EP3962386A1 - Système de cintrage technique médical - Google Patents

Système de cintrage technique médical

Info

Publication number
EP3962386A1
EP3962386A1 EP20723318.0A EP20723318A EP3962386A1 EP 3962386 A1 EP3962386 A1 EP 3962386A1 EP 20723318 A EP20723318 A EP 20723318A EP 3962386 A1 EP3962386 A1 EP 3962386A1
Authority
EP
European Patent Office
Prior art keywords
bending
markings
data processing
processing unit
parameter
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP20723318.0A
Other languages
German (de)
English (en)
Inventor
Lukas Böhler
Josef Kozak
Mateusz DANIOL
Andreas ALK
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aesculap AG
Original Assignee
Aesculap AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Aesculap AG filed Critical Aesculap AG
Publication of EP3962386A1 publication Critical patent/EP3962386A1/fr
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
    • A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
    • A61B17/8863—Apparatus for shaping or cutting osteosynthesis equipment by medical personnel
    • 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
    • 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
    • A61B90/08—Accessories or related features not otherwise provided for
    • 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D7/00—Bending rods, profiles, or tubes
    • B21D7/12—Bending rods, profiles, or tubes with programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D7/00—Bending rods, profiles, or tubes
    • B21D7/14—Bending rods, profiles, or tubes combined with measuring of bends or lengths
    • 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
    • A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
    • 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
    • A61B2034/2055—Optical tracking systems
    • 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
    • A61B2034/2055—Optical tracking systems
    • A61B2034/2057—Details of tracking cameras
    • 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
    • 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
    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
    • 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers

Definitions

  • the present invention relates to a medical-technical bending system for bending a bending object, especially a rod, comprising at least one bending object, a bending device with which the bending object can be bent and a navigation device with a detection unit and a data processing unit.
  • Such a bending system is used, for example, to bend a bending object in the form of a surgical rod and to bring it from an initial shape into a predetermined desired shape.
  • the rod is provided for connecting connecting elements, in particular surgical anchoring elements such as pedicle screws.
  • the rod and the pedicle screws are, for example, components of a surgical fixation system to fix vertebrae relative to one another.
  • the rod must be bent in such a way that it is adapted to the three-dimensional arrangement of the anchoring elements with regard to an optimal implantation result. It is known to visually check the actual shape of the rod or to use a template. It is also known to adapt calculated values for the target shape of the rod with a manual or an automatic bending tool.
  • the object of the present invention is to provide a bending system of the type mentioned above, which can be handled in a more user-friendly manner with structural simplification.
  • the bending object and the bending device comprise markings arranged or formed on their respective surface, which are optically detectable by the detection unit, the data processing unit being designed on the basis of related information the detection unit to determine at least one bending parameter during the bending process.
  • the bending system according to the invention has the advantage that both the object to be bent, in particular the rod, and the bending device itself have at least one respective marking.
  • surgical marking devices in the form of so-called "rigid bodies" are used on the bending device and, for example, a tool for the bending object. Although such devices have proven themselves in practice, these marking devices require additional costs and take up space, which makes handling difficult for a user.
  • the bending system according to the invention which is particularly manageable, has improved handling.
  • the bending object and the bending device themselves comprise at least one marking.
  • This offers the possibility of using the detection unit to detect the markings as a function of time, so that both the object to be bent and the bending device itself are navigation device can be tracked.
  • this offers the possibility of recording the actual shape of the bending object with the navigation device during the bending process and providing the user with relevant information to make it easier for him to bend the bending object into the required desired shape.
  • the markings are integrally introduced into the surface of the bending object and / or the bending device or are formed thereon.
  • the markings are flat, for example two-dimensional, structures that do not protrude or protrude insignificantly over the surface of the bending device and / or the object to be bent.
  • the markings are introduced into the surfaces, for example, by anodic oxidation, a shape-changing exposure process, for example ablatively using an ultra-short pulse laser, or by water pressure coating.
  • a method that does not damage the material of the bending device and / or the object to be bent is advantageously used to introduce or form the markings.
  • the markings preferably do not affect the sterile properties of the bending device and / or the bending object.
  • the markings are formed separately from the bending object and / or the bending device and are connected to this or the latter. This can be advantageous, for example, in the event of possible aging of existing markings, the recognition of which is difficult by the navigation device.
  • the separate markings can be applied, for example, by means of a force fit, form fit and / or material fit, for example by means of a screw or click connection. Flat and in particular two-dimensional markings are expediently used.
  • the markings are preferably such that they do not impair the structure and in particular the stability and / or the properties of the bending object and / or the bending device for sterilization.
  • the navigation device is advantageously an integrated navigation device or comprises one which comprises the acquisition unit, the data processing unit and an information unit.
  • integrated is to be understood in particular to the effect that the above-mentioned units are arranged in a common housing or on a common support device of the navigation device.
  • the information unit is advantageously designed optically and / or acoustically and / or haptically and in particular comprises a controllable display unit with image display and / or a loudspeaker.
  • the navigation device is or comprises, for example, a smartphone, a tablet computer or a head-mounted device (HMD, head-mounted device), for example in the form of data glasses.
  • HMD head-mounted device
  • information is displayed in the user's field of vision.
  • notices can be instructions to the user or can include instructions.
  • the data processing unit can determine a desired shape of the bending object based on data from a sensor unit of the navigation device in order to be able to connect a plurality of connecting elements in a defined relative arrangement to one another via the bending object.
  • a method such as that described in EP 2 910 206 A1 is used to determine the relative positions of the connecting elements, in particular anchoring elements and especially pedicle screws is described.
