CN117838310A

CN117838310A - Hip joint operation navigator

Info

Publication number: CN117838310A
Application number: CN202410114671.4A
Authority: CN
Inventors: 张逸凌; 刘星宇
Original assignee: Longwood Valley Medtech Co Ltd
Current assignee: Longwood Valley Medtech Co Ltd
Priority date: 2024-01-26
Filing date: 2024-01-26
Publication date: 2024-04-09

Abstract

The application provides a hip surgery navigator, the hip surgery navigator includes: the device comprises a fitting piece, a sleeve and at least two Kerr pinholes; one side surface of the fitting piece is a fitting curved surface, and the fitting curved surface is fit with the femoral head tuberosity lower edge area of the specific object; the sleeve and the kirschner wire hole are arranged on the other side surface of the fitting piece and extend outwards; the sleeve is hollow inside to form a drilling hole which penetrates through the fitting piece, and an extension line of the drilling hole extends into a necrosis area of the femoral head. In the application, the drill bit or the guide needle is guided by the hip joint operation navigator, so that the direction of the drill bit or the guide needle can be determined without perspective, a doctor and a patient are prevented from being injured by a large amount of radioactive rays, and the operation time is shortened.

Description

Hip joint operation navigator

Technical Field

The application relates to the technical field of medical instruments, in particular to a hip joint operation navigator.

Background

Femoral head necrosis is a common disease, and is caused by blockage of local blood supply of the femoral head due to various reasons, which causes progressive damage to bone structure and ischemic necrosis of bone tissue. The current operation method for femoral head necrosis is commonly to drill a hole from the lower part of a femoral tuberosity to remove necrotic areas and to implant bones or implant related prostheses, and the operation aims to prevent the collapse of the femoral head by removing the necrotic areas.

Because the positions of femoral head necrosis of different patients are inconsistent, the operation usually needs that the guide pin points to the femoral head necrosis area below the femoral tuberosity, and then the drill bit drills along the guide pin so as to achieve the purpose of cleaning the necrosis area. However, in actual operation, the doctor needs to repeatedly see through for many times to determine the direction of the guide needle, and after the direction is determined, the doctor and the patient are damaged by a large amount of radioactive rays due to the fact that the depth of the guide needle entering the guide needle is proper after the direction is determined, the operation time is prolonged, and even the possibility of secondary damage to the patient caused by the direction error and the depth error of the guide needle occurs.

There is therefore a need for a navigator that can steer a drill bit to reduce the number of perspectives performed to determine direction.

Disclosure of Invention

The problem addressed by the present application is the current lack of a navigator that can steer the drill bit.

To solve the above-mentioned problems, a first aspect of the present application provides a hip surgery navigator, comprising: the device comprises a fitting piece, a sleeve and at least two Kerr pinholes;

one side surface of the fitting piece is a fitting curved surface, and the fitting curved surface is fit with the femoral head tuberosity lower edge area of the specific object; the sleeve and the kirschner wire hole are arranged on the other side surface of the fitting piece and extend outwards; the sleeve is hollow inside to form a drilling hole which penetrates through the fitting piece, and an extension line of the drilling hole extends into a necrosis area of the femoral head.

Further, the k-pin holes penetrate through the attaching piece, and the two k-pin holes are arranged in parallel with the sleeve so as to avoid the drilling.

Further, the k-pin holes penetrate through the attaching piece, two k-pin holes and the sleeve are arranged in a pairwise non-parallel manner, and the two k-pin holes, the sleeve and the extension lines thereof are mutually disjoint.

Further, the inner wall of the sleeve is made of metal, so that drill bit grinding is avoided.

Further, an outer interface is provided which cooperates with an end face of the outwardly extending end of the sleeve to cooperatively limit the depth of penetration of the drill bit.

Further, the number of the external interfaces is multiple, and the length difference between two external interfaces with similar lengths is 2mm.

Further, the outer interface is in threaded connection with the sleeve, a first mark is arranged on the outer interface, a second mark is arranged on the sleeve, and the drill depth limit of the drill bit is adjusted by screwing the outer interface.

Further, the device further comprises an observation hole, wherein the observation hole is arranged at the connection position of the sleeve and the fitting piece, or is arranged at the end face position of one end of the sleeve extending outwards, or is arranged at one end of the outer interface far away from the sleeve.

A second aspect of the present application provides a method for designing a hip surgery navigator according to the foregoing, comprising:

acquiring a hip joint CT image;

reconstructing a three-dimensional model of the hip joint based on the hip joint CT image;

identifying a necrotic area in the femoral head of the hip joint based on the three-dimensional model of the hip joint;

determining drilling data and kirschner wire data according to the three-dimensional model of the hip joint and the identified necrotic area;

generating fitting zone data of the hip surgery navigator based on the drilling data and the kirschner wire data;

and generating the hip joint operation navigator according to the fitting area data.

