WO2020155562A1 - 一种定位导向装置以及脊柱椎弓根固定定位导向*** - Google Patents
一种定位导向装置以及脊柱椎弓根固定定位导向*** Download PDFInfo
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- WO2020155562A1 WO2020155562A1 PCT/CN2019/095388 CN2019095388W WO2020155562A1 WO 2020155562 A1 WO2020155562 A1 WO 2020155562A1 CN 2019095388 W CN2019095388 W CN 2019095388W WO 2020155562 A1 WO2020155562 A1 WO 2020155562A1
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- WIPO (PCT)
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- nailing
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- 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
- A61B17/92—Impactors or extractors, e.g. for removing intramedullary devices
Definitions
- the invention belongs to the field of medical equipment, and particularly relates to a positioning and guiding device and a spine pedicle fixed positioning and guiding system.
- pedicle screws are one of the most widely used internal fixation instruments in spinal surgery.
- the successful and safe implantation of pedicle screws is the key to the success of the operation.
- the current pedicle internal fixation has some difficulties that plague physicians as follows: 1) Because the outer diameter of the nail path opening device is only about 1/3 of the diameter of the supporting wire tapping device and the nailing device. 2) Because of the patient’s bone condition, the doctor’s operating experience, and the unexpected conditions during the operation, multiple openings often occur during the pedicle internal fixation operation, that is, there are multiple openings in one nail channel opening. Nail paths, and only one of these nail paths is the correct nail path required. 3) Human bones are brittle but not firm. These three reasons often cause the internal fixation screw to deviate from the correct nail path during the operation, which may cause serious damage to the nerve and blood vessel structure and cause potential problems, such as hypoesthesia, nerve damage, bleeding and destruction of the original structure.
- the purpose of the present invention is to provide a positioning and guiding device and a spine pedicle fixation and positioning and guiding system, which can quickly and accurately guide the pedicle screw so that the pedicle screw is in a predetermined direction And distance to move.
- the present invention provides a positioning and guiding device for positioning a spinal pedicle fixation device, which is characterized in that it includes an initial position positioning plate, which is in the shape of a plate, and has opener placement positions and nails arranged in sequence and parallel to each other.
- the position of the circuit breaker and the position of the wire tapping; the circuit breaker part, which is in the shape of a rectangular parallelepiped, is horizontally arranged on the position of the circuit breaker, and includes the first sensor ring card assembly, the upper spacer of the circuit breaker and the circuit breaker connected from top to bottom.
- the lower gasket, between the upper gasket of the opener and the lower gasket of the opener is provided with opener through holes that penetrate the two corresponding sides of the opener part;
- the upper nailer part is rectangular parallelepiped and placed horizontally on the upper nailer It includes the second sensor ring clamp assembly, the upper spacer of the upper nailer and the lower spacer of the upper nailer, which are connected in sequence from top to bottom.
- a through-hole is provided between the upper spacer of the upper nailer and the lower spacer of the upper nailer.
- the threaded tap holding card is provided with a threaded tapper through hole penetrating the two corresponding sides of the threaded tapping part, wherein the first sensor ring card assembly is arranged on the upper part of the opener part, and the second sensor ring card
- the component is arranged on the upper part of the nailer part, the first sensor ring card assembly contains a first sensor ring card and a first sensor arranged in the first sensor ring card, and the second sensor ring card assembly contains a second sensor ring card and a set
- the second sensor in the second sensor ring card, the third sensor is arranged in the thread tapping card, the center point of the first sensor, the center point of the second sensor and the center point of the third sensor are all on the same straight line
- the positioning and guiding device may also have the feature that the opener placement position, the nailer placement position, and the wire tap placement position are all rectangular through holes that penetrate the upper and lower end surfaces of the initial position positioning plate.
- the positioning and guiding device provided by the present invention may also have such a feature: wherein the first sensor ring clip and the second sensor ring clip are both cylindrical and used to fix the first sensor and the second sensor.
- the positioning and guiding device provided by the present invention may also have the feature: wherein the first sensor, the second sensor and the third sensor are all attitude sensors.
- the positioning and guiding device may also have such features: wherein the upper gasket of the opener is a rectangular flat plate, and the lower gasket of the opener is a plate with a "V"-shaped first through slot in the middle and the first The through-slot notch is arranged toward the gasket on the opener, and the first through-slot and the gasket on the opener jointly form a through hole for the opener.
- the positioning and guiding device may also have such a feature: wherein the upper gasket of the nailer is a rectangular parallelepiped, a second through groove is provided in the middle, and the second through groove has a bottom surface that is a circular arc surface.
- the lower gasket of the nail set is a plate body, the middle part is provided with a third through groove, the third through groove has a bottom surface of a circular arc surface, the second through groove notch and the third through groove notch are arranged oppositely and coincide with each other.
- the through groove and the third through groove jointly form a through hole for the nailer.
- the positioning and guiding device may also have the feature: wherein the upper part of the thread tapper holding card has a flat-bottomed square recess, and the bottom surface of the square recess is parallel to the horizontal plane for fixing the sensor, and the thread tapper through hole is arranged in Below the square recess, a gap extends from the edge of the through hole of the thread tapper in a direction parallel to the bottom surface of the square recess. The gap divides the side of the thread tapper into two free ends.
- the invention provides a spine pedicle fixation positioning and guiding system, which is used for positioning and guiding a spine pedicle fixation device.
- the spine pedicle fixation device includes an opener, a wire tap and a nailing device. Its characteristics are Lie in, including: positioning and guiding devices; and
- the central management device communicates with the positioning and guiding device; among them, the positioning and guiding device is the positioning and guiding device in ⁇ Scheme 1>, the opener part is used to install the opener to form an open circuit mechanism with the opener, and the tapping part is used for installation
- the tapping device forms a tapping mechanism with the tapping device.
- the nailing device is used to install the nailing device to form a nailing mechanism with the nailing device.
- the first sensor, the second sensor and the third sensor are respectively used for collecting The coordinates of the instant space location point where the first sensor is located, the coordinates of the instant space location point where the second sensor is located, and the coordinates of the instant space location point where the third sensor is located.
- the first sensor is used to collect the instantaneous space location point where the first sensor is located.
- the location point is used as the space point B;
- the third sensor is used to collect the coordinates of the instant space location point where the third sensor is located, so as to obtain the instant space location point of the third sensor as the space point C;
- the line where B is located is the space line AB, and the line where the space point B and the space point C are located is the space line BC;
- the central management device includes: a communication unit for receiving open-circuit coordinates, nailing coordinates, and tapping coordinates, and is used to use open-circuit mechanisms When receiving the coordinates of the start point of the open circuit and the end point of the open circuit, the coordinates of the start point of the open circuit are the coordinates of the instant space position when the head of the open circuit is placed at the
- the end point of the open circuit is when the open circuit mechanism is drilled to the predetermined depth to obtain the open channel
- the coordinates of the real-time spatial position point used to receive the coordinates of the starting point of the thread tapping and the coordinates of the real-time point of the threading when using the tapping mechanism.
- the starting point coordinate of the threading is the real-time spatial position when the head of the tapping mechanism is placed at the first predetermined point.
- the coordinates of the point, the instant point coordinates of the tapping are the coordinates of the instant space position point when the tapping mechanism taps the open channel to obtain the instant space position point of the tapping channel, which is used to receive the starting point coordinates of the nail and the coordinates of the instant point when the nailing mechanism is used.
- the starting point coordinates of the nailing are the coordinates of the instant space position when the head of the nailing mechanism is placed at the first predetermined point, and the coordinates of the nailing instant point are the instants when the nailing mechanism places the pedicle screw in the tapping channel
- the coordinates of the space position point, the instrument calibration part is used to calibrate the opening mechanism, the nail mechanism and the tapping mechanism; when the angle between the space line AB and the space line BC is less than or equal to 1/100 degrees, the space point A
- the calibration is completed; the data calculation unit is used to calculate the coordinates of the start point and the end point of the open circuit when the open circuit mechanism is used to obtain the corresponding open circuit
- the direction of travel is used to calculate the starting point coordinates of the thread tapping and the instant point coordinates of the thread when using the thread tapping mechanism to obtain the corresponding initial direction of the thread tap.
- the coordinates are calculated to obtain the corresponding initial direction of the screw.
- the data judging part is used to determine whether the initial direction of the screw tap and the initial line of defense of the screw are consistent with the open-circuit travel direction. When the starting direction and the open travel direction are the same, the tapping mechanism will tap the open channel. When the initial direction of the tapping is judged to be inconsistent with the open travel direction, the head of the tapping mechanism will be changed to obtain a new initial tapping. direction,
- the nailing mechanism When it is judged that the initial direction of the nailing is consistent with the open-circuit traveling direction, the nailing mechanism performs the nailing operation on the tapping hole.
- the head of the nailing mechanism is changed to obtain The new initial direction of nailing;
- the control part is used to control the rest of the central management device, the screen storage part stores the management screen, the management screen includes: control button area, position display area and data display area, control The button area includes a number of buttons for operation; and the screen display part is used to display the management screen, and the control button area includes accessor selection buttons for generating open data strings, nailing data strings, and tapping data strings.