  • the positions of the connecting elements can be shown to a user, for example graphically, on the above-mentioned display unit.
  • the calculation of the required bending parameters can alternatively or additionally advantageously be determined by the data processing unit without the user having to do anything.
  • the material of the bending object can preferably be used to determine the bending parameters.
  • a predefinable target shape of the bending object is stored in a memory unit of the navigation device, in particular determined in one of the ways explained above, and if instructions are output to the user on a reference unit of the navigation device with regard to at least one of the following will :
  • the selection of a bending object from a set of available bending objects can be suggested to the user on the indication unit.
  • the markings are advantageously detected by the detection unit during the bending process, and the bending device and the bending object can accordingly be tracked during the bending process. This gives the possibility of an ongoing determination of the actual shape of the bending object and, advantageously, ongoing monitoring of the actual shape in order to guide the user in operating the bending system as to how the bending object receives the desired shape.
  • the data processing unit advantageously provides information to the user regarding the actual shape of the bending object, in particular the actual value of the at least one bending parameter and the desired target value of at least one bending parameter.
  • the data processing unit is advantageously designed to guide the user through a defined flow chart (workflow or the like) to bend the bending object.
  • the data processing unit provides the user with instructions on the information unit as to which bending parameters - especially bending position, bending radius and bending angle and, if necessary, bending plane - should be implemented next in order to bring the bending object into the desired shape.
  • the bending object in particular the rod, comprises markings in the form of circumferential rings, which are arranged on the bending object at a distance from one another in a longitudinal direction of the bending object.
  • the markings are, for example, spaced from one another along a longitudinal direction, in particular an axis, of the bending object and extend at least over a partial circumference with respect to the axis.
  • At least one marking is expediently designed in such a way that the orientation of the bending object with respect to the axis can be determined.
  • the bending device includes markings in the form of at least one of the following: Flat markings on surfaces of branches of the bending device, in particular for monitoring a bending angle as a bending parameter; at least one marking on a rotary receptacle, with which the bending object is held on the bending device so that it can rotate about an axis, in particular for monitoring a bending plane as a bending parameter; at least one marking on a contact element for applying the bending object during the bending process, in particular for monitoring at least one bending position and / or at least one bending radius as a bending parameter.
  • the data processing unit advantageously uses at least one marking of the bending device to define a reference coordinate system in space in which the position of the bending object relative to the bending device can be determined. Setting up separate coordinate systems for tracking the bending object relative to the bending device is not necessary in this way.
  • the data processing unit determines at least one of the following on the basis of detected markings on the bending object and on the bending device: the relative position of the bending object and the bending device, for example as explained above; the position of the bending object on at least one contact element of the bending device with regard to the bending position as a bending parameter.
  • a respective marking of the bending device and the bending object are used in order to determine the bending position - on the bending object - by placing the bending object on the contact element.
  • the data processing unit advantageously determines the orientation of the bending object relative to the bending device with regard to the bending plane as a bending parameter based on a marking of a rotation recording of the bending device.
  • an eyelet-shaped rotary receptacle is seen through which the bending object, in particular the rod, is carried out.
  • the rotation holder can be rotated around an axis defined by it to rotate the bending object. In this way the bending plane can be changed.
  • the data processing unit determines its actual shape on the basis of markings on the bending object.
  • the above-mentioned circumferential rings are recorded by the navigation device and the actual shape is calculated on the basis of related information.
  • the actual shape can advantageously be determined for comparison with the desired shape.
  • the user can be provided with an indication of the extent to which the actual shape deviates from the target shape on the indication unit.
  • the bending device advantageously comprises contact elements for the object to be bent, which are positioned at a distance from one another and pivotable relative to one another, the contact elements being arranged or formed on pivoting elements that can be pivoted to one another, the data processing unit advantageously using markings on the pivot elements to determine the bending angle as Bending parameters determined.