Further, the determining drilling data and kirschner wire data from the three-dimensional model of the hip joint and the identified necrotic region comprises:

generating a drilling point based on the hip joint three-dimensional model, wherein the position of the drilling point is a preset distance from the lower edge of the tuberosity;

obtaining the diameter of a drilling hole;

generating a cylindrical hole connecting the drilling point and the necrosis area according to the drilling diameter; the center of the front end of the cylindrical hole is the drilling point, and the rear end of the cylindrical hole completely stretches into the necrosis area;

generating two Kirschner wire fitting areas based on the three-dimensional model of the hip joint, wherein the center positions of the two Kirschner wire fitting areas are preset distances from the lower edge of the tuberosity, and the distances of the two Kirschner wire fitting areas are preset values;

Determining an equivalent normal vector of the kirschner wire fitting region based on the generated kirschner wire fitting region;

judging whether the combination of the equivalent normal vector and the axial direction of the cylindrical hole meets preset conditions or not;

under the condition that the preset conditions are not met, randomly adjusting the central positions of the two at least one Kirschner wire fitting areas, and redetermining the equivalent normal vector of the adjusted Kirschner wire fitting areas; until the combination of the equivalent normal vector and the axial direction of the cylindrical hole meets the preset condition.

In this application, guide drill bit or guide pin direction through hip joint operation navigator to need not the perspective and can confirm drill bit direction/guide pin direction, avoided doctor and patient to receive a large amount of radioactive rays radiation injury, and shortened operation time. Further, the possibility of secondary injury of the patient caused by wrong direction and wrong depth of the guide pin is avoided.

Drawings

FIG. 1 is a side perspective view of a hip surgical navigator according to embodiments of the present application;

FIG. 2 is a front perspective view of a hip surgical navigator according to embodiments of the present application;

FIG. 3 is a top perspective view of a hip surgical navigator according to embodiments of the present application;

FIG. 4 is a rear perspective view of a hip surgical navigator according to embodiments of the present application;

FIG. 5 is a side perspective view of a hip navigator coupled to a femoral head in accordance with embodiments of the present application;

FIG. 6 is a front perspective view of a hip navigator coupled to a femoral head in accordance with embodiments of the present application;

FIG. 7 is a side perspective view of a hip surgical navigator in combination with an external interface according to embodiments of the present application;

FIG. 8 is an enlarged side view of an external interface according to an embodiment of the present application;

FIG. 9 is a schematic illustration of a fitting zone of a method of designing a hip navigator according to embodiments of the present application;

FIG. 10 is a flow chart of a method of designing a hip surgical navigator according to an embodiment of the present application;

FIG. 11 is a flow chart of data determination of a method of designing a hip navigator according to embodiments of the present application;

FIG. 12 is a block diagram of a hip navigator design apparatus according to embodiments of the present application;

fig. 13 is a schematic diagram of an electronic device according to an embodiment of the present application.

Reference numerals: 1-fitting piece; 11-fitting a curved surface; 2-a sleeve; 21-drilling; 22-a second identifier; 3-k's pinhole; 4-an external interface; 41-a first identification; 5-viewing port.

Detailed Description

In order to make the above objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs.

The application provides a hip surgery navigator, and a specific scheme of the hip surgery navigator is shown in fig. 1-8. The hip surgery navigator includes: a fitting piece 1, a sleeve 2 and at least two Kelvin pinholes 3;

a fitting curved surface 11 is arranged on one side surface of the fitting piece 1, and the fitting curved surface 11 is fitted with the lower edge area of the femoral head tuberosity of a specific object; the sleeve 2 and the k-wire hole 3 are arranged on the other side surface of the fitting piece 1 and extend outwards; the sleeve 2 is hollow inside, forming a bore 21, the bore 21 extending through the abutment, and the extension of the bore 21 extending into the necrotic area of the femoral head.

In the application, in the actual use process, firstly, cleaning the lower edge area of the femoral head tuberosity to expose cortical bone, then fitting a fitting curved surface of a hip joint operation navigator and a corresponding position of the lower edge area of the femoral head tuberosity, and inserting a Kirschner wire through a Kirschner wire hole for fixation after fitting; after the fixation, the drill bit is inserted into the drill hole of the sleeve, and the drill is drilled according to the drilling guiding direction, so that in the using/operating process, the vagina in the drilling direction can be realized only by installing the hip joint operation navigator, and the guide pin and the drill bit direction are not required to be determined through multiple perspectives.

It should be noted that after fixing, the corresponding guide pin may be installed via the drill hole, and then the drill hole may be drilled under the guide of the guide pin, where the drill hole guides the installation direction of the guide pin.

In this application, the Kirschner wire is a stainless steel pin which is sterilized, sharpened and smooth. Introduced by Martin k in 1909, is now widely used in orthopedics and other types of medical surgery. Kirschner wires are of various sizes for holding bone fragments together (fixation pins) or providing anchors for bone distraction or for temporary fixation the wire is driven into the bone typically using an electric or hand drill.

In the application, the Kirschner wire hole is a length hole and is used for guiding the Kirschner wire, and the Kirschner wire can be cut after being inserted into the cortex layer for a short distance; the length of the hole is for guiding and for stabilizing the hip navigator.