- the initialization button used to select the type and position of fixed vertebrae for pedicle surgery
- the record button used to obtain the open coordinate, the nail coordinate and the tap coordinate respectively
- the mark button used to update and save the open data string
- the Exit button to delete the open data string that has not been updated.
- the central management device further includes a data calling part, a data generating part, a data adding part, a data updating part, and a data deleting part ,
- the data calling part is used to call the open-circuit coordinates, the nailing coordinates and the tapping coordinates
- the data generating part is used to generate the open-circuit data string, the nailing data string and the tapping data string
- the data adding part is used to add the open-circuit coordinates into the open data String, add the upper nail coordinates to the upper nail data string and add the thread tap coordinates to the thread tap data string
- the data update part is used to update the open data string, the upper nail data string and the thread tap data string; for the data deletion part To delete the open data string.
- the central management device includes a voice prompting part for emitting buzzers of different frequencies according to the judgment result of the data judgment part
- the control button area includes the prompt sound switch button, which is used to select on or off the buzzer sound from the sound prompt part.
- the positioning and guiding device includes an initial position positioning plate, an opener part, a nailer part and a tapping part
- the initial position positioning plate has an opener placement position, Nailer placement position and wire tap placement position
- the opener part is set on the opener placement position and has a through hole for the opener
- the nailer part is set on the nailer placement position and has a through hole for the nailer
- wire tap The part is arranged on the tap placement position and has a tap through hole.
- the apertures of the opener through hole, the nailer through hole and the tap through hole can all be adjusted within a certain range.
- the opener part, the upper nailer part and the tapping part are all provided with sensors, and the axis of the opener through hole, the axis of the upper nailer through hole and the axis of the threader through hole are all parallel to each other. Because the initial position positioning plate keeps the mutual positional relationship of multiple sensors fixed, so that the sensor can be connected with the central management device. After the connection with the device is completed, the opener part, the nailer part, and the nailer part connected with the sensor can be adjusted.
- the wire tapping part is operated separately and the central management device is tracked and marked, and the pedicle surgery internal fixation instrument is respectively connected with the opener part, the nailer part and the wire tapping part.
- the positioning and guiding device of the present invention uses the pedicle surgery internal fixation instrument in combination with the sensor, which can quickly and accurately guide the spine pedicle fixation instrument so that the pedicle screw can move in the predetermined direction and distance.
- the invention has better portability, accuracy and maneuverability than previous technologies.
- the spine pedicle fixation positioning and guiding system has a positioning guiding device and a central management device that communicate with each other through a sensor, the positioning guiding device is connected with the opener, wire tap and nailing device for internal fixation surgery, and the central management device is connected to the sensor. Real-time three-dimensional coordinates are obtained and recorded, and the three-dimensional coordinates are calculated to obtain the correct open direction and open distance. The internal fixation mechanism is guided to operate based on the open direction and open distance. Therefore, the fixed positioning of the spine pedicle of the present invention
- the guiding system can quickly and accurately guide the spine pedicle fixation device so that the pedicle screw can move in a predetermined direction and distance, and the operation is simple and easy to carry.
- Figure 1 is a schematic structural diagram of a spine pedicle fixation positioning and guiding system in an embodiment of the present invention
- Figure 2 is a schematic structural diagram of a positioning and guiding device in an embodiment of the present invention.
- Figure 3 is a schematic structural diagram of an initial position positioning plate in an embodiment of the present invention.
- FIG. 4 is an exploded view of the opener part of the positioning and guiding device in the embodiment of the present invention.
- Figure 5 is an exploded view of the nailer part of the positioning and guiding device in the embodiment of the present invention.
- Figure 6 is an exploded view of the tapping part of the positioning and guiding device in the embodiment of the present invention.
- Figure 7 is a side sectional view of the wire tapper holding card of the positioning and guiding device in the embodiment of the present invention.
- Figure 8 is a bottom view of the wire tapper holding card of the positioning and guiding device in the embodiment of the present invention.
- FIG. 9 is a structural block diagram of the central management device of the spine pedicle fixed positioning and guiding system in the embodiment of the present invention.
- FIG. 10 is a schematic diagram of the management screen of the spine pedicle fixation positioning and guiding system in an embodiment of the present invention.
- FIG. 11 is a schematic diagram of the control button area of the spine pedicle fixation positioning and guiding system in the embodiment of the present invention.
- FIG. 12 is a second schematic diagram of the control button area of the spine pedicle fixation positioning and guiding system in the embodiment of the present invention.
- Figure 13 (a)- Figure 13 (c) is an implementation flow chart of the spine pedicle fixation positioning and guiding system combined with practical application in the embodiment of the present invention.
- Figures 14(a)-14(b) are schematic diagrams of steps of the method of implanting pedicle screws in an embodiment of the present invention.
- a spine pedicle fixation positioning and guiding system 100 is used for positioning and guiding a spine pedicle fixation device.
- the spine pedicle fixation device includes an opener Q1, a tapping device Q2, and an upper nail
- the shapes of the opener Q3, the opener Q1, the wire tapping device Q2 and the nailing device Q3 are all straight rod-shaped, and are characterized in that they include a positioning guide device 10 and a center management device 20,
- the positioning and guiding device 10 and the central management device 20 adopt a wired network 30 or a wireless network 30 for communication connection.
- the wired network 30 uses any one of twisted pair, coaxial cable, and optical fiber as the transmission medium, and the wireless network 30 uses any of Bluetooth, WIFI, 3G, 4G, zigbee, and EnOcean technologies.
- positioning-oriented The device 10 and the central management device 20 adopt a Bluetooth wireless network 30 for communication connection.
- the positioning and guiding device 10 is used to connect the opener Q1, the tapping device Q2, and the nailing device Q3 to the sensor correspondingly to form an opening mechanism 14A, a tapping mechanism 12A, and a nailing mechanism 13A. It includes an initial position positioning plate 11 and a rectangular opener part 14 arranged on the initial position positioning plate 11 and parallel to each other, a rectangular upper staple part 13 and a rectangular tapping part 12.
- the initial position positioning plate 11 has an opener placement position 111, a nailer placement position 112, and a wire tap placement position 113;
- the opener placement position 111, the nailer placement position 112, and the wire tap placement position 113 may have a groove structure or a through-hole structure.
- the opener placement position 111, the nailer placement position 112, and the wire tap placement position 113 are sequentially arranged from left to right, and are preferably rectangular through holes penetrating the upper and lower end surfaces of the initial position positioning plate 10.
- the opener part 14 is in the shape of a rectangular parallelepiped, and is detachably disposed on the opener placement position 111 for connecting with the rod-shaped opener Q1 to form an opening mechanism 14A. It includes a first sensor ring card assembly 141, an upper spacer 142 of an opener, a lower spacer 143 of an opener, and a first connecting bolt 144 which are connected in sequence from top to bottom.
- the first sensor ring card assembly 141 is arranged on the upper part of the opener part 14 and includes a square first sensor 1411 and a first sensor ring card 1412.
- the first sensor ring card 1412 is a bottomless cylinder with a rectangular parallelepiped shape and passes through four An adjustable set screw on the side fixes the first sensor 1411 in the first sensor ring card 1412.
- the first sensor 1411 is preferably an LPMS-B2 nine-axis Bluetooth attitude sensor with a switch and a communication status indicator. , Working temperature -20°C-60°C, rechargeable, can be used continuously for 8 hours under fully charged state.
- the gasket 142 on the circuit breaker is a rectangular metal plate and is arranged adjacent to the first sensor ring clamp assembly 141.
- the four corners of the gasket 142 on the circuit breaker are connected to the first sensor ring clamp assembly 141 by the first connecting bolts 144 and are connected to each other. Coincide.
- the lower gasket 143 of the opener is in the shape of a plate, and is arranged adjacent to the upper gasket 142 of the opener.
- the four corners of the lower gasket 143 of the opener are connected with the upper gasket 142 of the opener by the first connecting bolts 144 and are mutually consistent.
- In the middle of the upper end surface of the lower gasket 143 of the opener there is a first through groove 145 with a "V"-shaped cross section, and the notch of the first through groove 145 is set toward the upper gasket 142 of the opener.
- This notch arrangement makes the first through groove 145 and the opener upper gasket 142 jointly form the opener through hole, that is, a through opener part 14 is formed between the opener upper gasket 142 and the opener lower gasket 143
- Two opener through holes on the corresponding side, the opener through-hole axis is perpendicular to the height direction of the opener part 14, and the gap between the upper spacer 142 of the opener and the lower spacer 143 of the opener can be adjusted by adjusting the first connecting bolt 144
- the size further changes the size of the opener through hole, and the opener Q1 passing through the opener through hole can be clamped and fixed to form the open circuit mechanism 14A, and the head of the opener Q1 is the head of the open circuit mechanism 14A.
- first protrusion 146 with a trapezoidal cross section on the bottom surface of the lower gasket 143 of the opener and corresponding to the first through groove 145.
