CN105232154A - Intelligent digital spinal operation device - Google Patents
Intelligent digital spinal operation device Download PDFInfo
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- CN105232154A CN105232154A CN201510639289.6A CN201510639289A CN105232154A CN 105232154 A CN105232154 A CN 105232154A CN 201510639289 A CN201510639289 A CN 201510639289A CN 105232154 A CN105232154 A CN 105232154A
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Abstract
The invention belongs to the technical field of medical instruments and particularly relates to an intelligent digital spinal operation device. The intelligent digital spinal operation device comprises a preoperative application system, a physical processing system and an intraoperative application system, wherein the preoperative application system comprises a spinal operation simulation system, the intraoperative application system comprises a spinal operation navigation system, a spinal operation monitoring system and a spinal operation robot system, and the spinal operation monitoring system comprises a neurophysiological monitoring system and an ultrasonic monitoring system. The intelligent digital spinal operation device has the advantages that the problems of large operative wound surfaces, proneness to causing nerve damage and slowness in body function recovery are solved; the intelligent digital spinal operation device is capable of improving operative safety and precision and safety and accuracy of orthopedic operations, saving intraoperative time, reducing operative wounds, achieving operative minimal invasiveness and precision and avoiding large radiation injuries of intraoperative image navigation to patients and operators, and is simple and convenient to operate without extensive training.
Description
Technical field
The invention belongs to Medical Instruments technical field, particularly relate to intelligent vertebral column digital operation device.
Background technology
In the electronic information technologies epoch of high speed development, the basis of field of spinal surgery, clinical research fast development, spinal surgery clinical technology and digitizing technique combine, define the clinical digital technology of spinal surgery of system, digitizing technique makes spinal surgery treatment clinical course be based upon completely on the basis of computer aided technique, enable operative doctor high efficiency, high accuracy, the distribution of disease is understood on 3 D stereo ground, form, structure, thus science judgment operation is accused of, formulate best operation plan, navigation system in spinal surgery art, monitoring system in spinal surgery art, the effect of spinal operation robot system in spinal surgery is obvious, it is large to there is operation wound face in prior art, nerve is easily impaired, recover the problem that body function is slow.
Summary of the invention
The invention provides intelligent vertebral column digital operation device, propose operation wound face greatly to solve in above-mentioned background technology, nerve is easily impaired, recovers the problem that body function is slow.
Technical problem solved by the invention realizes by the following technical solutions: intelligent vertebral column digital operation device, comprise application system in operation consent application system, system of processing in kind, operation, described operation consent application system comprises spinal operation analogue system, in described operation, application system comprises spinal operation navigation system, spinal operation monitoring system, spinal operation robot system, and described spinal operation monitoring system comprises Electrophysiology monitoring system, ultrasonic monitoring system;
Described operation consent application system through system of processing in kind for operation in application system mock-up is provided;
Described spinal operation analogue system is suffered from body medical image data for obtaining operation consent and sets up image-context and mock-up environment according to described medical image data, under described image-context and mock-up environment, set up corresponding former, carry out internal fixation material according to described former moulding or set up digitalized navigation template in advance, described digitalized navigation template is for locating entry point and entering to follow closely track;
Vertebral body and operation tool are shown in display to determine cutting path and operation tool position for obtaining operation Chinese medicine image by described spinal operation navigation system;
Described Electrophysiology monitoring system is used in spinal column cone pedicle screw implantation process, judges whether screw departs from pedicle of vertebral arch or judge nerve root whether pressurized through EMG through electric heating test;
Described ultrasonic monitoring system is for locating pedicle of vertebral arch screw hole site and judging whether pedicle screw passes pedicle of vertebral arch;
Described spinal operation robot system is also holed and grinding to pedicle of vertebral arch before implantation for the location place of traction machine mechanical arm to pedicle screw.
Further, described spinal operation analogue system, also under described image-context and mock-up environment, is carried out the observation of arbitrary orientation, measurement, amplification according to described mathematical model, is carried out simulating cut, implant from standard analog implant.
Further, described traction machine mechanical arm comprises hand traction to the location place of pedicle screw or automatically draws.
Further, described EMG stimulating current is 5mA.
Beneficial effect of the present invention is:
1, this patent continues to bring out due to the area of computer aided spine corrective operation planning system under virtual environment, as the three-dimensional reconstruction system for musculoskeletal diseases such as skoliosis, for the preoperative plan of ankylosing spondylitis and assessment after rectification effect software, the basic fundamental and inserting the screw of complicated pathology making doctor grasp screw placement is trained, the familiar of process is inserted to patient anatomy and screw and can avoid surgical risks, improve the safety of operation.