In this application, the k-wire needle hole is used even for a k-wire guided needle hole. The Kirschner wire hole is matched with the Kirschner wire to be driven in size; in a specific design, the inner diameter size of the k-wire hole can be designed based on the size of the k-wire to be driven in, so that the adaptation is realized.

In the application, the drill bit or the guide needle is guided by the hip joint operation navigator, so that the direction of the drill bit or the guide needle can be determined without perspective, a doctor and a patient are prevented from being injured by a large amount of radioactive rays, and the operation time is shortened. Further, the possibility of secondary injury of the patient caused by wrong direction and wrong depth of the guide pin is avoided.

In one embodiment, the k-wire holes 3 extend through the fitting 1, and two of the k-wire holes 3 are arranged parallel to the sleeve 2 to avoid the bore 21.

In this application, two k-pin holes 3 with sleeve 2 parallel arrangement is that the axial of two k-pin holes 3 is parallel each other, and all is parallel with telescopic axial.

In this embodiment, the k-wire hole 3 is used for guiding the k-wire which is driven into the bone, and the drill hole in the sleeve is used for guiding the drill bit; the kirschner wire hole is parallel to the sleeve, and the kirschner wire and the sleeve are arranged at different positions of the attaching piece 1, so that the situation that the driven kirschner wire is crossed with a drill bit of a drilled hole can not occur even if the mutual distance is small, and the drilled hole can not be drilled into the driven kirschner wire area.

In one embodiment, the k-pin holes 3 penetrate through the attaching piece 1, the two k-pin holes 3 and the sleeve 2 are arranged in a pairwise non-parallel manner, and the two k-pin holes, the sleeve and the extension lines thereof are mutually disjoint.

In the present application, the two k-pin holes 3 and the sleeve 2 are arranged in a pairwise non-parallel manner, which means that the axial directions of the two k-pin holes 3 are at an angle and are not parallel; any one of the k-wire holes 3 is also angled from the axial direction of the sleeve 2 and is not arranged in parallel.

It should be noted that, two k-pin holes 3 are parallel to the sleeve 2, so that the axial limit is less, which may cause the hip operation navigator to slide along the axial direction, and affect the operation.

In this embodiment, the two k-pin holes 3 and the sleeve 2 are disposed in a non-parallel manner, so that any one of the two k-pin holes 3 and the sleeve 2 is limited in the axial direction, and the hip joint surgical navigator is prevented from sliding in the axial direction.

In this embodiment, the two k-pin holes, the sleeve and the extension lines thereof are mutually disjoint, which means that the extension lines of the two k-pin holes and the extension lines of the sleeve are not mutually intersected, and the two k-pin holes and the extension lines of the sleeve are not mutually affected when the k-pin is driven in and the drill bit is drilled.

In this application, design the sleeve inner wall that is the drilling into the metal material (the metal material is wear-resisting material, also can be other wear-resisting materials, for example ceramic), be that set up to wear-resisting material with drill bit contact portion promptly, other parts can set up to other materials, like the material of laser printing to be convenient for produce.

In this application, through setting up the sleeve inner wall as wear-resistant material to avoid with rotatory drill bit contact grinding, produce the piece.

In the application, the diameter of the drill bit is 2.0mm, 3.2mm and the like; in a specific design, the inner diameter size of the sleeve/borehole may be designed based on the bit diameter, thereby achieving the fit.

In this application, the inner diameter of the sleeve has a tolerance with the outer diameter of the drill bit, avoiding the drill bit from rotating into powder (e.g., 9.5, 10.0 inner wall) of the sleeve.

In one embodiment, the drill further comprises an outer interface 4, and the outer interface 4 cooperates with an end surface of an end of the sleeve 2 extending outwards to limit the drilling depth of the drill.

The drill hole in the drill hole depth in the present embodiment refers to a drill hole generated by drilling the femoral head by the drill bit; not the corresponding bore 21 of the sleeve inner wall as previously described. Although the words are the same, they are not substantially the same meaning, and their specific meaning can be easily identified based on the context, and will not be described in detail later in this application.

In this application, when boring, drill bit and drill bit rear portion drilling rod insert telescopic drilling in, until the drill bit begins to bore by the femoral head, because drill bit rear portion body is greater than the drilling (also can set up the block on the drilling rod) to when this position supports telescopic terminal surface, the drill bit can't go on again, based on this, can restrict the degree of depth that the drill bit was bored.

In this embodiment, when the outer joint is sleeved outside the sleeve, and the rear body of the drill rod (or the blocking block arranged on the drill rod) abuts against the outer joint, the drill bit cannot continue to advance, so that the outer joint and the sleeve limit the drilling depth together.

In this application, the external connection is a plurality of, then can change the drilling depth that external connection and sleeve limited through the mode of changing the external connection.

In this application, through restricting the length difference between two outer interfaces that the length is close to 2mm to change the drilling depth that outer interface and sleeve limited at the change outer interface, the drilling depth of minimum change at every turn is 2mm, reaches more accurate drilling depth control.