- the upper end surface of the first protrusion 146 has a smaller area than the lower end surface. Looking up from directly below the lower spacer 143 of the circuit breaker, the shape of the first protrusion 146 is the same rectangle as the position 111 of the circuit breaker. The first protrusion 146 is inserted into the opener placement position 111 so that the opener portion 14 is horizontally embedded on the opener placement position 111.
- the upper nailer part 13 is in the shape of a rectangular parallelepiped, and is detachably arranged on the upper nailer placement position 112 for connecting with the rod-shaped upper nailer Q3 to form a nailing mechanism 13A, including the upper-to-bottom order
- the second sensor ring clip assembly 131, the upper nailer upper gasket 132, the upper nailer lower gasket 133 and the second connecting bolt 134 are connected.
- the second sensor ring clip assembly 131 is arranged on the upper part of the upper nail part 13 and includes a square second sensor 1311 and a second sensor ring clip 1312.
- the second sensor ring clip 1312 is a bottomless cylinder with a rectangular parallelepiped shape and passes through the four Adjustable set screws on two sides fix the second sensor 1311 in the second sensor ring card 1312.
- the second sensor 1311 is preferably an LPMS-B2 nine-axis Bluetooth attitude with a switch and a communication status indicator.
- the sensor, the working temperature is -20°C-60°C, can be recharged, and can be used continuously for 8 hours when fully charged.
- the upper washer 132 of the nailer is a rectangular parallelepiped and is arranged adjacent to the second sensor ring clip assembly 131.
- the four corners of the upper washer 132 of the nailer are connected to the second sensor ring clip assembly 131 by the second connecting bolts 134 and are mutually connected.
- a second through groove 136 is provided in the middle of the lower end surface of the upper gasket 132 of the upper nailer.
- the bottom surface of the second through groove 136 is a circular arc surface, and the cross-sectional area of the second through groove 136 is the same.
- the upper nailer lower gasket 133 has a plate shape and is arranged adjacent to the upper nailer upper gasket 132.
- a third through groove 138 is provided in the middle of the upper end surface of the upper nailer lower gasket 133.
- the bottom surface is a circular arc surface, and the shape and size of the circular arc surface and the bottom surface of the second through groove 136 are the same.
- the four corners of the lower washer 133 of the upper nailer are connected with the upper washer 132 of the upper nailer by the second connecting bolts 134 and are mutually matched.
- the notches of the third through groove 138 and the notches of the second through groove 136 are arranged opposite to and coincide with each other.
- This arrangement of the notches makes the second through groove 136 and the third through groove 138 jointly form the upper nailer through hole, namely
- the upper nailer through hole is formed between the upper nailer upper washer 132 and the upper nailer lower washer 133, which penetrates two corresponding sides of the upper nailer part 13, and the height of the upper nailer through hole axis and the upper nailer part 13
- the direction is vertical, and the gap between the upper nailer upper gasket 132 and the upper nailer lower gasket 133 can be adjusted by adjusting the second connecting bolt 134, so that the size of the upper nailer through hole can be changed.
- the nailing device Q3 passing through the through hole of the nailing device can be clamped and fixed to form the nailing mechanism 13A, and the head of the nailing device Q3 is the head of the nailing mechanism 13A.
- the second protrusion 137 has the same rectangular shape as the upper nailer placement position 112.
- the second protrusion 137 is embedded in the upper stapler placement position 112 so that the upper stapler portion 13 is horizontally embedded on the upper stapler placement position 112.
- the tapping part 12 is in the shape of a cuboid, used to connect with the rod-shaped tapping device Q2 to become a tapping mechanism, and is detachably set on the tap placement position 113, including the tapping device holding card 1212 and setting Hold the third sensor 1211 on the upper part of the card 1212 on the wire tapper.
- the wire tapper holding card 1212 is in the shape of a cuboid, the upper end surface has a flat-bottomed square recess 12121, and the bottom surface of the square recess 12121 is parallel to the horizontal plane.
- the wire tapper holding card 1212 fixes the square third sensor 1211 in the square recess 12121 through four adjustable fastening screws located on the upper part of the four sides of the wire tapper holding card 1212.
- the third sensor 1211 is preferably an LPMS-B2 nine-axis Bluetooth attitude sensor with a switch and a communication status indicator.
- the operating temperature is -20°C-60°C, rechargeable, and can be used continuously for 8 hours under full power. .
- the tapping device holding card 1212 is provided with tapping through holes 12122 passing through the two corresponding sides of the tapping part 12.
- the tapping through holes 12122 are arranged below the square recess 12121.
- the axis of the tapping through holes 12122 is aligned with the tapping
- the height direction of the section 12 is vertical.
- a gap 12124 extends from the edge of the thread tapper through hole 12122 in a direction parallel to the bottom surface of the square recess 12121.
- the gap 12124 divides one side of the thread tapper holding card 1212 into two free ends, which are the upper part of the gap 12124.
- the free end B and the lower free end A located at the lower part of the gap 12124.
- a threaded through hole 12126 is provided at the two corners of the lower free end A close to the thread tapper holding card 1212, and the upper free end B is close to the two corners of the thread tapper holding card 1212.
- a threaded blind hole 12125 is respectively provided.
- the threaded blind hole 12125 corresponds to the threaded through hole 12126.
- the width of the gap 12124 is adjusted by the depth of the gap 12124 to make the size of the tapper through hole 12122 change, and then the tapper Q2 passing through the through hole of the tapper can be clamped and fixed to form the tapping mechanism 12A.
- the head is the head of the wire tapping mechanism 12A.
- a third protrusion 12123 is provided in the middle of the bottom surface of the thread tapper holding card 1212.
- the third protrusion 12123 is in the shape of a rectangular parallelepiped and its length direction is consistent with the axial direction of the thread tapper through hole 12122.
- the shape of the third protrusion 12123 is the same rectangle as the wire tap placement position 113.
- the third protrusion 12123 is embedded in the tap placement position 113 so that the tap portion 12 is horizontally embedded on the tap placement position 113.
- the center points of the first sensor 1411, the second sensor 1311, and the third sensor 1211 are all located on the same straight line.
- the distance from the opener portion 14 to the upper stapler portion 13 is taken as the first distance
- the upper stapler portion 13 to the tapping portion 12 is taken as the second distance. Both the first distance and the second distance are equal to the predetermined length. In this embodiment, The predetermined length is 1 cm.
- the opener part 14, the nailer part 13 and the tapping part 12 are sequentially removed from the initial position positioning plate 10, and the first connecting bolt 144, the second connecting bolt 134 and the adjusting screw 122 are loosened.
- the opener Q1 Pass the opener Q1 through the opener part 14 through the opener through hole and tighten the first connecting bolt 144 so that the opener part 14 and the opener Q1 are fixed together to obtain the open circuit mechanism 14A; pass the through hole of the tapping device Q2 through the tap Part 12 and tighten the adjusting screw 122 so that the tapping part 12 and the tapping device Q2 are fixed together to obtain the tapping mechanism 12A; pass the upper nailer Q3 through the upper nailer part 13 through the upper nailer through hole and tighten the second connecting bolt 134 fixes the nailing device 13 and the nailing device Q3 together to obtain the nailing mechanism 13A, and the head of the nailing device Q3 is the head 13A of the nailing mechanism.
- the opener Q1, the nailing device Q3, and the tapping device Q2 are all rods with a circular cross-section and have a top end and a handle end for people to hold.
- the opener Q1, the nailer Q3, and the wire tapper Q2 are parallel to each other.
- the handle ends of the opener Q1, the nailer Q3, and the wire tapper Q2 are all set toward the back of the initial position positioning plate 10.
- the first sensor 1411 is used to collect the coordinates of the instant spatial location point of the first sensor 1411
- the second sensor 1311 is used to collect the coordinates of the instant spatial location point of the second sensor 1311
- the third sensor 1211 is used to collect the third sensor The coordinates of the instant spatial position point where 1211 is located.
- the corresponding communication status indicator is in the first blinking state
- the communication status indicator changes to the second blinking state.
- the instant space position of the first sensor 1411 is taken as space point A, the coordinates of space point A are open-circuit coordinates, the instant space position of the second sensor 1311 is taken as space point B, and the coordinates of space point B are the nailing coordinates.
- the instant space position point of the third sensor 1211 is taken as the space point C, and the coordinates of the space point C are the tapping coordinates.
- the line between the space point A and the space point B is called the space line AB, and the line where the space point B and the space point C are located Called the space line BC.
- the angle between the space line AB and the space line BC is less than or equal to 1/100 degrees, the distance between the space point A and the space point B, and the distance between the space point B and the space point C are all equal to the predetermined length.
- the space The line AB coincides with the space line BC, the distance between space point A and space point B, and the distance between space point B and space point C are all 1 cm.
- the central management device 20 operated by the device operator, is in communication connection with the positioning and guiding device 10, and is used to obtain and record the coordinates of the spatial position points of the opener Q1, the tapping device Q2, and the nailing device Q3 connected to the positioning and guiding device 10 Calculate the coordinates of the spatial location point to obtain the internal fixed channel parameters, and guide the operation of the tapping device Q2 and the nailer Q3 according to the internal fixed channel parameters.
