensor are all attitude sensors.
The positioning and guiding device according to claim 1, wherein:

Wherein, the upper gasket of the opener is a rectangular flat plate, the lower gasket of the opener is a plate with a "V"-shaped first through groove in the middle, and the first through groove notch faces the upper gasket of the opener The first through groove and the gasket on the opener jointly form the through hole of the opener.
The positioning and guiding device according to claim 1, wherein:

Wherein, the upper gasket of the nailer is a rectangular parallelepiped, a second through groove is provided in the middle, and the second through groove has a bottom surface that is a circular arc surface,

The lower gasket of the upper nailer is a plate body, and a third through groove is provided in the middle, and the third through groove has a bottom surface that is a circular arc surface.

The second through-slot notch and the third through-slot notch are arranged oppositely and coincide with each other, and the second through-slot and the third through-slot jointly form the upper nailer through hole.
The positioning and guiding device according to claim 1, wherein:

Wherein, the upper part of the wire tapper holding card has a flat-bottomed square recess, and the bottom surface of the square recess is parallel to the horizontal plane for fixing the sensor,

The thread tapper through hole is arranged under the square recess, and a gap extends from the edge of the thread tapper through hole in a direction parallel to the bottom surface of the square recess, and the gap holds the thread tapper into One side is divided into two free ends.
A spine pedicle fixation positioning and guiding system is used for positioning and guiding a spine pedicle fixation device. The spine pedicle fixation device includes an opener, a wire tap and a nailing device, and is characterized in that: include:

Positioning guides; and

The central management device is in communication connection with the positioning and guiding device;

Wherein, the positioning and guiding device is the positioning and guiding device described in claims 1-7,

The opener part is used to install the opener to form an open circuit mechanism with the opener, and the tapping part is used to install the threaded tap to form a tapping mechanism with the threaded tap. The upper nailer part is used to install the nailer, thereby forming a nailing mechanism with the nailer,

The first sensor, the second sensor, and the third sensor are respectively used to collect the coordinates of the instant spatial location point where the first sensor is located, the coordinates of the instant spatial location point where the second sensor is located, and the location The coordinates of the instant spatial location point where the third sensor is located,

The first sensor is used to collect the coordinates of the instant spatial location point where the first sensor is located, so as to obtain the instant spatial location point of the first sensor as the spatial point A; the second sensor is used to collect the The coordinates of the instant spatial location point where the second sensor is located, so as to obtain the instant spatial location point of the second sensor as the spatial point B; the third sensor is used to collect the instant spatial location point of the third sensor Coordinates to obtain the instant spatial position point of the third sensor as the spatial point C;

The straight line between the space point A and the space point B is a space line AB, and the straight line where the space point B and the space point C are located is a space line BC;

The central management device includes:

The communication part is used to receive open-circuit coordinates, nailing coordinates and wire tapping coordinates,

It is used to receive the coordinates of the start point of the open circuit and the coordinates of the end point of the open circuit when the open circuit mechanism is used. The coordinates of the open circuit start point are the coordinates of the instant spatial position point when the head of the open circuit mechanism is placed at the first predetermined point. The end point is the coordinates of the instant spatial position point when the opening mechanism is drilled to a predetermined depth to obtain the opening channel,

Used to receive the coordinates of the start point of the tapping mechanism and the coordinates of the instant point of the tapping when the tapping mechanism is used, where the coordinates of the tapping start point are the instantaneous space when the head of the tapping mechanism is placed at the first predetermined point The coordinates of the position point, the instant point coordinates of the tapping are the coordinates of the instant space position point when the tapping mechanism taps the open channel to obtain the tapping channel,

It is used to receive the coordinates of the starting point of nailing and the coordinates of the instant point of nailing when the nailing mechanism is used, where the coordinates of the starting point of nailing are the instant space when the head of the nailing mechanism is placed at the first predetermined point The coordinates of the position point, the instant point coordinates of the nailing are the coordinates of the instant spatial position point when the nailing mechanism places the pedicle screw in the tapping channel,

An instrument calibration part, used to perform calibration operations on the opening mechanism, the nailing mechanism, and the wire tapping mechanism;

When the angle between the space line AB and the space line BC is less than or equal to 1/100 degrees, the distance between the space point A and the space point B, the distance between the space point B and the space point C When the distances are equal to the predetermined length, the calibration is completed;

The data calculation unit is used to calculate the coordinates of the opening start point and the coordinates of the open end point when the opening mechanism is used to obtain the corresponding open travel direction, and is used to determine the starting point of the wire tapping when the wire tapping mechanism is used. The coordinates and the coordinates of the instant point of the thread tap are calculated to obtain the corresponding initial direction of the tap, which is used to calculate the coordinates of the starting point of the nail and the coordinates of the instant point of the nail to obtain the corresponding upper direction when the nailing mechanism is used. Nail initial direction,

The data judgment part is used to judge whether the initial direction of the wire tap and the initial line of defense of the upper nail are consistent with the direction of travel of the open circuit, respectively,

When it is judged that the initial direction of the wire tap is consistent with the open-circuit traveling direction, the wire tapping mechanism performs a tapping operation on the open-circuit channel, and when it is judged that the initial direction of the wire tap is inconsistent with the open-circuit traveling direction, let The direction of the head of the wire tapping mechanism changes to obtain a new initial direction of the wire tapping,

When it is judged that the initial direction of the nailing is consistent with the direction of travel of the open circuit, the nailing mechanism performs a nailing operation on the threaded hole. When it is judged that the initial direction of the nail is not consistent with the direction of travel of the open circuit, Change the direction of the head of the nailing mechanism to obtain a new initial direction of nailing;

The control part is used to control the remaining parts of the central management device,

The screen storage unit stores a management screen, the management screen includes: a control button area, a position display area, and a data display area, the control button area includes a plurality of buttons available for operation; and

The screen display part is used to display the management screen,

The control button area includes accessor selection buttons for generating the open-circuit data string, the nailing data string, and the wire tapping data string, and the initialization of the type and position of the fixed vertebrae for pedicle surgery Buttons, record buttons for obtaining the open-circuit coordinates, the nailing coordinates, and the tapping coordinates, respectively, the marking buttons for updating and saving the open-circuit data string, and the open-circuits used to keep the unupdated Exit button to delete the data string.
The spine pedicle fixation positioning and guiding system according to claim 8, wherein:

Wherein, the central management device further includes a data calling part, a data generating part, a data adding part, a data updating part and a data deleting part,

The data calling part is used to call the open coordinates, the nail up coordinates, and the wire tap coordinates;

The data generating part is used to generate open data string, nailing data string and wire tapping data string;

The data adding part is used to add the open-circuit coordinates to the open-circuit data string, add the nail-up coordinates to the nail-up data string, and add the wire tap coordinates to the wire tap data string;

The data update part is used to update the open data string, the nailing data string and the wire tapping data string;

The data deletion unit is used to delete the open data string.
The spine pedicle fixation positioning and guiding system according to claim 8, wherein:

Wherein, the central management device includes a sound prompting unit for emitting beeps of different frequencies according to the judgment result of the data judgment unit,

The control button area includes a prompt sound switch button for selecting to turn on or off the buzzer sound emitted by the sound prompt part.