In one embodiment, the lower end of the outer interface has an external thread or wall; the top of the sleeve has an inwardly tapered portion with internal threads or walls; the outer hub is over-fitted with the sleeve, but not an interference fit (which can deform the inner wall of the outer hub).

In one embodiment, the outer interface is provided with a universal interface of various navigators, and the inner wall is made of metal, so that the navigator can be applied to various navigators, and grinding is avoided.

In one embodiment, the inner diameter of the outer hub is slightly larger than the inner diameter of the sleeve.

When the outer interface is combined with the sleeve, due to the fact that the tolerance exists, the combination of the outer interface and the sleeve is not strictly coincident in axis, and certain offset exists under the condition of excessive matching, when the inner diameter of the outer interface is identical with the inner diameter of the sleeve, the inner wall of the outer interface is easily ground by a drill bit, and powder is easily dropped.

In the present application, the inner diameter of the outer joint is enlarged to improve the fault tolerance during assembly and accommodate the offset during assembly.

In one embodiment, the outer joint has an internal thread, the sleeve end face part has an external thread, and the outer joint is sleeved on the sleeve end part and is connected with the sleeve thread; therefore, the drill bit only contacts with the inner wall of the sleeve, the inside of the outer interface is not required to be improved, so that powder is prevented from being ground, and whether the inner wall of the outer interface can interfere with drilling of the drill bit is not required to be considered.

In one embodiment, the outer interface is in threaded connection with the sleeve, and a first marker 41 is provided on the outer interface, and a second marker 22 is provided on the sleeve, adapted to adjust the drilling depth limit of the drill bit by screwing the outer interface.

In the application, the lead (ph) is the axial distance that any point on the thread moves along the same spiral line for one circle, namely the axial distance between two corresponding points on the pitch diameter line of two adjacent teeth on the same spiral line.

In this application, through external interface with sleeve threaded connection to adjust the restriction of external interface and sleeve to drilling depth jointly through the mode of rotatory external interface.

For example, if the lead is 2mm, the outer joint is rotated one round clockwise (or anticlockwise), the common length of the outer joint and the sleeve is reduced by 2mm, and the limited drilling depth is increased by 2mm; conversely, the rotation is counter-clockwise, thereby reducing the limited drilling depth by 2mm.

In the application, the drilling depth is adjusted in a rotating mode, so that the minimum unit of adjustment is converted into radian/angle (2 pi/360 degrees) from length, and the adjustment precision is greatly improved.

In this application, through set up first sign on the external interface, set up the second sign on the sleeve, then can confirm external interface and sleeve pivoted relative angle. For example, the first mark coincides with the second mark (assuming that there is only one of the first mark and the second mark), the screwing is continued until the first mark coincides with the second mark, at which time 360 ° is screwed, and the common length of the outer interface and the sleeve is changed by 2mm.

In one embodiment, the number of first markers is a plurality, such that the adjusted distance may be determined by the angle between adjacent first markers. For example, if the first mark coincides with the second mark (assuming that there is only one second mark), the screwing is continued until the second mark coincides with the second mark, at which point the screwing angle α is the angle between the first mark and the second mark, and the common length of the external interface and the sleeve is changed by 2×α/360 (mm).

In one embodiment, the number of the first marks is a plurality and is uniformly distributed, so that the angle between adjacent first marks is 360/n, and n is the number of the first marks. In this way, the serial number of the first mark is not required to be confirmed when the first mark is screwed each time, and the first mark is only required to be screwed to the next first mark.

Since the screwing confirmation is performed by aligning the first mark with the second mark, if there is only one of the second marks, it means that adjustment can be performed only between specific lengths, which is extremely inconvenient.

In one embodiment, the number of the first marks is a plurality of the second marks and the first marks are uniformly distributed, and the number of the second marks is a plurality of the first marks and the second marks are uniformly distributed within a preset angle.

In this application, preset angle is the angle of preset size, for example in the angle of 30 degrees of presettings, evenly sets up 10 second marks, is 3 between the adjacent second marks.

As shown in the combined drawing, any one of the first marks can be locked with one of the second marks as long as the first mark moves within a preset angle, so that the length adjustment is performed.

In the case where there are a plurality of second marks, the adjustment accuracy may be further increased, that is, the first mark is aligned with one of the second marks and then moved to the next adjacent second mark, and the adjustment accuracy is 2×the angle/360 (mm) between the adjacent second marks.

Further, the preset angle is greater than or equal to the angle between the adjacent first marks, so that whether the external interface is screwed to any position, at least one first mark is located in the preset angle, and therefore adjustment with higher precision (2 x the angle between the adjacent second marks/360 (mm)) can be performed in the whole range of the external interface.

Further, the plurality of second marks are distributed within a preset angle, but are not uniformly distributed, so that higher precision can be realized in a specific area (important area) and precision can be reduced in other areas without changing the second marks.