- the central management device 20 is any one of a desktop computer, a notebook computer, or a tablet computer. In this embodiment, the central management device 20 is a notebook computer.
- the distance between the positioning and guiding device 10 and the central management device 20 is within 10 meters.
- the positioning and guiding device 10 is communicated with the central management device 20.
- the communication unit 202 receives the open coordinates and the nailing coordinates.
- the tapping coordinates realize that the opening mechanism 14A, the nailing mechanism 13A and the tapping mechanism 12A complete the communication connection.
- the opening mechanism 14A, the nailing mechanism 13A and the tapping mechanism 12A are respectively removed from the initial position positioning plate 11.
- the indicator lights on the three sensors change from flashing to breathing, and the sound prompting part 204 attached to the central management device 20 will emit a "Once per second and a duration of 0.1 second".
- the center management device 20 includes a communication unit 202, a data call unit 206, a data calculation unit 209, an equipment correction unit 201, a data addition unit 213, a data update unit 214, a data generation unit 207, a data deletion unit 208,
- the data storage unit 210, the data judgment unit 211, the sound presentation unit 204, the screen storage unit 205, the screen display unit 203, and the control unit 212 connected to the above-mentioned respective units.
- the communication unit 202 is used for receiving open-circuit coordinates, nailing coordinates and wire tapping coordinates,
- the opening mechanism drills to a predetermined depth to obtain the coordinates of the instant space position point when the opening hole is opened,
- the coordinates of the tapping start point are the coordinates of the instantaneous space position when the head of the tapping mechanism 12A is placed at the first predetermined point.
- the coordinates of the instant point of tapping are the coordinates of the instant spatial position point when the tapping mechanism 12A taps the open channel to obtain the tapping channel.
- the coordinates of the starting point of nailing are the coordinates of the instant space position point when the head of the nailing mechanism 13A is placed at the first predetermined point.
- the real-time coordinates of the nail are the coordinates of the real-time spatial position point when the screw mechanism 13A places the pedicle screw in the tapping hole;
- the data calling part 206 is used to call the open-circuit coordinates, the nailing coordinates and the tapping coordinates received by the communication part 202;
- the data calculation unit 209 is used to calculate the coordinates of the open start point and the end point of the open circuit to obtain the corresponding open travel direction when the open circuit mechanism 14A is used, and is used to calculate the coordinates of the start point and instant point coordinates of the wire tapping when the wire tapping mechanism 12A is used. Perform calculations to obtain the corresponding initial direction of the screw tap, which is used to calculate the starting point coordinates of the nail and the instant point coordinates of the nail when the nailing mechanism 13A is used to obtain the corresponding initial direction of the nail.
- the instrument calibration unit 201 divides the opening mechanism 14A, the nailing mechanism 13A, and the tapping mechanism 12A according to the angle between the space line AB and the space line BC, the distance between the space point A and the space point B, and the distance between the space point B and the space point C Perform the calibration operation.
- the angle between the space line AB and the space line BC is less than or equal to 1/100 degrees, the distance between the space point A and the space point B, and the distance between the space point B and the space point C are all predetermined lengths, the calibration is passed,
- the central management device 20 communicates with the opening mechanism 14A, the nailing mechanism 13A, and the tapping mechanism 12A.
- the central management device 20 will disconnect the communication connection with the opening mechanism 14A, the nailing mechanism 13A, and the tapping mechanism 12A.
- the distance between the space point A and the space point B, and the distance between the space point B and the space point C are both 1 cm;
- the data generating unit 207 is used to generate an open data string, a nailing data string and a wire tapping data string;
- the data adding part 213 is used to add the open-circuit coordinates to the open-circuit data string, add the screw-up coordinates to the screw-up data string, and add the wire tap coordinates to the wire tap data string;
- the data update unit 214 is used to update the open data string, the nailing data string and the wire tapping data string;
- the data deleting unit 208 is used to delete the open data string
- the data storage unit 210 is used to store the calculation result value as a reference result value
- the sound prompt part 204 is used to emit different frequency beeps according to different judgment result values, including a normal state prompt beep sound and an abnormal state prompt beep sound;
- the screen storage unit 205 stores a management screen as shown in FIG. 10.
- the management screen includes a control key area C, a position display area V, and a data display area D.
- the control button area C contains a plurality of buttons. Through the operation of the plurality of buttons, the corresponding processing of the open-circuit coordinates, the nailing coordinates and the tapping coordinates are realized, and the central management device 20 is then driven according to the opening mechanism 14A, the nailing mechanism 13A and the wire
- the movement of the attack mechanism 12A performs corresponding operations. Including the accessor selection buttons used to generate the open-circuit data string, the nailing data string and the wire tapping data string, the initialization button for selecting the type and position of the pedicle to be fixed, and the initialization buttons for obtaining the open-circuit coordinates, the nailing coordinates and the wire respectively.
- the position display area V graphically displays the position of the open-circuit coordinates, the nail coordinates and the tapping coordinates, including a position target image V1, which is composed of multiple concentric circles and the diameters of the multiple concentric circles are from small to large In an arithmetic sequence, the position target image V1 shows graphic marks of open-circuit coordinates, nailing coordinates, and tapping coordinates.
- the data display area D is used to display the values of open-circuit coordinates, nail-up coordinates and tapping coordinates, and is divided into two sides of the position display area V.
- the screen display part 203 is used to display the management screen.
- the function of the management screen is to display the open coordinate, the nail coordinate and the graphic mark of the tap coordinate in the position display area V, and the open coordinate and the nail coordinate in the position data display area D And the value of the tapping coordinates and the corresponding processing of the open-circuit coordinates, the nailing coordinates and the tapping coordinates through multiple keys in the control key area C;
- the multiple loops of the position target image V1 are displayed in red in the initial state.
- graphic marks P1, P2, P3 representing the spatial positions of the open-circuit coordinates, the nailing coordinates, and the tapping coordinates respectively appear in the position target map image V1.
- the graphic mark P1 of the open coordinate, the graphic mark P2 of the nailing coordinate, and the graphic mark of the tapping coordinate are a green dot, a red dot, and a yellow dot, respectively.
- the drop-down menu includes the "opener” tab, the “nailer” tab and the “wire tap” tab.
- an open data string will be generated in the data generating unit 207.
- a nailing data string will be generated in the data generating section 207.
- a wire tap data string will be generated in the data generating section 207.
- the initialization button is used to select the type and position of the internal fixation pedicle and write the related information of the pedicle into the open data string, the nailing data string and the wire tapping data string. "Initialize” is displayed on the surface of this button. After pressing this button, as shown in Figure 11, the button will display two rows and two columns of three buttons arranged in a matrix and an input box. They are the vertebrae of the pedicle type to be operated at the upper left corner of the matrix.
- the sequence number is determined based on common knowledge in the field; the left and right side selection buttons of the pedicle located in the lower left corner of the matrix, press this button, A drop-down menu will appear below, which are: the tab with "L” on the surface represents the left side, and the button with "R” on the surface represents the right side (according to common knowledge in the field, the human pedicle is butterfly-shaped, divided into left and (Right side), after the above three buttons select the corresponding tabs, the pedicle type, the sequence position of the pedicle and the direction of the pedicle internal fixation of the internal fixation operation are determined; the input box at the lower right corner of the matrix is Remark input box, used to manually input remarks.
- the three information data of internal fixation pedicle type, position and operation position will be added into the open-circuit data string, nailing data string or wire tapping data string.
- the key combination shown in FIG. 12 indicates that the operation of nailing the right side of the fifth thoracic vertebra is ready to be performed.
- the record button is used to obtain the coordinates of the open circuit, the coordinate of the nail and the coordinate of the tapping. Specifically, the surface of the record button initially displays "record". When the open mechanism 14A is operated, after pressing this button, the display on the button surface will be At the same time, the control unit 212 controls the open-circuit coordinates acquired by the data calling unit 206 as the open-circuit starting point coordinates and adds the open-circuit data string through the data adding unit 212.
- the control unit 202 controls the open coordinate acquired by the data calling unit 206 as the second open coordinate and adds the open data string through the data adding unit 212, and controls the data computing unit 209 to pass the open starting point in the open data string
- the coordinates and the coordinates of the open end point are calculated to obtain the open travel direction and used as the open calculation result value.
- the open direction is the direction of the straight line where the open start point coordinates and the open end point coordinates are located; when the nailing mechanism 13A is operated, the button surface is displayed after being pressed It will become "end”.
- the control unit 212 controls the nailing coordinates acquired by the data calling unit 206 as the starting point coordinates of the nailing and adds the nailing data string through the data adding unit 212, and the nailing mechanism 13A is continuously operating.
- the control unit 212 calculates the nailing starting point coordinates and the nailing real-time point coordinates through the data computing unit 209 to obtain the nailing travel direction and use it as the nailing calculation
- the result value, the traveling direction of the nail is the direction of the straight line where the start point coordinates of the nail and the instant point coordinates of the nail are located.