  • the pivot elements are advantageously branches that are pivotably mounted on one another. It is conveniently provided that the Biegevor direction can be operated manually. For example, the user can grasp the branches by hand and pivot them relative to one another, whereby the position elements apply a bending force to the bending object. Using the markings, the data processing unit can calculate the bending angle as a bending parameter and, in particular, monitor it until a desired bending angle is reached.
  • the bending device can comprise a limiting element with which a scope of the pivoting of the pivoting elements can be limited relative to one another, with a reference unit providing a hint to the user for setting the limiting element with a view to achieving a predetermined bending angle when the pivoting elements are pivoted until the limiting element takes effect.
  • the delimitation element cooperates with the pivot elements. These can be pivoted relative to each other until the limiting element takes effect. If this is the case, the bending object is bent by the desired bending angle.
  • the bending device can preferably comprise a contact element for the object to be bent which comprises two contact members which can be spaced from one another at different distances, wherein different bending radii can be achieved depending on the distance between the contact members.
  • the contact members can be displaceable relative to one another. It can be provided that the contact members can be moved together at a fixed distance from one another and in particular are displaceable, for example transversely and in particular perpendicular to the direction of the above-mentioned displacement. In this way, the bending radius can preferably be influenced. It can be provided that the spacing of the contact members from one another and / or the position during the joint movement and in particular displacement can be determined via markings.
  • the bending device can advantageously have display elements, in particular in the form of scales, by means of which the value of at least one bending parameter can be read by the user. In this way, even without a navigation device, the user can use the bending device in a manner that is easy to handle.
  • FIG. 1 a perspective illustration of a bending system according to the invention with a bending device, a bending object and a schematically illustrated navigation device;
  • FIG. 2 a plan view of the bending system from FIG. 1;
  • FIG. 3 a plan view of a display unit of the navigation device during the bending process
  • Figures 4 to 7 further representations corresponding to Figure 3 during the
  • FIG. 8 a top view of the navigation device, on the display unit of which an actual shape is shown in a comparable manner to the target shape of the bending object.
  • a bending system according to the invention comprises a bending device 12, at least one bending object 14 to be bent, and a navigation device 16.
  • the bending object 14 is designed as a surgical rod 18 of a surgical fixation system.
  • the rod 18 is used to connect anchoring elements (not shown in the drawing), in particular bone screws, to one another.
  • the bone screws are especially anchored to vertebral bodies and to be fixed relative to each other by means of the rod 18.
  • This requires the rod 18 to be given a desired desired shape by bending. It is necessary for this to transfer the rod 18 with the bending device 12 from an initial shape to the desired shape. This is done while setting and observing bending parameters that include the bending position on the rod, the bending angle, the bending radius and the bending plane.
  • the rod 18 is designed to be elongated and, in its initial form, has a cylindrical shape.
  • the rod 18 defines an axis 20.
  • Markings 22 are applied to the rod 18.
  • the markings 22 are arranged on a surface 24 of the rod 18 and formed integrally therein, for example by means of anodic oxidation, water pressure method or by a material-removing exposure method, in particular by an ultra-short pulse laser (in particular ps laser).
  • the markings 22 preferably do not or substantially not protrude above the surface 24.
  • the markings on the bending object 14 and on the bending device 12 advantageously do not impair their respective structure and in particular their stability, and / or their respective sterilizability is not impaired by the markings.
  • the markings 22 are designed as circumferential rings 26 which are spaced apart from one another in the axial direction 20.
  • the circumferential rings 26 are arranged equidistant from one another.
  • the rod 18 also has markings 22 on respective, opposite end sides 28.
  • the markings 22 of the rod 18 are identical or at least partially differ from one another.
  • the markings 22, in particular those on the end sides 28, are made in such a way that the navigation device 16 can determine when the rod 18 is rotated about the axis 20.
  • the circumferential rings are interrupted in the circumferential direction.
  • the rod 18 can be selected from a stock of different or similar rods, which will be discussed below.
  • the bending device 10 can be operated manually and comprises two pivot elements 30, 32 which are mounted on one another such that they can pivot about a pivot axis 34.
  • the pivoting elements 30, 32 include branches 36 and 38, respectively, which can be gripped by the user by hand and pivoted relative to one another, with a view to setting the bending angle as a bending parameter.
  • Markings 40, 42 which in the present case are different from one another, are arranged on the branches 36, 38.