Further, the device also comprises a viewing hole 5, wherein the viewing hole 5 is arranged at the connecting position of the sleeve and the attaching piece, or is arranged at the end face position of one end of the sleeve extending outwards, or is arranged at one end of the outer interface far away from the sleeve.

In this application, with the observation hole setting at the sleeve with the junction position department of laminating piece, can directly annotate drilling depth on the drilling rod of drill bit this moment, the degree of depth of annotating on the drilling rod that observes through the observation hole, for the degree of depth that the drill bit had drilled at this moment promptly to can carry out nimble control to drilling depth.

However, such a position is inconvenient to observe during surgery due to too close a bone.

In this application, with the observation hole setting be in the terminal surface position department of the outside one end that extends of sleeve, perhaps, set up the outer interface is kept away from telescopic one end, more be convenient for observe.

In one embodiment, the observation hole 5 is arranged at the position where the sleeve 2 is combined with the fitting piece 1 and is close to the femur of the human body; the length of the sleeve 2 is the same as the drilling depth (the length from the drilling point to the dead zone); thus, after the hip operation navigator is installed, the drill is firstly abutted against the femur, then the drill rod position of the sleeve opening is marked, then drilling is carried out, and when the marked position is visible in the observation hole, the drill just drills to the necrotic area.

In one embodiment, a blocking block is arranged on a drill rod of an externally connected drill bit, and the length of the sleeve is determined according to the arrangement position of the blocking block and the drilling depth (the distance from the blocking block to the drill bit is the sum of the drilling depth and the length of the sleeve); thus, when the drill bit drills to the limit, the blocking block butts against the sleeve, so that the longest drilling depth is limited, and the drilling of a cortex layer is avoided.

In one embodiment, a plurality of external interfaces 4 are arranged on the sleeve 2, the lengths of the external interfaces 4 are different, a blocking block is arranged on a drill rod of an externally connected drill bit, and the length of the sleeve is determined according to the arrangement position of the blocking block, the drilling depth and a certain external interface length (the distance from the blocking block to the drill bit is the sum of the drilling depth, the sleeve length and the external interface length); thus, when the drill bit drills to the limit, the blocking block is propped against the outer joint, so that the longest drilling depth is limited, and the drilling of a cortex layer is avoided.

In this embodiment, the outer interface may also be replaced to temporarily adjust the depth of the drilled hole to be finally drilled.

In this embodiment, the combination of the sleeve and the minimum external interface may be set as the optimal combination, so as to design the hip joint operation navigator, and thus, in actual use, the external interface may be replaced or removed to realize the adjustment in two directions, i.e. the increase and decrease of the depth of the sleeve (i.e. the length of the sleeve and the length of the external interface).

In one embodiment, the observation hole 5 is arranged at the position where the sleeve 2 is combined with the fitting piece 1 and is close to the femur of the human body; the sum of the length of the sleeve 2 plus the length of the external interface 4 is the same as the drilling depth (the length from the drilling point to the dead zone); thus, after the hip joint operation navigator is installed, the drill is firstly abutted against the femur, then the drill rod position of the external interface is marked, then drilling is carried out, and when the marked position is visible in the observation hole, the drill just drills to the necrotic area.

In the above embodiment, if the observation hole 5 is provided at the rest position of the sleeve 2 or the outer port 4, the method of adding the mark on the drill rod is modified as follows: after the hip joint operation navigator is installed, the drill is firstly abutted against the femur, then the drill rod position of the outer interface or the sleeve end face is marked, then a length is measured backwards through the measuring ruler based on the drill rod position, the length is the difference of the drilling depth minus the length of the observation hole from the outer interface or the sleeve end face, then drilling is conducted, and when the marked position can be seen in the observation hole, the drill just drills to a necrosis area.

The embodiment of the application provides a design method of the hip joint surgery navigator, and the specific scheme of the method is shown in fig. 9-11, the method can be executed by a design device of the hip joint surgery navigator, and the design device of the hip joint surgery navigator can be integrated in electronic equipment such as a computer, a server, a computer, a server cluster, a data center and the like. 9-11, wherein the design method of the hip surgery navigator comprises the following steps:

S101, acquiring a hip joint CT image;

in the present application, the hip CT image is a medical CT image (electronic computed tomography image, computed Tomography, CT) including a hip, and an image of a hip portion can be obtained based on the medical CT image.

S102, reconstructing a three-dimensional model of the hip joint based on the CT image of the hip joint;

in the application, the three-dimensional model of the hip joint can be a point cloud model or a three-dimensional live-action model.

In the application, the hip joint CT image can be generated into a three-dimensional model of the hip joint through a depth convolution model, and the hip joint CT image can also be generated into a three-dimensional point cloud model through conventional software such as numpy, mimics and the like.

In the present application, a three-dimensional model may be generated by identifying a hip portion in each frame of a hip CT image and then based on the identified hip portion. The specific production method is not described in detail in this application.