- the button surface display will change to "record".
- the point coordinates are used as the first nailing coordinates, and the nailing operation is continued until the end of the nailing operation, and the obtained nailing instant point coordinates are used as the second nailing coordinates, and the control part 202 will control the data calling part 206 to no longer obtain new nailing coordinates;
- the tapping mechanism 12A is operated and pressed, the display on the button surface will change to "end”.
- the control unit 212 controls the tapping coordinates acquired by the data calling unit 206 as the tapping starting point coordinates and adding them through the data adding unit 212 Enter the wire tapping data string, and during the continuous operation of the tapping mechanism 12A, the real-time wire tapping coordinates acquired by the data calling unit 206 are used as the real-time tapping coordinates, and the control unit 212 uses the data computing unit 209 to compare the coordinates of the tapping start point and the wire tapping point.
- the tapping instant point coordinates are calculated to obtain the tapping direction and used as the tapping calculation result value.
- the tapping direction is the direction of the straight line where the tapping start point coordinates and the tapping instant point coordinates are located.
- the obtained instant point coordinates of the wire tap will be used as the first tap coordinate, and the tapping operation will be continued until the end, and the obtained instant point coordinates of the tap will be used as the second tap coordinate.
- the control data calling unit 206 no longer obtains new tapping coordinates.
- the mark button is used to mark the open-circuit travel direction and the open-circuit distance obtained through the acquisition operation. Specifically, the surface of the mark button displays "mark".
- the data update unit 214 will Replace the first open-circuit coordinate and the second open-circuit coordinate in the open-circuit data string with the open-circuit travel direction and the open-circuit travel distance, and save the new open-circuit data string to the data storage unit 210.
- the graphic mark P1 will be covered with a blue dot. Use the open circuit calculation result value as the reference result value.
- the data judgment part 211 compares the reference result value and the calculation result value to obtain the corresponding judgment result value, which specifically includes comparing the thread tapping calculation result value with the reference result value. When they are equal, the judgment result value is "2"; no When they are equal, the judgment result value is "1”; compare the nailing calculation result value with the reference result value, when they are equal, the judgment result value is "2"; when they are not equal, the judgment result value is "1";
- the multiple circle line display of the position target image V1 will change from red to green, and the corresponding graphic mark P2 or graphic mark P3 coincides with the graphic mark P1; when the judgment result value is "1", The voice prompting part will emit an abnormal state prompting buzzer. When the judgment result value is "1”, the voice prompting part will emit a normal state prompting buzzer and the multiple loops of the position target image V1 are displayed in red.
- the prompt sound switch button is used to select to turn on or turn off the prompt buzzer sound emitted by the central management device 20. as well as
- the control unit 212 is respectively connected to each unit, and is used for controlling each of the above-mentioned units to perform corresponding functions according to the operation of the device operator in the control key area.
- the real-time coordinates of the first sensor 1411 corresponding to the opening mechanism 14A are obtained and used as the open coordinates
- the real-time coordinates of the second sensor 1311 corresponding to the nailing mechanism 13A are obtained and used as the nailing coordinates
- the second sensor 1311 corresponding to the tapping mechanism 12A is obtained.
- the real-time coordinates of the three sensors 1211 are used as the tapping coordinates, and the opening mechanism 14A, the nailing mechanism 13A, and the tapping mechanism 12A are removed from the initial position positioning plate 11;
- control unit 212 In the control function button area C, select "opener" for the access button, and the control unit 212 will control the data generating unit 207 to generate an open data string;
- control unit 212 uses the open-circuit coordinates acquired by the control data calling unit 206 as the open-circuit starting point coordinates, and adds the open-circuit initial coordinates to the open-circuit data string through the data adding unit 213;
- open-circuit mechanism 14A uses the open-circuit operation, that is, open an open channel for placing the pedicle internal fixation screw into the pedicle with the nail entry point as the entrance. After the open circuit is completed, keep the open-circuit mechanism 14A in place;
- control unit 212 takes the open coordinates acquired by the control data calling unit 206 as the open end coordinates and adds them to the open data string through the data adding unit 213, and obtains the open according to the first open coordinates and the second open coordinates Direction of travel and distance of open road travel;
- the control unit 212 controls the data update unit 214 to replace the first open coordinate and the second open coordinate in the open data string with the open travel direction and the open travel distance, and then store the open data string into the data storage unit 210,
- the open-circuit travel direction is used as the reference result value, and the open-circuit mechanism 14A is set aside;
- the data calling unit 206 uses the obtained tapping coordinates as the tapping starting point coordinates;
- the data calling part 206 uses the tapping coordinates obtained in real time as the tapping instant point coordinates;
- the data computing part 209 calculates the coordinates of the start point of the tapping and the coordinates of the instant point of the tapping to obtain the initial direction of the tapping;
- the data judging part 211 judges whether the initial direction of the tapping is consistent with the reference result value, if they are not consistent, go to step S14, if they are consistent, go to step S15;
- the sound prompt part 204 emits an abnormal state prompt buzzer, and then proceeds to step S11;
- the voice prompt part 204 emits a normal state prompt buzzer and the multiple loop line display of the position target image V1 will change from red to green.
- the control function button area C select the "wire tap” button for the access device, and the data generation part A wire tapping data string will be generated;
- the control unit 212 uses the tap coordinates acquired by the control data calling unit 206 from the communication unit 202 as the first tap coordinates, and adds the first tap coordinates to the tap data string in the data generation unit 207;
- the tapping mechanism 12A is used to tap the open channel.
- the data calling unit 206 uses the tapping coordinates obtained immediately as the second tapping coordinates;
- the data calculation part 209 calculates the second thread tap coordinates and the first thread tap coordinates to obtain the thread tap travel direction and the thread travel distance, and uses the thread tap travel direction as the thread tap calculation result value;
- the data judging part 211 judges whether the thread tapping calculation result value is consistent with the reference result value, if they are not consistent, go to step S20, if they are consistent, go to step S21;
- the tapping mechanism is slightly rotated to change the second tapping coordinates.
- the data computing unit 209 calculates the second tapping coordinates and the first tapping coordinates to obtain the adjusted tapping direction as the new tapping direction. Tap the calculated result value, and then return to step S19;
- Attach the internal fixation screw to the head of the nailing mechanism 13A operate the nailing mechanism 13A to align the head of the nailing mechanism 13A with the first predetermined point, and the data calling part 206 will use the acquired nailing coordinates as the starting point of the nailing coordinate;
- the data calling part 206 uses the acquired nailing coordinates as the nailing instant point coordinates;
- the data computing part 209 calculates the starting point coordinates of the nailing and the coordinates of the immediate point of the nailing to obtain the initial direction of the nailing;
- the data judging part 211 judges whether the initial direction of the nailing is consistent with the reference result value, if they are not consistent, go to step S27, if they are consistent, go to step S28;
- the sound prompt part 204 emits an abnormal state prompt buzzer, and then proceeds to step S24;
- the voice prompt part 204 emits a normal state prompt buzzer and the multiple loop line display of the position target map image V1 will change from red to green.
- the control function button area C select the "nailer" for the entry button, and the data generation part A pinned data string will be generated;
- the control unit 212 takes the nailing coordinates acquired by the control data calling unit 206 from the communication unit 202 as the first nailing coordinates, and adds the first nailing coordinates to the nailing data string in the data generating unit 207;
- the nailing mechanism 13A is used to perform the nailing operation on the threaded hole.
- the data calling part 206 uses the acquired nailing coordinates as the second nailing coordinates;
- the data calculation part 209 calculates the second nailing coordinate and the first nailing coordinate to obtain the nail travel direction and the nail travel distance, and uses the nail travel direction as the nail calculation result value;
- the data judging part 211 judges whether the nailing calculation result value is consistent with the reference result value, if they are not consistent, go to step S33, if they are consistent, go to step 34;
- the data computing unit 209 calculates the second nailing coordinate and the first nailing coordinate to obtain the adjusted nail travel direction as the new Calculate the result value of nailing, and then return to step S32;
- step S35 When monitoring whether the graphic mark P1 and the graphic mark P3 in the target map image V1 overlap, if they overlap, it means that the wire tapping travel distance is consistent with the open path travel distance, go to step S35, if not, go to step S30;
- Steps S1-S3 can be performed by the physician or system operator, and the physician operations are steps S4, S7, S10. , S11, S17, S20, S23, S24, S30, S33, among which steps S5, S6, S8, S9, S16, S22, S28, S29, S35 are involved in the operation of system operators, and the rest are all central management devices 20 automatic completion.