2, this patent is due to the develop rapidly along with digital virtual technology, three-dimensional operation designing is just constantly explored at clinical field and is applied, the situation of diseased region is shown with three-dimensional visualization form, the development of simultaneous computer aided design techniques can design for spinal operation, surgical simulation, the reset of fracture, the selections of internal fixtion etc. provide foundation more accurately, utilize computer assisted surgery planning technology, doctor can utilize the medical image data of acquisition to set up the three-dimensional digital model of suffering from body on computers, model is carried out to the observation of arbitrary orientation, measure, amplify, carry out various simulating cut, implant the various standard implants obtained from data base, formulate best operation plan, Surgery simulation can carry out in two kinds of environment, i.e. computer graphical environment and mock-up environment, preoperatively utilize computer-aided design and Computer-aided manufacturing, in a short period of time, low cost, expeditiously mock-up is made for Clinical practice, carry out the moulding in advance of internal fixation material or the design pedicle screw Individual Digital navigation template of inserting, can greatly save the time in art like this, reduce operation wound, improve operation degree of accuracy, for provide the personalized designs of science and accurately postoperative evaluation establish biomechanical basis, for clinician's choose reasonable art formula provides scientific basis.
3, this patent adopts navigation system in art to be the important component part in CAOS, it utilizes Roentgen apparatus, CT, the image information that MRI etc. provide and advanced stereotactic system, carry out registration, location, assisted surgery doctor carries out various surgical intervention, we can adopt airmanship in art, on the computer screen that patient vertebral body and operation tool are reacted, doctor watches patient vertebral body and operation tool in screen and operates, doctor can see the perienchyma that past naked eyes can not directly be seen, and determined cutting path and tool position in surgery planning, accurately operate in fact, achieve Wicresoft and the precision of operation.
4, this patent is due in recent years, in art, Electrophysiology monitoring technology inserts the application in process at pedicle screw, while guaranteeing the accuracy of pedicle screw technique for fixing at technology fracture or dislocation, safety, pathological changes and functional location around thereof can also be accomplished, effectively reduce the danger carrying out pedicle screw implanted injured nerve in art, turn avoid the larger RADI that in art, image navigation causes patient and patient simultaneously.
5, this patent adopts intraoperative ultrasound monitoring in art, can show the situation of pedicle screw boring in real time, and then monitor the misplace of pedicle screw and cause operative failure, avoid the consumption of economy and the manpower adopting special navigator etc. to bring, reduce operation time, and do not need to train widely easy and simple to handle.
6, this patent is used in prosthetic replacement, complicated pelvis and fracture of acetabulum, fracture of the sacrum is dislocated, the fields such as intra medullary nail far-end locking and fracture of femoral neck screw are fixing, the position of the pedicle screw of 96% with plan into nail position deviation within 1mm, this system can use with a lot of micro-wound percutaneous internal fixation system coordinated, the RADI of obvious minimizing operative doctor, robot arm aids in computer navigation and combines and be applied to orthopaedics, operative doctor manually the motion of traction machine mechanical arm can improve accuracy and the safety of bone surgery, while not reducing motility, improve the miscellaneous function of robot.