S103, identifying a necrosis area in a femoral head of the hip joint based on the three-dimensional model of the hip joint;

in the application, based on the three-dimensional model, the necrosis area can be identified through the GPT model, the necrosis area can be identified through training a conventional depth identification model, and the necrosis area can be identified through other modes, and the specific identification mode is not repeated in the application.

S104, determining drilling data and Kirschner wire data according to the three-dimensional model of the hip joint and the identified necrosis area;

in the application, the drilling data comprise drilling depth, drilling diameter, drilling point and drilling direction; the drilling diameter is the same as the selected drill bit diameter, the drill hole on the femur head is a cylindrical hole, the center of the front end of the cylindrical hole is a drilling point, and the axial direction of the cylindrical hole is the drilling direction.

In this application, the k-wire data includes: the Kirschner wire diameter, the Kirschner wire starting point, the Kirschner wire direction and the Kirschner wire fitting area; the diameter of the Kirschner wire is the same as that of the selected Kirschner wire, the start point of the Kirschner wire is the position of the Kirschner wire inserted into the femoral head, namely the central position of the Kirschner wire fitting area, and the direction of the Kirschner wire is the equivalent normal vector of the Kirschner wire fitting area.

S105, generating fitting area data of the hip surgery navigator based on the drilling data and the Kirschner wire data;

in the application, knowing the drilling point and the drilling diameter in the drilling data, determining the specific position of the drilling on the surface of the femoral head, selecting a range which can comprise two Kirschner wire fitting areas and the drilling in the Kirschner wire data, and generating an adaptive curved surface based on the range, wherein the curved surface is the fitting area data of the hip joint operation navigator; that is, the fit zone data of the hip navigator, after fitting to the femoral head surface, requires coverage of both k-wire fit zones and the bore holes.

In the application, the above limitation can be directly input into a preset tool, so that the fitting area data of the hip surgery navigator is directly generated through the tool under the condition that the drilling data and the Kirschner wire data are known.

S106, generating the hip joint operation navigator according to the fitting area data.

In the application, the thickness of the navigator is set under the condition that fitting area data are known; generating a reverse guide hole (the length of the guide hole is a preset length) according to the Kirschner wire direction and the Kirschner wire starting point in the Kirschner wire hole data, wherein the guide hole is two Kirschner wire holes; generating a reverse guide hole according to the drilling data, wherein the guide hole is the sleeve, and generating the length of the sleeve and the size data of the external interface according to the drilling depth (observation hole data can be generated according to a preset rule); at this point, the hip surgery navigator is generated.

In the method, the corresponding hip joint operation navigator is directly generated through the hip joint CT image, so that the suitability of the generated hip joint operation navigator and an implementation object is highest, and the preparation time before and during operation is greatly reduced.

The step S104, determining drilling data and Kirschner wire data according to the three-dimensional model of the hip joint and the identified necrosis area, comprising:

S401, generating a drilling point based on the hip joint three-dimensional model, wherein the position of the drilling point is a preset distance from the lower edge of the tuberosity;

s402, obtaining a drilling diameter;

in this application, the drill diameter is obtained by drilling, wherein the drill diameter is 2.0mm, 3.2mm, etc.

S403, generating a cylindrical hole connecting the drilling point and the necrosis area according to the drilling diameter; the center of the front end of the cylindrical hole is the drilling point, and the rear end of the cylindrical hole completely stretches into the necrosis area;

in this application, the drill-in point location is typically at a preset distance below the tuberosity.

In this application, the cylinder hole is by boring the dead zone of the directional necrosis of point, and the nearest one of directional necrosis zone distance boring the point to make after drilling, can reach the dead zone fastest, and can not keep the dead angle.

S404, generating two Kirschner wire fitting areas based on the three-dimensional model of the hip joint, wherein the center positions of the two Kirschner wire fitting areas are preset distances from the lower edge of the tuberosity, and the distances between the two Kirschner wire fitting areas are preset values;

in connection with fig. 9, two of the small black circles represent two kirschner wires fitting regions and the large black circles represent the cylindrical holes/bores.

In the application, the central positions of the two Kirschner wire fitting areas are the preset distance of the lower edge of the tuberosity and avoid the gluteus muscle tuberosity; avoiding the pressure trabecula and Zhang Ligu trabecula.

In this application, the gluteus tuberosity is a rough part formed by the upward and outward migration of the outer lip of the femoral thick line. There is gluteus maximus attachment.

In this application, the cortical inner layer and both ends are a number of irregular sheet-like or wire-like bony structures, called trabeculae. The trabeculae conform to the arrangement of maximum stress and tension, are connected with each other in a loose spongy shape, and are called cancellous bone. The spongy bone is a porous net frame structure formed by connecting a plurality of needle-shaped or sheet-shaped bone trabeculae, is regularly arranged according to a stress curve, has non-uniform anisotropy, and can increase the bone strength.

S405, determining an equivalent normal vector of the Kirschner wire fitting region based on the generated Kirschner wire fitting region;

in the application, the curved surface of the Kirschner wire fitting area is fitted to obtain a fitted normal vector, and the fitted normal vector is an equivalent normal vector.