- pedicle screw implantation method T100 As shown in Figure 14 (a)- Figure 14 (b), a fixed positioning and guiding system is used to accurately position and guide the opening mechanism 14A, the tapping mechanism 12A, and the screw mechanism 13A to complete the implantation of the pedicle screw
- the steps of pedicle screw implantation method T100 are as follows:
- Step T1 The communication unit 202 obtains the coordinates (i.e., real-time space coordinates) of the instant spatial position points of the opening mechanism 14A (i.e., the opening assembly), the tapping mechanism 12A (i.e., the tapping assembly), and the nailing mechanism 13A (i.e., the nailing assembly) ; Include the following sub-steps:
- Step T1-1 Install the opener Q1 to the opener portion 14 to form an open circuit mechanism 14A, install the tapping device Q2 to the tapping portion 13 to form a tapping mechanism 12A, and install the nailer Q3 on the nailer portion 12 to form Nail mechanism 13A;
- Step T1-2 Place the opening mechanism 14A, the tapping mechanism 12A, and the nailing mechanism 13A on the opener placement position 111, the nail placement position 112, and the tapping placement position 113, respectively;
- Step T1-3 The central management device 20 (ie, the external device) obtains the coordinates of the instant spatial location points of the first sensor 1411, the second sensor 1311, and the third sensor 1211, and combines the first sensor 1411, the second sensor 1311, and the The real-time coordinates of the three sensors 1211 are used as the coordinates of the real-time spatial position point of the corresponding opening mechanism 14A, the real-time coordinates of the tapping mechanism 12A, and the real-time spatial position point of the nailing mechanism 13A;
- Step T2 Remove the opening mechanism 14A, the tapping mechanism 12A, and the nailing mechanism 13A from the opener placement position 111, the nail placement position 113, and the tapping placement position 112 respectively;
- Step T3 Operate the opening mechanism 14A to perform an opening operation on the surface of the pedicle to obtain an open channel, and the central management device 20 obtains the coordinates of the open start point and the open end point of the open channel, which specifically includes the following sub-steps:
- Step T3-1 Determine the drilling point on the surface of the pedicle of the spine that needs to be fixed as the first predetermined point, place the head of the opening mechanism 14A at the first predetermined point, and set the real-time spatial position point obtained by the central management device 20 The coordinates are used as the starting point coordinates of the open circuit;
- Step T3-2 Operate the opening mechanism 14A to drill a hole into the pedicle to a predetermined depth to obtain an open channel.
- the real-time coordinates obtained by the central management device 20 are used as the open end coordinates.
- Step T4 The central management device 20 obtains the open direction and open distance according to the coordinates of the start point of the open circuit and the coordinates of the end point of the open circuit, and at this time, takes out the open circuit mechanism 14A;
- Step T5 Operate the tapping mechanism 12A to tap the open channel to obtain the tapping channel.
- the central management device 20 obtains the tapping start point coordinates and the instantaneous point coordinates of the tapping channel through the second sensor 1311, which specifically includes the following step:
- Step T5-1 Place the head of the wire tapping mechanism 12A at the first predetermined point, and the coordinates of the instant spatial position point obtained by the central management device 20 at this time are used as the wire tapping starting point coordinates;
- Step T5-2 Operate the tapping mechanism 12A to tap the open channel to obtain the tapping channel.
- the coordinates of the instant spatial position point obtained by the central management device 20 are used as the instantaneous point coordinates of the tapping.
- Step T6 The central management device 20 obtains the tapping direction and the tapping distance according to the coordinates of the instant point of the tapping and the coordinates of the start point of the tapping;
- Step T7 The central management device 20 judges whether the tapping direction and the opening direction are the same, when the tapping direction is different from the opening direction, go to step T8, and when the tapping direction is the same as the opening direction, go to step T9;
- Step T8 The central management device 20 sends out the first error alarm signal, and changes the tapping direction by adjusting the instant position of the tapping mechanism 12A to change the tapping instant point coordinates, and then enters step T7;
- Step T9 The central management device 20 judges whether the tapping distance and the open circuit distance are equal. When the tapping distance is equal to the open circuit distance, the central management device 20 sends out the first correct prompt signal, takes out the tapping mechanism 12A, and enters step T10. When the wire distance is not equal to the open distance, continue the tapping operation so that the central management device 20 obtains the new wire tapping instant point coordinates, and enters step T6;
- Step T10 Operate the screwing mechanism 13A provided with pedicle screws to place the pedicle screw in the tapping hole.
- the third sensor 1211 obtains the coordinates of the starting point of the screw and the coordinates of the instant point of the screw, which specifically includes the following sub-steps:
- Step T10-1 Place the nailing mechanism 13A provided with the pedicle screw at the first predetermined point, and the coordinates of the instant space position point obtained by the central management device 20 at this time are used as the starting point coordinates of the nailing;
- Step T10-2 Operate the screwing mechanism 13A to place the pedicle screw in the tapping channel, and at this time, the coordinates of the instant spatial position point obtained by the central management device 20 are used as the instantaneous point coordinates of the screw.
- Step T11 The center management device 20 obtains the nailing direction and the nailing distance according to the nailing instant point coordinates and the nailing starting point coordinates;
- Step T12 The central management device 20 judges whether the nailing direction and the opening direction are the same, when the nailing direction is different from the opening direction, go to step T13, and when the tapping direction is the same as the opening direction, go to step T14;
- Step T13 The central management device 20 sends out a second error alarm signal, and changes the direction of the nail by adjusting the immediate position of the nailing mechanism 13A to change the coordinates of the nailing instant point, and then proceeding to step T12;
- Step T14 The data judging unit 211 judges whether the screwing distance and the open distance are equal. When the tapping distance and the open distance are not equal, continue the screwing operation so that the external device obtains the new screwing instant point coordinates, and then enters step T11; When the nail distance is equal to the open distance, the voice prompt part 204 sends out the second correct prompt signal and enters the end state.
- the spine pedicle fixation positioning and guiding system includes a positioning and guiding device and a central management device.
- the positioning and guiding device includes an initial position positioning plate, an opener part, a nailer part and a tapping part, and the central management
- the device includes an instrument calibration part, the initial position positioning plate has an opener placement position, a nailer placement position, and a tap placement position; the opener part is set on the opener placement position and has an opener through hole; the nailer part is set on The nailer is placed on the position and has a through hole for the nailer; the tapping part is set on the tap position and has a through hole for the tapper, the through hole of the opener, the through hole for the nailer and the hole diameter of the tapper through hole Both can be adjusted within a certain range.
- the opener part, the nailer part and the tapping part are all equipped with sensors, and the three sensors are the same sensor.
- the axis of the opener through hole, the axis of the nailer through hole and the axis of the threader through hole are all Parallel to each other.
- the instrument calibration department can perform calibration operations on the opening mechanism, the nailing mechanism and the tapping mechanism;
- the standard for successful calibration is the spatial position coordinate points collected by the first sensor and The angle between the space position coordinate points collected by the second sensor and the space position coordinate points collected by the third sensor is within 1/100 degrees. Therefore, the design of the positioning guide device can make the position of the opening mechanism, The position of the wire tapping mechanism and the nailing mechanism are quickly and accurately recognized by the central management device.
- the system connection operation of the opening mechanism, the nailing mechanism and the wire tapping mechanism is more convenient and simplified;
- the opening mechanism includes the first sensor
- the nailing mechanism includes the second sensor
- the tapping mechanism includes the third sensor, which are respectively connected to the central management device, it can collect the real-time spatial position of the opening mechanism, the wire tapping mechanism and the nailing mechanism.
- the coordinates are transmitted to the communication part of the central management device, that is, when the opening mechanism, the nailing mechanism and the tapping mechanism are individually operated, the real-time spatial position coordinates of the opening mechanism, the nailing mechanism and the tapping mechanism are collected in real time, thereby
- the central management device can perform real-time tracking and marking of the opening mechanism, the nailing mechanism and the threading mechanism, so the central management device can quickly and accurately identify and position the opening mechanism, the threading mechanism and the nailing mechanism.
- the invention has better accuracy and operability than previous technologies.
- the central management device includes a data calculation unit, a data judgment unit, and a voice prompting unit.
- the data calculation unit can determine the coordinates of the starting point of the open circuit when using the open circuit mechanism Calculate with the coordinates of the open end point to obtain the corresponding open travel direction and open travel distance.
- the tapping mechanism is used, the coordinates of the start point of the tapping and the coordinates of the instant point of the tapping can be calculated to obtain the corresponding initial direction of the tapping.
- the tapping coordinates and the second tapping coordinates are used to obtain the distance of the tapping.
- the initial point coordinates of the tapping point and the instant point coordinates of the tapping can be calculated to obtain the corresponding initial direction of the tapping.
- the second tapping coordinate obtains the tapping travel distance; the data judging department can determine whether the initial direction of the tapping and the initial direction of the upper nail are consistent with the open travel direction.
- the tapping mechanism will open The tunnel begins to perform tapping operations.
- the head of the tapping mechanism is changed in direction to obtain a new initial direction of the tapping.
- the data judgment unit can judge whether the wire tapping travel distance is consistent with the open-circuit travel distance.
- the tapping operation is ended and the nailing operation is started.
- the nailing mechanism starts the nailing operation on the tapping hole.
- the head of the nailing mechanism is changed to produce direction. Get the new initial direction of the nail.
- the nailing operation is ended, and the pedicle screw implantation is completed.