  • the markings 40, 42 are integrally formed in one of the ways described above using the example of the markings 22 on surfaces 44 of the branches 36, 38.
  • the markings 40, 42 are designed, for example, two-dimensionally and formed in the surface itself.
  • the navigation device 16 By means of the navigation device 16, there is on the one hand the possibility of knowing the bending device 12 by means of at least one of the markings 40, 42.
  • the bending device 12 with the markings 40, 42 thereby forms a reference for defining a reference coordinate system in which the rod 18 can be detected with regard to the relative position and orientation to the bending device 12.
  • the navigation device 16 can detect the relative orientation of the markings 40, 42 as a function of the relative position of the branches 36, 38 during the pivoting movement and derive the bending angle from this.
  • the pivot elements 30, 32 each include a projection 46, 48. On the projection 46, 48 contact elements 50 and 52 for applying the rod 18 are arranged. The contact elements 50, 52 are spaced from one another. When the branches 36, 38 are actuated, the contact elements 50, 52 pivot with respect to the pivot axis 34.
  • the bending device 12 comprises a further contact element 54.
  • the contact element 54 is present in the area of a section 56 of the bending device Device 12 arranged on which the pivot elements 30, 32 are pivotally mounted on one another and connected to one another. If the rod 18 rests against the contact elements 50, 52 and 54, the contact element 54 is applied to one side of the rod 18 which is opposite to that which the contact elements 50, 52 contact. The rod 18 accordingly runs through between the contact elements 50, 52 on the side and the contact element 54 on the other side.
  • the abutment element 54 comprises a first abutment member 58 and a second abutment member 60.
  • the abutment members 58, 60 can be brought from one another, for example by displacement, at a different distance (including zero distance). The further the contact members 58, 60 are spaced from one another, the greater the bending radius with which the rod 18 is bent when the branches 36, 38 are actuated.
  • Markings 62, 64 are arranged on the contact members 58, 60. These are formed integrally on the surfaces of the contact members 58, 60 in the manner described above using the example of the markings 22.
  • the markings 62, 64 are designed differently.
  • the spacing of the contact members 58, 60 from one another can be determined via the markings 62, 64, with a view to determining the bending radius as a bending parameter.
  • the contact members 58, 60 can be movable together on the bending device 12 at a fixed distance from one another in order to influence the bending radius, in particular transversely to the direction of the distance change.
  • the relevant position of the contact members 58, 60 can be determined and / or monitored, for example, by means of a marking on the bending device 12, for example a reference marking on the bending device 12.
  • the bending device 12 also includes a rotation mount 66.
  • the rotation mount 66 includes a rotation element 70 defining an axis 68.
  • the rod 18 can be passed through the rotation element 70. In this case the axes 20, 68 coincide.
  • the rotation element 70 can be operated manually, as a result of which the rod 18 can be rotated about the axis 68. This gives the possibility of changing the bending plane in which the rod 18 is bent.
  • a marking 72 is arranged on the rotary element 70.
  • the marking 72 is integrally formed on the surface of the rotary element 70, for example in one of the ways explained above using the example of the markings 22.
  • the marking 72 is such that the navigation device 16 can determine which angle of rotation the rotation element 70 and thus the rod 18 assumes relative to the bending device 12 or the angle of rotation through which the rod 18 is rotated.
  • the rotation mount 66 is positioned on the projection 48 between the contact elements 52 and 54, this positioning not being restrictive.
  • the navigation device 16 is embodied here as an integrated navigation device, in particular as a smartphone 74.
  • the navigation device 16 comprises a data processing unit 76, which comprises, for example, a microprocessor, a detection unit 78, a memory unit 80 and an information unit 82 with a display unit 84.
  • the latter is in particular the touchscreen of the smartphone 74.
  • the detection unit 78 comprises in particular the camera of the smartphone 74.
  • the navigation device 16 can preferably be used.
  • a sensor unit of the navigation device 16 which for example comprises the camera or angle or inertial sensors, is used to detect the positions of the anchoring elements.
  • the desired shape of the rod 18 can be calculated by the data processing unit 76 and then stored, for example, in the storage unit 80.
  • Information on a plurality of rods can be stored in the storage unit 80.
  • the data processing unit 76 can make suggestions to the user at the information unit 82 as to which of the rods should preferably be used for the connection of the anchoring elements and should be selected for the bending process.
  • a user application program for example in the form of a so-called “app”, is stored in the memory unit 80 in an executable manner in order to instruct the user in an easy-to-use and intuitive manner in bending the rod 18.