The fitting is performed on the curved surface of the kirschner wire fitting area to obtain a fitted normal vector, which may specifically be:

determining all vertexes on the curved surface of the Kirschner wire fitting area, wherein the vertexes are points positioned on the curved surface in the three-dimensional point cloud; generating a plane by the adjacent three vertexes, and respectively adding the normal vectors of the plane to the three vertexes; traversing all vertexes, and summarizing the normal vector added on each vertex to obtain the normal vector of the vertex (which can be directly added or other modes); the normal vector of each vertex is normalized, and the fitted normal vector (which may be directly added or otherwise obtained) is obtained based on the normalized normal vectors of all vertices on the surface of the kirschner wire fitting region.

In this application, the fitted normal vector may also be obtained by other means.

S406, judging whether the combination of the equivalent normal vector and the axial direction of the cylindrical hole meets preset conditions;

in the application, the combination of the equivalent normal vector and the axial direction of the cylindrical hole is screened through preset conditions.

In the application, the preset condition may be whether the preset external force is beyond the bearing range of the kirschner wire after being decomposed into the equivalent normal vector; other preset conditions are also possible.

In one embodiment, a preset combination of external force and torque is obtained, wherein the external force points to the femoral head along the axial direction of the cylindrical hole, and the torque rotates clockwise along the axial direction of the cylindrical hole, a plurality of external forces are provided, a plurality of torques are provided, and one external force is selected as a combination from the plurality of external forces; determining two equivalent external torques generated by the torque at the central positions of the two kirschner wires fitting regions based on the torque, wherein the central position of the kirschner wire fitting region is assumed to be projected to a plane perpendicular to the axial direction of the cylindrical hole as a kirschner point, the force of the torque at the kirschner point is the equivalent external torque (torque=distance between the axial direction of the cylindrical hole and the kirschner point x the equivalent external torque), and determining two equivalent external torques generated at the central positions of the two kirschner wires fitting regions based on the two equivalent external torques; decomposing a preset external force into a first kirschner force, a second kirschner force, a first external torque and a second external torque, wherein the first kirschner force is the force along the equivalent normal vector of the first kirschner wire fitting region, the second kirschner force is the force along the equivalent normal vector of the second kirschner wire fitting region, the first external torque is the equivalent external torque along the central position of the first kirschner wire fitting region, and the second external torque is the equivalent external torque along the central position of the second kirschner wire fitting region; determining the resultant force of the first Kelvin force and the first external torsion force as a first force, and determining the resultant force of the second Kelvin force and the second external torsion force as a second force; if the difference between the lengths of the first force and the second force is smaller than one time (that is, the quotient of the larger value divided by the smaller value in the values of the first force and the second force is smaller than 2) in all the combinations of the preset external force decomposition (the preset external force decomposition is divided into the first k force, the second k force, the first external torque and the second external torque can be decomposed into a plurality of combinations, even countless combinations, and the preset number of all the combinations can be selected as the decomposition at the moment), the equivalent normal vector and the axial combination of the cylindrical hole accord with the preset condition.

In the application, the resultant force is set for comparison, so that the difference of external forces borne by two Kirschner wires is greatly reduced, and the mechanical property and the adaptability of the hip joint operation navigator are improved.

Thus, the overall mechanical property of the hip joint operation navigator is improved by screening under preset conditions.

S407, randomly adjusting the central positions of the two at least one Kirschner wire fitting areas under the condition that the preset condition is not met, and redetermining the equivalent normal vector of the adjusted Kirschner wire fitting areas; until the combination of the equivalent normal vector and the axial direction of the cylindrical hole meets the preset condition.

In the application, the random adjustment can set a second range, and the kirschner wire fitting region is adjusted in the second range, so that the condition that iteration or local optimal conditions cannot be achieved due to excessive adjustment is avoided.

The embodiment of the application provides a design device of a hip joint surgery navigator, which is used for executing the design method of the hip joint surgery navigator described in the above content of the application, and the design device of the hip joint surgery navigator is described in detail below.

As shown in fig. 12, the design device of the hip surgery navigator comprises:

A three-dimensional recognition module 101 for acquiring a hip CT image; reconstructing a three-dimensional model of the hip joint based on the hip joint CT image; identifying a necrotic area in the femoral head of the hip joint based on the three-dimensional model of the hip joint;

a navigator generation module 102 for determining borehole data and k-wire data from the three-dimensional model of the hip joint and the identified necrotic region; generating fitting zone data of the hip surgery navigator based on the drilling data and the kirschner wire data; and generating the hip joint operation navigator according to the fitting area data.