Accompanying drawing explanation
Fig. 1 is the present invention's intelligence vertebral column digital operation device structural representation.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described further:
In figure: 1-operation consent application system, 2-system of processing in kind, application system in 3-operation, 4-spinal operation analogue system, 5-spinal operation navigation system, 6-spinal operation monitoring system, 7-spinal operation robot system, 8-Electrophysiology monitoring system, 9-ultrasonic monitoring system;
Embodiment:
The present embodiment: as shown in Figure 1, intelligence vertebral column digital operation device, comprise application system 3 in operation consent application system 1, system of processing in kind 2, operation, described operation consent application system 1 comprises spinal operation analogue system 4, in described operation, application system 3 comprises spinal operation navigation system 5, spinal operation monitoring system 6, spinal operation robot system 7, and described spinal operation monitoring system 6 comprises Electrophysiology monitoring system 8, ultrasonic monitoring system 9;
Described operation consent application system 1 through system of processing 2 in kind for operation in application system 3 mock-up is provided;
Described spinal operation analogue system 4 is suffered from body medical image data for obtaining operation consent and sets up image-context and mock-up environment according to described medical image data, under described image-context and mock-up environment, set up corresponding former, carry out internal fixation material according to described former moulding or set up digitalized navigation template in advance, described digitalized navigation template is for locating entry point and entering to follow closely track;
Due to the develop rapidly along with digital virtual technology, three-dimensional operation designing is just constantly explored at clinical field and is applied, the situation of diseased region is shown with three-dimensional visualization form, the development of simultaneous computer aided design techniques can design for spinal operation, surgical simulation, the reset of fracture, the selections of internal fixtion etc. provide foundation more accurately, utilize computer assisted surgery planning technology, doctor can utilize the medical image data of acquisition to set up the three-dimensional digital model of suffering from body on computers, model is carried out to the observation of arbitrary orientation, measure, amplify, carry out various simulating cut, implant the various standard implants obtained from data base, formulate best operation plan, Surgery simulation can carry out in two kinds of environment, i.e. computer graphical environment and mock-up environment, preoperatively utilize computer-aided design and Computer-aided manufacturing, in a short period of time, low cost, expeditiously mock-up is made for Clinical practice, carry out the moulding in advance of internal fixation material or the design pedicle screw Individual Digital navigation template of inserting, can greatly save the time in art like this, reduce operation wound, improve operation degree of accuracy, for provide the personalized designs of science and accurately postoperative evaluation establish biomechanical basis, for clinician's choose reasonable art formula provides scientific basis.
Vertebral body and operation tool are shown in display to determine cutting path and operation tool position for obtaining operation Chinese medicine image by described spinal operation navigation system 5;
Because navigation system in employing art is the important component part in CAOS, it utilizes Roentgen apparatus, CT, the image information that MRI etc. provide and advanced stereotactic system, carry out registration, location, assisted surgery doctor carries out various surgical intervention, we can adopt airmanship in art, on the computer screen that patient vertebral body and operation tool are reacted, doctor watches patient vertebral body and operation tool in screen and operates, doctor can see the perienchyma that past naked eyes can not directly be seen, and determined cutting path and tool position in surgery planning, accurately operate in fact, achieve Wicresoft and the precision of operation.
Through electric heating test, described Electrophysiology monitoring system 8, in spinal column cone pedicle screw implantation process, judges whether screw departs from pedicle of vertebral arch or judge nerve root whether pressurized through EMG;
Due in recent years, in art, Electrophysiology monitoring technology inserts the application in process at pedicle screw, while guaranteeing the accuracy of pedicle screw technique for fixing at technology fracture or dislocation, safety, pathological changes and functional location around thereof can also be accomplished, effectively reduce the danger carrying out pedicle screw implanted injured nerve in art, turn avoid the larger RADI that in art, image navigation causes patient and patient simultaneously.
Described ultrasonic monitoring system 9 is for locating pedicle of vertebral arch screw hole site and judging whether pedicle screw passes pedicle of vertebral arch;
Due to the situation adopting intraoperative ultrasound monitoring can show pedicle screw boring in real time in art, and then monitor the misplace of pedicle screw and cause operative failure, avoid the consumption of economy and the manpower adopting special navigator etc. to bring, reduce operation time, and do not need to wake up with a start train widely easy and simple to handle.
Described spinal operation robot system 7 is also holed and grinding to pedicle of vertebral arch before implantation for the location place of traction machine mechanical arm to pedicle screw.
Intelligent vertebral column digital operation device according to claim 1, it is characterized in that, described spinal operation analogue system 4 is also under described image-context and mock-up environment, the observation of arbitrary orientation, measurement, amplification is carried out according to described mathematical model, carry out simulating cut, implant from standard analog implant.
Because the area of computer aided spine corrective operation planning system under virtual environment continues to bring out, as the three-dimensional reconstruction system for musculoskeletal diseases such as skoliosis, for the preoperative plan of ankylosing spondylitis and assessment after rectification effect software, the basic fundamental and inserting the screw of complicated pathology making doctor grasp screw placement is trained, the familiar of process is inserted to patient anatomy and screw and can avoid surgical risks, improve the safety of operation.
3, intelligent vertebral column digital operation device according to claim 1, is characterized in that, described traction machine mechanical arm comprises hand traction to the location place of pedicle screw or automatically draws.
Due to the situation adopting intraoperative ultrasound monitoring can show pedicle screw boring in real time in art, and then monitor the misplace of pedicle screw and cause operative failure, avoid the consumption of economy and the manpower adopting special navigator etc. to bring, reduce operation time, and do not need to wake up with a start train widely easy and simple to handle.
