CN109223180A - Orthopaedics operation navigation system - Google Patents
Orthopaedics operation navigation system Download PDFInfo
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- CN109223180A CN109223180A CN201811196580.0A CN201811196580A CN109223180A CN 109223180 A CN109223180 A CN 109223180A CN 201811196580 A CN201811196580 A CN 201811196580A CN 109223180 A CN109223180 A CN 109223180A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/374—NMR or MRI
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
- A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Animal Behavior & Ethology (AREA)
- Robotics (AREA)
- Gynecology & Obstetrics (AREA)
- Radiology & Medical Imaging (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
The present invention provides a kind of orthopaedics operation navigation systems, and the target group including selecting health establishes database, data source includes age, gender and height on computers；The bone x-ray of each individual, CTA angiography technology, MRA MR Angiography in target group are acquired, the threedimensional model of different sexes, the bone of the standard of different heights, nerve and blood vessel is established；The bone x-ray data for acquiring patient is used as reference using the threedimensional model of standard according to the feature of patient, when operation, projects on large screen, can real time contrast, realize accurate positioning.By utilizing this navigation system, without performing the operation by the experience of doctor, reduces fault caused by human error, substantially increase the accuracy of operation.
Description
Technical field
The invention belongs to bone surgery technical fields, are to be related to a kind of orthopaedics operation navigation system more specifically.
Background technique
In traditional bone surgery, orthopedist provides generally according to the image of skeleton anatomical features, pre-operative patients
The X-ray examination image of patient positions in material and art, but the limitation of skeleton internal anatomy mark, frequently can lead to art
In positioning there is big deviation, carry out causing biggish obstacle to operation, even if practical experience orthopedist abundant, also not
It can fundamentally determine the precision of Intraoperative position, and for the orthopedist of universal experience, this problem can be further serious, because
If position inaccurate, it is likely that will lead to operative failure, or even secondary injury can be generated to patient.Therefore, how mistake is avoided
Nerve, the blood vessel of comprehensive complexity, the bone surgery for keeping the progress that orthopedist is more accurate, safer complicated are one and urgently solve
Certainly the problem of.
Summary of the invention
The purpose of the present invention is to provide a kind of orthopaedics operation navigation systems, to solve orthopaedics hand existing in the prior art
The technical issues of art position inaccurate.
To achieve the above object, the technical solution adopted by the present invention is that: a kind of orthopaedics operation navigation system is provided, comprising:
The target group for selecting health, establishes database, data source includes age, gender and body on computers
It is high；
Acquire the bone x-ray of each individual, CTA angiography technology, MRA Magnetic Resonance Angiography skill in target group
Art calculates analysis individual data items, establishes the standard bone of different sexes and height individual, the threedimensional model of nerve and blood vessel；
Bone x-ray, the CTA angiography, MRA Magnetic Resonance Angiography for acquiring patient, using standard three-dimensional model, according to
The feature production individual operation area bone of patient, nerve and blood vessel threedimensional model as reference, when operation, project to large-size screen monitors
On curtain, can real time contrast, realize be accurately positioned.
Further, the sequence by target group's age from small to large, is divided into multiple age brackets.
Further, multiple age brackets include:
First segment: 20-29 years old；
Second segment: 30-39 years old；
Third section: 40-49 years old；
4th section: 50-59 years old；
5th section: 60-69 years old；
6th section: 70-79 years old；
7th section: >=80 years old.
Further, the target group of each age bracket is sorted out by gender difference, the number phase of different sexes
Together.
Further, the different sexes in each age bracket, are divided into multiple groups by height.
Further, described to be divided into multiple groups by height and include:
First group: < 150cm；
Second group: 150-159cm；
Third group: 160-169cm；
4th group: 170-179cm；
5th group: >=180cm.
Further, the age of the target group selected in described 7th section was greater than >=80 years old, by 80-85 years old age bracket
Age bracket with 86-90 years old divides.
Further, in the age bracket, the data of the minor less than 20 years old, according to daily physical examination and admission examination
The x-ray data of Shi Liucun, forms the data source of the age bracket, establishes the bone of the age segment standard, the three-dimensional of nerve and blood vessel
Model.