  • the bending parameters calculated by the data processing unit 76 can be monitored during the bending process in that the bending device 12 and the rod 18 are tracked using the markings 22, 40, 42, 62, 64 and 72. In particular, this gives the possibility of determining whether the actual value of a bending parameter assumes a calculated target value or deviates from it. In addition, through the time-dependent determination of the actual values of the bending parameters by tracking the markings 22, 40, 42, 62, 64 and 72, in particular their respective changes can be determined. The user can be informed visually and / or acoustically and / or haptically about the development of the value of the bending parameter via the information unit 82. It can be provided that the data processing unit 76 takes material properties (for example due to the possible elastic deformation) of the rod 18 into account when determining the bending parameters.
  • the user changes at least one parameter on the navigation device 16.
  • the position of bone screws can be changed and the changed shape of the rod 18 is calculated.
  • the user changes at least one bending parameter.
  • FIG. 3 shows the monitoring of the bending parameter “bending angle” under the keyword “angle measurement”.
  • the navigation device 16 can recognize the markings 40, 42 and use them to evaluate the relative position of the branches 36, 38.
  • the rod 18 is to be bent starting from the actual value of 180 ° for the bending angle to a target value of 140 °. The user is advised to operate the branches 36, 38 be.
  • FIG. 4 shows the monitoring of the bending parameter "bending radius” under the keyword “radius measurement”. Based on an initial actual value of the bending radius of 56 mm, the bending radius in the example must be set to a target value of 50 mm. The relevant information comes from the evaluation of the recorded markings 62, 64. The user is advised to vary the spacing of the contact members 58, 60 until the desired target value of the bending radius can be achieved.
  • Figure 6 shows a comparable situation for a different actual value and a different target value of the bending radius.
  • the contact members 58, 60 are shifted together, transversely and especially perpendicular to the direction of the change in distance.
  • FIG. 5 shows by way of example under the keyword “distance measurement” the monitoring of a bending position as a bending parameter, the rod 18 being bent at the bending position.
  • the navigation device 16 can use the detected markings 22, 62 and 64 to use the position of the rod 18 relative to the bending device 12. For example, the distance between an end side 28 and the contact members 58, 60 is determined and from this the position on the rod 18 at which the bending process takes place is determined. The actual value for the bending position of 50 mm advises the user to move the rod 18 relative to the bending device 12 so that the target value of 39 mm for the bending position is reached.
  • FIG. 7 shows, under the heading "rotation measurement", the monitoring of the bending plane around which the rod 18 is bent.
  • the navigation device 16 can use the detected marking 72, and preferably the marking 22, to calculate the angle of rotation of the rotation element 70 on the bending device 12.
  • the user is advised that the rod 18 is to be rotated by means of the rotation element 70 until the actual value for the bending plane has been changed from 0 ° to the target value of 90 ° as a bending parameter.
  • the user is guided by the application program in particular using a defined flow chart, for example a workflow, to ensure that all bending parameters have been correctly observed at the end of the bending process and that the rod 18 has the desired shape.
  • a defined flow chart for example a workflow
  • the displays in FIGS. 3 to 8 can be real representations of the bending device 12 and the rod 18, which are created using the camera, and / or exemplary, non-real images.
  • the link exemplar shear representations and real representations and / or references to augmented reality representations is possible.
  • FIG. 8 shows by way of example, under the keyword "curvature comparison", how the navigation device 16 compares the actual shape of the rod 18 determined on the basis of the markings 22 with the desired desired shape of the rod 18.
  • the determined actual shape (solid lines with the images of the marking 22) is compared to the target shape (dashed lines) on the display unit 84. It is immediately apparent to the user that the rod 18 has not yet been properly deformed and further bending operations are required.
  • the bending device 12 further comprises display elements 86, 88, 90 and 92.
  • display elements 86, 88, 90 and 92 which in particular include scales, the user can read and determine values for the bending parameters.
  • the display element 86 allows the user to determine the angular position of the branches 36, 38 to one another in order to determine the bending angle.
  • the display element 88 allows the user to determine the relative position of the rod 18 to the contact element 54 in order to determine the bending position as a bending parameter.
  • the display element 90 allows the user to determine the relative position of the Anla members 58, 60 in order to determine the bending radius as a bending parameter. It can also be provided that by means of the display element 90 or a separate display element, the position of the contact members 58, 60 can be averaged when they are moved together transversely to the direction of the change in distance.
  • the display element 92 allows the user to determine the rotational position of the rotation element 70 in order to determine the bending plane as a bending parameter.