4, intelligent vertebral column digital operation device according to claim 1, is characterized in that, described EMG stimulating current is 5mA.
Operation principle: spinal operation analogue system obtains operation consent and suffers from body medical image data and set up image-context and mock-up environment according to described medical image data, under described image-context and mock-up environment, set up corresponding former, internal fixation material is carried out moulding or set up digitalized navigation template in advance according to described former, described digitalized navigation template is for locating entry point and entering to follow closely track, vertebral body and operation tool are shown in display to determine cutting path and operation tool position for obtaining operation Chinese medicine image by described spinal operation navigation system, Electrophysiology monitoring system is used in spinal column cone pedicle screw implantation process, judge whether screw departs from pedicle of vertebral arch or judge nerve root whether pressurized through EMG through electric heating test, described ultrasonic monitoring system is for locating pedicle of vertebral arch screw hole site and judging whether pedicle screw passes pedicle of vertebral arch, described spinal operation robot system is also holed and grinding to pedicle of vertebral arch before implantation for the location place of traction machine mechanical arm to pedicle screw, the invention solves operation wound face large, nerve is easily impaired, recover the problem that body function is slow, there is the safety improving operation, save the time in art, reduce operation wound, improve operation degree of accuracy, achieve Wicresoft and the precision of operation, avoid the larger RADI that in art, image navigation causes patient and patient, do not need to train widely easy and simple to handle, improve the accuracy of bone surgery and the Advantageous Effects of safety.
Utilize technical scheme of the present invention, or those skilled in the art being under the inspiration of technical solution of the present invention, designing similar technical scheme, and reach above-mentioned technique effect, is all fall into protection scope of the present invention.
Claims (4)
1. intelligent vertebral column digital operation device, it is characterized in that, comprise application system in operation consent application system, system of processing in kind, operation, described operation consent application system comprises spinal operation analogue system, in described operation, application system comprises spinal operation navigation system, spinal operation monitoring system, spinal operation robot system, and described spinal operation monitoring system comprises Electrophysiology monitoring system, ultrasonic monitoring system;
Described operation consent application system through system of processing in kind for operation in application system mock-up is provided;
Described spinal operation analogue system is suffered from body medical image data for obtaining operation consent and sets up image-context and mock-up environment according to described medical image data, under described image-context and mock-up environment, set up corresponding former, carry out internal fixation material according to described former moulding or set up digitalized navigation template in advance, described digitalized navigation template is for locating entry point and entering to follow closely track;
Vertebral body and operation tool are shown in display to determine cutting path and operation tool position for obtaining operation Chinese medicine image by described spinal operation navigation system;
Described Electrophysiology monitoring system is used in spinal column cone pedicle screw implantation process, judges whether screw departs from pedicle of vertebral arch or judge nerve root whether pressurized through EMG through electric heating test;
Described ultrasonic monitoring system is for locating pedicle of vertebral arch screw hole site and judging whether pedicle screw passes pedicle of vertebral arch;
Described spinal operation robot system is also holed and grinding to pedicle of vertebral arch before implantation for the location place of traction machine mechanical arm to pedicle screw.
2. intelligent vertebral column digital operation device according to claim 1, it is characterized in that, described spinal operation analogue system is also under described image-context and mock-up environment, the observation of arbitrary orientation, measurement, amplification is carried out according to described mathematical model, carry out simulating cut, implant from standard analog implant.
3. intelligent vertebral column digital operation device according to claim 1, is characterized in that, described traction machine mechanical arm comprises hand traction to the location place of pedicle screw or automatically draws.
4. intelligent vertebral column digital operation device according to claim 1, is characterized in that, described EMG stimulating current is 5mA.
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| CN201510639289.6A CN105232154A (en) | 2015-09-30 | 2015-09-30 | Intelligent digital spinal operation device |
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| CN201510639289.6A CN105232154A (en) | 2015-09-30 | 2015-09-30 | Intelligent digital spinal operation device |
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Cited By (2)
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| CN111938819A (en) * | 2020-08-15 | 2020-11-17 | 山东大学齐鲁医院 | Spinal surgery minimally invasive surgery navigation system |
| CN112656510A (en) * | 2020-12-21 | 2021-04-16 | 山东大学齐鲁医院 | Spinal surgery robot puncture early warning method and system based on electromyographic signals |
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