The beneficial effect of orthopaedics operation navigation system provided by the invention is: compared with prior art, orthopaedics of the present invention
Operation guiding system, is the target group of selection health, and age, gender and the height of each individual of collection are defeated as data source
Enter computer system, establish database, to these individual carry out bone x-rays, CTA angiography technology, MRA magnetic resonance blood vessel at
As technology, the bone of each individual, the threedimensional model of nerve and blood vessel are established, in bone surgery, acquires the bone X of patient
Line, CTA angiography, MRA Magnetic Resonance Angiography, according to the age of patient, gender and height, selection refers to each parameter of patient
Matched individual is marked, the position of patients with fractures can accurately be judged according to standard reference by exporting its threedimensional model as standard reference
With the degree of offset, and then implement operation, therefore by utilize this navigation system, without by doctor experience perform the operation, reduce
It makes mistakes caused by human error, substantially increases the accuracy of operation.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without creative efforts, can also be attached according to these
Figure obtains other attached drawings.
Fig. 1 is the structural schematic diagram of orthopaedics operation navigation system provided in an embodiment of the present invention；
Fig. 2 is state diagram when implementing operation using the present invention；
Marked in the figure: 1- projector；2- human body.
Specific embodiment
In order to which technical problems, technical solutions and advantages to be solved are more clearly understood, tie below
Accompanying drawings and embodiments are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
Referring to Fig. 1, existing be illustrated orthopaedics operation navigation system provided by the invention.The orthopedic surgery navigation system
System, the target group including selecting health, establishes database on computers, data source include the age, gender, height and
Weight；
Bone x-ray, the CTA angiography, MRA Magnetic Resonance Angiography of each individual in target group are acquired, is established every
The threedimensional model of individual bone, nerve and blood vessel calculates analysis individual data items, establishes the mark of different sexes and height individual
The threedimensional model of quasi- bone, nerve and blood vessel；
Bone x-ray, the CTA angiography, MRA Magnetic Resonance Angiography for acquiring patient, using standard three-dimensional model, according to
The feature production individual operation area bone of patient, nerve and blood vessel threedimensional model as reference, when operation, project to large-size screen monitors
On curtain, can real time contrast, realize be accurately positioned.
Orthopaedics operation navigation system provided by the invention, compared with prior art, orthopaedics operation navigation system of the present invention is
The target group of health is selected, age, gender, height and the weight of each individual is collected as data source, inputs department of computer science
System, establishes database, carries out bone x-ray, CTA angiography technology, MRA MR Angiography to these individuals, builds
The bone of each individual, the threedimensional model of nerve and blood vessel are found, in bone surgery, acquires bone x-ray, the CTA artery of patient
Radiography, MRA Magnetic Resonance Angiography, according to the age of patient, gender, height and weight, selection and each parameter index of patient
The individual matched, the threedimensional model for exporting standard can accurately judge the position of patients with fractures according to standard reference as standard reference
With the degree of offset, blood vessel and nerve are avoided, and then implements operation, therefore by utilizing this navigation system, without relying on doctor
Experience operation, reduce fault caused by human error, substantially increase the accuracy of operation.Referring to fig. 2, it when operation, uses
Projector 1 throws important anatomy structure inside operative site according in 2 body surface of human body, and operative incision is realized in guided operation operation
Standardization, minimally invasiveization, avoid neural blood vessel from damaging.
Wherein, healthy population herein refers to the crowd for not carrying out bone-operating namely bone without any operation
Or deformation occurred.
Referring to Fig. 1, a kind of specific embodiment as orthopaedics operation navigation system provided by the invention, by the mesh
The sequence of population ages from small to large is marked, multiple age brackets are divided into.
For example, the age bracket chosen in the present embodiment includes the following:
First segment: 20-29 years old；
Second segment: 30-39 years old；
Third section: 40-49 years old；
4th section: 50-59 years old；
5th section: 60-69 years old；
6th section: 70-79 years old；
7th section: >=80 years old.
In above-mentioned each age group, each age bracket staffing can be identical, and the individual of the selection in same age bracket
Age distribution it is uniform, such as 30-39 years old age bracket, choose 100 adults, the number at each age is identical, in this way,
In actual operation, patient can choose immediate standard and carry out reference, improve the accuracy of operation, reduce operation wind
Danger.
In above-mentioned each age group, each age bracket staffing can be different, and the number that intermediate age bracket is chosen is less than
The number of the age bracket at both ends, because skeleton development is stable and bone flexible, bone become in the adult of intermediate ages section
Change unobvious, the problem of being less prone to fracture；And 60 years old or more people, bone tend to that aging is serious, with the variation at age, bone
Variation is obvious, so the number chosen is more, so that the targeted standard reference of different patients.For example, 20-29 years old year
Age section chooses 120 adults, and 60-69 years old age bracket chooses 120 adults, and the age bracket of 70-79 chooses 150 people.