- the voice prompting part is used to emit buzzers of different frequencies according to the judgment result of the data judgment part, that is, the spine pedicle fixation positioning and guiding system of this embodiment can guide based on the opening direction and distance obtained when the opening mechanism is operated The wire tapping mechanism and the nailing mechanism are operated.
- the spinal pedicle fixation and positioning guide system of the embodiment can quickly and accurately perform spinal pedicle screw implantation, and can simplify the process of spinal pedicle screw implantation compared with the prior art, thereby improving the spinal pedicle screw
- the implantation operation efficiency can greatly improve the accuracy of the implantation of the spinal pedicle screw.
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Abstract
一种定位导向装置(10),包括初始位置定位板(11)、开路器部(14)、上钉器部(13)以及丝攻部(12),初始位置定位板(11)具有开路器放置位(111)、上钉器放置位(112)以及丝攻放置位(113);开路器部(14)具有开路器通孔;上钉器部(13)具有上钉器通孔;丝攻部(12)具有丝攻器通孔(12122)。开路器部(14)、上钉器部(13)以及丝攻部(12)均设置有传感器,开路器通孔的轴线、上钉器通孔的轴线以及丝攻器通孔(12122)的轴线均相互平行。一种脊柱椎弓根固定定位导向***(100),包括定位导向装置(10)、通信部(202)、数据调用部(206)、数据运算部(209)、器械校正部(201)、数据添加部(213)、数据更新部(214)、数据生成部(207)、数据删除部(208)、数据存储部(210)、数据判断部(211)、画面存储部(205)、画面显示部(203)以及控制部(212)。
Description
本发明属于医疗设备领域,具体涉及一种定位导向装置以及脊柱椎弓根固定定位导向***。
目前,椎弓根螺钉是脊柱外科手术中应用最为广泛的内固定器械之一,椎弓根螺钉的成功、安全的植入是保证手术成功的关键。
当前的椎弓根内固定术存在一些困扰医师的难点如下:1)因为操作的钉道开路器械外径仅为配套使用的丝攻器械和上钉器械外径的1/3左右。2)因为由于病人骨质状况、医师的操作经验以及手术中出现的突发状况,使得椎弓根内固定操作中经常会出现多次开路现象,即在一个钉道开口内存在多条开出的钉道,而这些钉道中只有一条是所需的正确钉道。3)人体骨质脆而不坚。而这三条原因经常致使在手术操作中出现内固定螺钉偏离正确的钉道,进而可能造成神经和血管结构严重损伤引起引起潜在问题,如感觉迟钝,神经损伤,出血和原有结构的破坏。目前已有一些导航技术已被用于手术以实时辅助,且正在进行的许多研究活动旨在寻找各种替代方案来避免椎弓根螺钉置入不当。现有的可用于导航的方法包括术中透视,计算机辅助手术(CAS),超声图像引导的椎弓根螺钉***以及非成像导航等。这些方法为术中导航开路、入路提供了新方法和新思路,但是目前市场上现有的装置存在辐射较大对工作人员的健康造成威胁,***与程序操作繁琐耗时较长且不易携带等问题,给入路的导航的进一步发展带来了一定的限制。
发明内容
为了解决上述问题,本发明的目的在于提供一种定位导向装置以及一种脊柱椎弓根固定定位导向***,能够快速、准确地对椎弓根螺钉进行导向从而使得椎弓根螺钉按预订的方向及距离进行移动。
为实现上述目的,本发明采用了如下技术方案:
<方案一>
本发明提供了一种定位导向装置,通过对脊柱椎弓根固定器械进行定位,其特征在于,包括:初始位置定位板,呈板状,具有依次设置且互相平行的开路器放置位、上钉器放置位、丝攻放置位;开路器部,呈长方体状,水平地设置在开路器放置位上,包括由上至下依次连接的第一传感器环卡组件、开路器上垫片以及开路器下垫片,开路器上垫片和开路器下垫片之间设置有贯穿开路器部两个对应侧面的开路器通孔;上钉器部,呈长方体状,水平地设置在上钉器放置位上,包括由上至下依次连接的第二传感器环卡组件、上钉器上垫片以及上钉器下垫片,上钉器上垫片和上钉器下垫片之间设置有贯穿上钉器部两个对应侧面的上钉器通孔;以及丝攻部,呈长方体状,水平地设置在丝攻放置位上,包括丝攻器抱卡组件,该丝攻器抱卡组件包括丝攻器抱卡,丝攻器抱卡上设置有贯穿丝攻部两个对应侧面的丝攻器通孔,其中,第一传感器环卡组件设置在开路器部的上部,第二传感器环卡组件设置在上钉器部的上部,第一传感器环卡组件含有第一传感器环卡和设置在第一传感器环卡内的第一传感器,第二传感器环卡组件含有第二传感器环卡和设置在第二传感器环卡内的第二传感器,丝攻器抱卡内设置有第三 传感器,第一传感器的中心点、第二传感器的中心点以及第三传感器的中心点均位于同一条直线上。
在本发明提供的定位导向装置中,还可以具有这样的特征:其中,开路器放置位、上钉器放置位、丝攻放置位均为贯穿初始位置定位板上下端面的矩形通孔。
在本发明提供的定位导向装置中,还可以具有这样的特征:其中,第一传感器环卡和第二传感器环卡均呈筒状,用于固定第一传感器和第二传感器。
在本发明提供的定位导向装置中,还可以具有这样的特征:其中,第一传感器、第二传感器以及第三传感器均为姿态传感器。
在本发明提供的定位导向装置中,还可以具有这样的特征:其中,开路器上垫片为矩形平板,开路器下垫片为中部具有“V”形第一通槽的板体且第一通槽槽口朝向开路器上垫片设置,第一通槽与开路器上垫片共同形成开路器通孔。
在本发明提供的定位导向装置中,还可以具有这样的特征:其中,上钉器上垫片为长方体,中部设置有第二通槽,该第二通槽具有呈圆弧面的底面,上钉器下垫片为板体,中部设置有第三通槽,第三通槽具有呈圆弧面的底面,第二通槽槽口与第三通槽槽口相对设置并且相互吻合,第二通槽与第三通槽共同形成上钉器通孔。
在本发明提供的定位导向装置中,还可以具有这样的特征:其中,丝攻器抱卡上部具有平底方形凹陷,方形凹陷的底面平行于水平面,用于固定传感器,丝攻器通孔设置在方形凹陷下方,从丝攻器通孔的边缘沿平行于方形凹陷底面的方向延伸出一条缝隙,缝隙将丝攻器抱卡的一侧分成两个自由端。
<方案二>
本发明提供了一种脊柱椎弓根固定定位导向***,用于通过对脊柱椎弓根固定器械进行定位及导向,脊柱椎弓根固定器械包括开路器、丝攻器以及上钉器,其特征在于,包括:定位导向装置;以及
中心管理装置,与定位导向装置通信连接;其中,定位导向装置为<方案一>中的定位导向装置,开路器部用于安装开路器,从而与开路器形成开路机构,丝攻部用于安装丝攻器,从而与丝攻器形成丝攻机构,上钉器部用于安装上钉器,从而与上钉器形成上钉机构,第一传感器、第二传感器以及第三传感器分别用于采集第一传感器所处即时空间位置点的坐标、第二传感器所处即时空间位置点的坐标以及第三传感器所处即时空间位置点的坐标,第一传感器用于采集该第一传感器所处的即时空间位置点的坐标,从而获取第一传感器的即时空间位置点,作为空间点A;第二传感器用于采集该第二传感器所处的即时空间位置点的坐标,从而获取第二传感器的即时空间位置点,作为空间点B;第三传感器用于采集该第三传感器所处的即时空间位置点的坐标,从而获取第三传感器的即时空间位置点,作为空间点C;空间点A与空间点B所在直线为空间线AB,空间点B与空间点C所在直线为空间线BC;中心管理装置包括:通信部,用于接收开路坐标、上钉坐标以及丝攻坐标,用于在使用开路机构时接收开路起点坐标和开路终点坐标,开路起点坐标为将开路机构的头部放置在第一预定点时的即时空间位置点的坐标,开路终点为开路机构钻孔至预定深度得到开路孔道时的即时空间位置点的坐标,用于在使用丝攻机构时接收丝攻起点坐标和丝攻即时点坐标,丝攻起点坐标为将丝攻机构的头部放置在第一预定点时的即时空间位置点的坐标,丝攻即时点坐标为丝攻机构对开路孔道攻丝得到攻丝孔道时的即时空间位置点的坐标,用于在使用上钉机构时接收上钉起点坐标和上钉即时点坐标,上钉起点坐标为将 上钉机构的头部放置在第一预定点时的即时空间位置点的坐标,上钉即时点坐标为上钉机构在攻丝孔道内放置椎弓根螺钉时的即时空间位置点的坐标,器械校准部,用于对开路机构、上钉机构以及丝攻机构执行校准操作;当空间线AB与空间线BC之间的夹角小于等于1/100度,空间点A与空间点B的距离,空间点B与空间点C的距离均等于预定长度时,校准完成;数据运算部,用于在使用开路机构时对开路起点坐标和开路终点坐标进行计算得到相应的开路行进方向,用于在使用丝攻机构时对丝攻起点坐标和丝攻即时点坐标进行计算得到相应的丝攻初始方向,用于在使用上钉机构时对上钉起点坐标和上钉即时点坐标进行计算得到相应的上钉初始方向,数据判断部,用于分别判断丝攻初始方向和上钉初始防线与开路行进方向是否一致,当判断丝攻初始方向和开路行进方向一致时,丝攻机构对开路孔道进行攻丝操作,当判断丝攻初始方向和开路行进方向不一致时,让丝攻机构的头部产生方向变动从而获得新的丝攻初始方向,