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Robotics (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Surgical Instruments (AREA)

Abstract

L'invention concerne un système de cintrage technique médical servant à cintrer un objet de cintrage (14), en particulier une barre (18), comprenant au moins un objet de cintrage (14), un dispositif de cintrage (12), qui permet de cintrer l'objet de cintrage (14), et un système de navigation (16) pourvu d'une unité de détection (78) et d'une unité de traitement de données (76). L'objet de cintrage (14) et le dispositif de cintrage (12) comprennent des marquages (22, 40, 42, 62, 64, 72) disposés ou formés sur leur surface (24, 44) respective, qui peuvent être détectés optiquement par l'unité de détection (78). L'unité de traitement de données (76) est réalisée pour déterminer au cours de l'opération de cintrage au moins un paramètre de cintrage à l'aide d'informations à cet égard de l'unité de détection (78).
EP20723318.0A 2019-04-30 2020-04-28 Système de cintrage technique médical Pending EP3962386A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019111177.3A DE102019111177A1 (de) 2019-04-30 2019-04-30 Medizintechnisches Biegesystem
PCT/EP2020/061675 WO2020221710A1 (fr) 2019-04-30 2020-04-28 Système de cintrage technique médical

Publications (1)

Publication Number Publication Date
EP3962386A1 true EP3962386A1 (fr) 2022-03-09

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EP20723318.0A Pending EP3962386A1 (fr) 2019-04-30 2020-04-28 Système de cintrage technique médical

Country Status (5)

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US (1) US20220047336A1 (fr)
EP (1) EP3962386A1 (fr)
JP (1) JP2022530399A (fr)
DE (1) DE102019111177A1 (fr)
WO (1) WO2020221710A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4284284A1 (fr) * 2021-01-29 2023-12-06 Brainlab AG Méthode mise en oeuvre par ordinateur pour la planification et le pliage de tiges vertébrales à réalité augmentée pour chirurgie vertébrale par navigation
WO2023049014A1 (fr) * 2021-09-21 2023-03-30 Seaspine Inc. Systèmes et procédés pour la manipulation guidée de la forme d'un implant chirurgical
US20230355289A1 (en) * 2022-05-03 2023-11-09 Globus Medical, Inc. Systems and methods for three dimensional reconstruction of a bent rod used in surgery

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5490409A (en) 1994-11-07 1996-02-13 K-Medic, Inc. Adjustable cam action rod bender for surgical rods
DE10045375C2 (de) 2000-09-14 2002-10-24 Aesculap Ag & Co Kg Medizinisches Instrument
US20050262911A1 (en) 2004-02-06 2005-12-01 Harry Dankowicz Computer-aided three-dimensional bending of spinal rod implants, other surgical implants and other articles, systems for three-dimensional shaping, and apparatuses therefor
US8177843B2 (en) 2006-02-16 2012-05-15 Nabil L. Muhanna Automated pedicle screw rod bender
US8770006B2 (en) 2010-08-26 2014-07-08 Globus Medical, Inc. Compound hinged rod bender
ITTO20130936A1 (it) * 2013-11-19 2015-05-20 Cte Sistemi Srl Gruppo di misura per misurare il raggio di curvatura e l'avanzamento in una macchina curvatrice, in particolare in una macchina curvatrice per la curvatura di conduttori per bobine superconduttive
DE102014102398A1 (de) 2014-02-25 2015-08-27 Aesculap Ag Medizinisches Instrumentarium und Verfahren
EP3226790B1 (fr) 2014-12-04 2023-09-13 Mazor Robotics Ltd. Dispositif de mise en forme pour tiges de fixation vertébrale
DE102015102776A1 (de) 2015-02-26 2016-09-01 Aesculap Ag Medizinisches Instrumentarium und Verfahren
DE102016115605A1 (de) * 2016-08-23 2018-03-01 Aesculap Ag Medizinisches Instrumentarium und Verfahren
US10478882B1 (en) * 2017-05-02 2019-11-19 Andrew Perez Conduit marking device
KR20200015803A (ko) * 2017-07-03 2020-02-12 스파인 얼라인, 엘엘씨 수술 중 정렬 평가 시스템 및 방법
DE102017122143A1 (de) * 2017-09-25 2019-03-28 Aesculap Ag Medizintechnische Verformungseinrichtung, Verformungssystem und Verfahren zum Verformen eines Artikels
US11440070B1 (en) * 2021-03-09 2022-09-13 Joel R. Bergeson Adjustable angle stop for bending conduit

Also Published As

Publication number Publication date
DE102019111177A1 (de) 2020-11-05
JP2022530399A (ja) 2022-06-29
WO2020221710A1 (fr) 2020-11-05
US20220047336A1 (en) 2022-02-17

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