Referring to Fig. 1, a kind of specific embodiment as orthopaedics operation navigation system provided by the invention, each age
The target group of section, is sorted out by gender difference, the number of different sexes is identical.Here male and female are allowed for
Difference, classifies, for example, male selects 60 people for 20-29 age bracket, women selects 60 people, acquires the bone of each individual
Bone x-ray, CTA angiography, MRA Magnetic Resonance Angiography, form single threedimensional model, in case being used as standard reference in operation
Control uses.
Referring to Fig. 1, a kind of specific embodiment as orthopaedics operation navigation system provided by the invention, each age
Different sexes in section, are divided into multiple groups by height.Since it is considered that the difference of height, the difference of bone, blood vessel and Substance P
Property.
Referring to Fig. 1, a kind of specific embodiment as orthopaedics operation navigation system provided by the invention, described to press body
High score includes: for multiple groups
First group: < 150cm；
Second group: 150-159cm；
Third group: 160-169cm；
4th group: 170-179cm；
5th group: >=180cm.
Wherein, the classification of height can also be node with 155, stepping be carried out with 10 for step-length, for example, first group of height <
The quantity of 155cm, the adult of general height < 155cm are relatively fewer, second group of 156-165cm, and so on, height is greater than
The number of 185cm is also less with respect to the number of middle groups.Because of the regularity of distribution of normal adult height, height is lower and height
Higher number is all relatively fewer, and most of height focuses on two, three, four groups, therefore, in selection target crowd, height collection
In three groups of selections number it is more, first group and the 5th group of number is chosen a little less.
Referring to Fig. 1, a kind of specific embodiment as orthopaedics operation navigation system provided by the invention, the described 7th
The age of the target group selected in section is greater than >=80 years old, divides by 80-85 years old age bracket and 86-90 years old age bracket.This
The characteristics of allowing for the variation of the elderly's bone, the characteristics of skeleton bulking of the elderly is easily fractured, the age bracket of classification shorten with
It is capable of the bone of the crowd of accurate response this age bracket, the spatial position of blood vessel and nerve.
Referring to Fig. 1, a kind of specific embodiment as orthopaedics operation navigation system provided by the invention, the age
Duan Zhong, the data of the minor less than 20 years old, the x-ray data retained when according to daily physical examination and admission examination form the year
The data source of age section, establishes the bone of the age segment standard, the threedimensional model of nerve and blood vessel.It was with discontented 18 years old due to legal
Minor, here, for one grade, the young man between 18 to 20 years old to be included into the skeleton data of minor less than 20 years old
Etc, it is within 18 years old the age that Gang Chu senior middle school school gate enters university, there is continuity.
For hospital in daily patient, the data of height, age, gender can be collected and arrange, to the bone of medical period
Bone x-ray, CTA angiography, MRA Magnetic Resonance Angiography, are collected, input in the database of computer system, as benefit
The data filled, preferably to service patient.
The specific implementation step performed the operation using navigation system provided by the invention is as follows:
Acquire the two dimensional image of patient's pre-operative surgical position bone；
The three-dimensional motion of the shape, position and motion profile of patients surgery position and surgical instrument is captured by three-dimensional motion
Information；
Three-dimensional reconstruction, selection and patient are carried out to the shape at patients surgery position and surgical instrument, position and motion information
Data Matching individual threedimensional model, by after reconstruction 3-D image with as standard reference threedimensional model in same seat
Fusion is registrated in mark；
By intelligent glasses real-time display three-dimensional navigation image, blood vessel, nerve etc. can be precisely avoided during surgery, and will
Skeletal re-alignment is in situ.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (8)
1. orthopaedics operation navigation system characterized by comprising
The target group for selecting health, establishes database, data source includes age, gender and height on computers；
Bone x-ray, the CTA angiography, MRA Magnetic Resonance Angiography of each individual in target group are acquired, is established per each and every one
The threedimensional model of the bone of body, nerve and blood vessel calculates analysis individual data items, establishes the standard bone of different sexes and height individual
The threedimensional model of bone, nerve and blood vessel；
Bone x-ray, the CTA angiography, MRA Magnetic Resonance Angiography for acquiring patient, using standard three-dimensional model, according to patient
Feature production individual operation area bone, nerve and blood vessel threedimensional model as reference, when operation, project to large screen
On, can real time contrast, realize be accurately positioned.
2. orthopaedics operation navigation system as described in claim 1, which is characterized in that from small to large by target group's age
Sequence, be divided into multiple age brackets.