In one embodiment, the navigator generation module 102 is further configured to:

generating a drilling point based on the hip joint three-dimensional model, wherein the position of the drilling point is a preset distance from the lower edge of the tuberosity; obtaining the diameter of a drilling hole; generating a cylindrical hole connecting the drilling point and the necrosis area according to the drilling diameter; the center of the front end of the cylindrical hole is the drilling point, and the rear end of the cylindrical hole completely stretches into the necrosis area; generating two Kirschner wire fitting areas based on the three-dimensional model of the hip joint, wherein the center positions of the two Kirschner wire fitting areas are preset distances from the lower edge of the tuberosity, and the distances of the two Kirschner wire fitting areas are preset values; determining an equivalent normal vector of the kirschner wire fitting region based on the generated kirschner wire fitting region; judging whether the combination of the equivalent normal vector and the axial direction of the cylindrical hole meets preset conditions or not; under the condition that the preset conditions are not met, randomly adjusting the central positions of the two at least one Kirschner wire fitting areas, and redetermining the equivalent normal vector of the adjusted Kirschner wire fitting areas; until the combination of the equivalent normal vector and the axial direction of the cylindrical hole meets the preset condition.

The design device of the hip joint surgery navigator provided in the above embodiment of the present application has a corresponding relationship with the design method of the hip joint surgery navigator provided in the embodiment of the present application, so that specific content in the device has a corresponding relationship with the design method of the hip joint surgery navigator, and specific content can refer to a record in the design method of the hip joint surgery navigator, which is not described in detail in the present application.

The design device of the hip joint surgery navigator provided by the embodiment of the present application and the design method of the hip joint surgery navigator provided by the embodiment of the present application are the same in the same inventive concept, and have the same beneficial effects as the method adopted, operated or implemented by the application program stored therein.

The above describes the internal functions and structure of the design device of the hip surgery navigator, as shown in fig. 13, and in practice, the design device of the hip surgery navigator may be implemented as an electronic device including: memory 301 and processor 303.

The memory 301 may be configured to store a program.

In addition, the memory 301 may also be configured to store other various data to support operations on the electronic device. Examples of such data include instructions for any application or method operating on the electronic device, contact data, phonebook data, messages, pictures, videos, and the like.

The memory 301 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

A processor 303 coupled to the memory 301 for executing programs in the memory 301 for:

acquiring a hip joint CT image;

In one embodiment, the processor 303 is further configured to:

Obtaining the diameter of a drilling hole;

In this application, only some components are schematically shown in fig. 13, which does not mean that the electronic device includes only the components shown in fig. 13.

The electronic device provided in this embodiment, which is the same as the design method of the hip surgery navigator provided in this embodiment of the present application, has the same advantages as the method adopted, operated or implemented by the application program stored therein, because of the same inventive concept.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-readable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or Flash memory (Flash RAM), among others, in a computer readable medium. Memory is an example of computer-readable media.

The present application also provides a computer readable storage medium corresponding to the method of designing a hip-joint surgery navigator provided in the foregoing embodiments, on which a computer program (i.e., a program product) is stored, which when executed by a processor, performs the method of designing a hip-joint surgery navigator provided in any of the foregoing embodiments.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable Media, as defined herein, does not include Transitory computer-readable Media (transmission Media), such as modulated data signals and carrier waves.

The computer readable storage medium provided by the above embodiments of the present application and the design method of the hip surgery navigator provided by the embodiments of the present application are the same inventive concept, and have the same advantages as the method adopted, operated or implemented by the application program stored therein.

In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the present application may be practiced without these specific details. In some instances, well-known structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.

The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims

1. A hip surgical navigator, comprising: the device comprises a fitting piece, a sleeve and at least two Kerr pinholes;

2. The hip surgical navigator of claim 1, wherein the k-wire holes extend through the apposition member and two of the k-wire holes are disposed parallel to the sleeve to avoid the bore.

3. The hip surgical navigator according to claim 1, wherein the k-wire holes penetrate the attaching member, two of the k-wire holes and the sleeve are disposed in a non-parallel manner with respect to each other, and the two k-wire holes, the sleeve, and the extension lines thereof are not intersected with each other.

4. The hip surgical navigator according to claim 1, wherein the inner wall of the sleeve is made of a metal material so as to avoid drill bit abrasion.

5. The hip surgical navigator of any one of claims 1 to 4, further comprising an external interface which cooperates with an end face of an outwardly extending end of said sleeve to cooperatively limit the drilling depth of the drill bit.

6. The hip surgical navigator according to claim 5, wherein the number of the external interfaces is plural, and a difference in length between two external interfaces having similar lengths is 2mm.

7. The hip surgical navigator according to claim 5, wherein the external interface is in threaded connection with the sleeve, and wherein a first identifier is provided on the external interface, and wherein a second identifier is provided on the sleeve, adapted to adjust the drill depth limit of the drill bit by screwing the external interface.

8. The hip surgical navigator according to claim 5, further comprising a viewing hole provided at a connection position of the sleeve and the abutment, or at an end surface position of an end of the sleeve extending outwardly, or at an end of the outer hub remote from the sleeve.

9. A method of designing a hip surgical navigator according to any one of claims 1 to 8, comprising:

acquiring a hip joint CT image;

10. The method of designing according to claim 9, wherein the determining borehole data and k-wire data from the three-dimensional model of the hip joint and the identified necrotic area includes:

obtaining the diameter of a drilling hole;