3. orthopaedics operation navigation system as claimed in claim 2, which is characterized in that multiple age brackets include:
First segment: 20-29 years old；
Second segment: 30-39 years old；
Third section: 40-49 years old；
4th section: 50-59 years old；
5th section: 60-69 years old；
6th section: 70-79 years old；
7th section: >=80 years old.
4. orthopaedics operation navigation system as claimed in claim 3, which is characterized in that the target group of each age bracket presses
Gender difference is sorted out, and the number of different sexes is identical.
5. orthopaedics operation navigation system as claimed in claim 4, which is characterized in that the different sexes in each age bracket are pressed
Height is divided into multiple groups.
6. orthopaedics operation navigation system as claimed in claim 5, which is characterized in that described to be divided into multiple groups by height and include:
First group: < 150cm；
Second group: 150-159cm；
Third group: 160-169cm；
4th group: 170-179cm；
5th group: >=180cm.
7. such as the described in any item orthopaedics operation navigation systems of claim 3-6, which is characterized in that selected in described 7th section
The age of target group is greater than >=80 years old, divides by 80-85 years old age bracket and 86-90 years old age bracket.
8. such as the described in any item orthopaedics operation navigation systems of claim 3-6, which is characterized in that in the age bracket, be less than
The data of 20 years old minors, the x-ray data retained when according to daily physical examination and admission examination form the data of the age bracket
The bone of the age segment standard, the threedimensional model of nerve and blood vessel are established in source.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811196580.0A CN109223180A (en) | 2018-10-15 | 2018-10-15 | Orthopaedics operation navigation system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811196580.0A CN109223180A (en) | 2018-10-15 | 2018-10-15 | Orthopaedics operation navigation system |
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| CN109223180A true CN109223180A (en) | 2019-01-18 |
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| CN201811196580.0A Pending CN109223180A (en) | 2018-10-15 | 2018-10-15 | Orthopaedics operation navigation system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113303773A (en) * | 2021-05-20 | 2021-08-27 | 武汉理工大学 | Motion risk assessment method and device and readable storage medium |
| CN113648058A (en) * | 2021-08-20 | 2021-11-16 | 苏州康多机器人有限公司 | Operation auxiliary positioning method and system |
| CN114533265A (en) * | 2022-02-18 | 2022-05-27 | 上海电气集团股份有限公司 | Method and equipment for assisting osteotomy |
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| CN204655073U (en) * | 2015-05-25 | 2015-09-23 | 无锡市人民医院 | A kind of orthopaedics operation navigation system |
| KR101663129B1 (en) * | 2015-10-23 | 2016-10-10 | 한국과학기술연구원 | 3-dimensional automatic modeling method of shoulder rotator cuff, 3-dimensinal automatic modeling server performing the same, and storage medium storing the same |
| CN106652019A (en) * | 2016-10-14 | 2017-05-10 | 重庆医科大学附属第医院 | Method and apparatus for designing acetabulum back-wall back-column bone fracture internally fixing system |
| CN108024770A (en) * | 2015-07-09 | 2018-05-11 | 琵克斯有限公司 | Heart is set to activate visual system |
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2018
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|---|---|---|---|---|
| CN204655073U (en) * | 2015-05-25 | 2015-09-23 | 无锡市人民医院 | A kind of orthopaedics operation navigation system |
| CN108024770A (en) * | 2015-07-09 | 2018-05-11 | 琵克斯有限公司 | Heart is set to activate visual system |
| KR101663129B1 (en) * | 2015-10-23 | 2016-10-10 | 한국과학기술연구원 | 3-dimensional automatic modeling method of shoulder rotator cuff, 3-dimensinal automatic modeling server performing the same, and storage medium storing the same |
| CN106652019A (en) * | 2016-10-14 | 2017-05-10 | 重庆医科大学附属第医院 | Method and apparatus for designing acetabulum back-wall back-column bone fracture internally fixing system |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113303773A (en) * | 2021-05-20 | 2021-08-27 | 武汉理工大学 | Motion risk assessment method and device and readable storage medium |
| CN113303773B (en) * | 2021-05-20 | 2023-02-28 | 武汉理工大学 | Motion risk assessment method and device and readable storage medium |
| CN113648058A (en) * | 2021-08-20 | 2021-11-16 | 苏州康多机器人有限公司 | Operation auxiliary positioning method and system |
| CN113648058B (en) * | 2021-08-20 | 2023-01-13 | 苏州康多机器人有限公司 | Operation auxiliary positioning method and system |
| CN114533265A (en) * | 2022-02-18 | 2022-05-27 | 上海电气集团股份有限公司 | Method and equipment for assisting osteotomy |
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