当判断上钉初始方向和开路行进方向一致时,上钉机构对丝攻孔道进行上钉操作,当判断上钉初始方向和开路行进方向不一致时,使上钉机构的头部产生方向变动从而获得新的上钉初始方向;控制部,用于对中心管理装置中其余各个部分进行控制,画面存储部,存储有管理画面,该管理画面包括:控制按键区域、位置显示区域以及数据显示区域,控制按键区域包括多个可供操作的按键;以及画面显示部,用于显示管理画面,控制按键区域包括用于生成开路数据串、上钉数据串以及丝攻数据串的入路器选择按键、用于选择进行椎弓根手术固定椎骨种类及位置的初始化按键、用于分别获取开路坐标、上钉坐标以及丝攻坐标的记录按键、用于对开路数据串进行更新保存的标记按键以及用于对未经更新保持的开路数据串进行删除的退出按键。
在本发明提供的一种脊柱椎弓根固定定位导向***中,还可以具有这样的特征:其中,中心管理装置还包括数据调用部、数据生成部、数据添加部、数据更新部以及数据删除部,数据调用部用于调用开路坐标、上钉坐标以及丝攻坐标;数据生成部用于生成开路数据串、上钉数据串以及丝攻数据串;数据添加部用于将开路坐标添加入开路数据串、将上钉坐标添加入上钉数据串以及将丝攻坐标添加入丝攻数据串;数据更新部用于对开路数据串、上钉数据串以及丝攻数据串进行更新;数据删除部用于删除开路数据串。
在本发明提供的一种脊柱椎弓根固定定位导向***中,还可以具有这样的特征:其中,中心管理装置包括声音提示部,用于根据数据判断部的判断结果发出不同频率的蜂鸣声,控制按键区域包括提示音开关按键,用于选择开启或者关闭声音提示部发出的蜂鸣声。
发明的作用与效果
根据本发明的定位导向装置以及脊柱椎弓根固定定位导向***,因为定位导向装置包括初始位置定位板、开路器部、上钉器部以及丝攻部,初始位置定位板具有开路器放置位、上钉器放置位以及丝攻放置位;开路器部设置在开路器放置位上且具有开路器通孔;上钉器部设置在上钉器放置位上且具有上钉器通孔;丝攻部设置在丝攻放置位上且具有丝攻器通孔,开路器通孔、上钉器通孔以及丝攻器通孔的孔径均可以在一定范围内调节。开路器部、上钉器部以及丝攻部均设置有传感器,开路器通孔的轴线、上钉器通孔的轴线以及丝攻器通孔的轴线均相互平行。因为初始位置定位板使得多个传感器的相互位置关系保持固定进而使得传感器能与中心管理装置相连接,与装置连接完成后,即可对与传感器连接在一起 的开路器部、上钉器部、丝攻部进行单独操作并进行中心管理装置跟踪标记,而椎弓根手术内固定器械分别与开路器部、上钉器部以及丝攻部连接在一起。所以,本发明的定位导向装置将椎弓根手术内固定器械结合传感器一起使用,能够快速、准确地对脊柱椎弓根固定器械进行导向从而使得椎弓根螺钉按预订的方向及距离进行移动,且该发明较以往技术具有更好的便携性、精确性、可操作性。
因为脊柱椎弓根固定定位导向***具有相互通过传感器通信连接的定位导向装置与中心管理装置,定位导向装置与内固定手术用开路器、丝攻器以及上钉器连接,中心管理装置对传感器的即时三维坐标进行获得及记录,并对该三维坐标进行计算得到正确的开路方向及开路距离,以开路方向及开路距离为依据引导内固定机构进行操作,所以,本发明的脊柱椎弓根固定定位导向***能够快速、准确地对脊柱椎弓根固定器械进行导向从而使得椎弓根螺钉按预订的方向及距离进行移动,而且操作简单、便于携带。
图1是本发明的实施例中脊柱椎弓根固定定位导向***的结构示意图;
图2是本发明的实施例中定位导向装置的结构示意图;
图3是本发明的实施例中初始位置定位板的结构示意图;
图4是本发明的实施例中定位导向装置的开路器部的***图;
图5是本发明的实施例中定位导向装置的上钉器部的***图;
图6是本发明的实施例中定位导向装置的丝攻部的***图;
图7是本发明的实施例中定位导向装置的丝攻器抱卡的侧视剖面图;
图8是本发明的实施例中定位导向装置的丝攻器抱卡的仰视图;
图9是本发明的实施例中脊柱椎弓根固定定位导向***的中心管理装置的结构框图;
图10是本发明的实施例中脊柱椎弓根固定定位导向***的管理画面示意图;
图11是本发明的实施例中脊柱椎弓根固定定位导向***的控制按键区域示意图一;
图12是本发明的实施例中脊柱椎弓根固定定位导向***的控制按键区域示意图二;
图13(a)-图13(c)是本发明的实施例中脊柱椎弓根固定定位导向***结合实际应用时的实施流程图;以及
图14(a)-图14(b)是本发明的实施例中椎弓根螺钉的植入方法的步骤示意图。
为了使本发明实现的技术手段、创作特征、达成目的与功效易于明白了解,以下实施例结合附图对本发明的脊柱椎弓根固定定位导向***作具体阐述。
如图1所示,一种脊柱椎弓根固定定位导向***100,用于为脊柱椎弓根固定器械进行定位及导向,脊柱椎弓根固定器械包括开路器Q1、丝攻器Q2以及上钉器Q3,开路器Q1、丝攻器Q2以及上钉器Q3的形状均为笔直的杆状,其特征在于,包括定位导向装置10和中心管理装置20,
定位导向装置10与中心管理装置20采用有线网络30或者无线网络30进行通信连接。有线网络30采用双绞线、同轴电缆、光纤其中任一种作为传输介质, 无线网络30采用蓝牙、WIFI、3G、4G、zigbee、EnOcean其中任一种技术,在本实施例中,定位导向装置10与中心管理装置20采用蓝牙无线网络30进行通信连接。
如图2所示,定位导向装置10,用于将开路器Q1、丝攻器Q2以及上钉器Q3对应地与传感器连接成为开路机构14A、丝攻机构12A以及上钉机构13A。包括初始位置定位板11及设置在初始位置定位板11上且相互平行的矩形的开路器部14、矩形的上钉器部13以及矩形的丝攻部12。
如图3所示,初始位置定位板11具有开路器放置位111、上钉器放置位112以及丝攻放置位113;
开路器放置位111、上钉器放置位112、丝攻放置位113可以是凹槽结构或是通孔结构。在本实施例中,开路器放置位111、上钉器放置位112、丝攻放置位113从左至右依次设置且均优选为贯穿初始位置定位板10上下端面的长方形通孔。
如图4所示,开路器部14呈长方体状,可拆卸地设置在开路器放置位111上,用于与杆状开路器Q1连接成为开路机构14A。包括由上至下依次连接的第一传感器环卡组件141、开路器上垫片142、开路器下垫片143以及第一连接螺栓144。
第一传感器环卡组件141设置在开路器部14的上部,包括方形第一传感器1411和第一传感器环卡1412,第一传感器环卡1412为外形呈长方体的无底筒状并通过位于四个侧面的可调节紧定螺丝将第一传感器1411固定在第一传感器环卡1412内,在本实施例中,第一传感器1411优选为具有开关及通信状态指示灯的LPMS-B2九轴蓝牙姿态传感器,工作温度-20℃-60℃,可充电,满电状态下可持续使用8小时。
开路器上垫片142为矩形金属平板,与第一传感器环卡组件141相邻设置,开路器上垫片142的四角通过第一连接螺栓144与第一传感器环卡组件141连接在一起并相互吻合。
开路器下垫片143形状呈板状,与开路器上垫片142相邻设置,开路器下垫片143的四角通过第一连接螺栓144与开路器上垫片142连接在一起并相互吻合,在开路器下垫片143上端面的中部具有一个横截面为“V”形的第一通槽145,第一通槽145的槽口朝向开路器上垫片142设置。这种槽口设置方式使得第一通槽145与开路器上垫片142共同形成开路器通孔,即在开路器上垫片142和开路器下垫片143之间形成贯穿开路器部14的两个对应侧面的开路器通孔,开路器通孔轴线与开路器部14高度方向垂直,且通过调节第一连接螺栓144可调节开路器上垫片142与开路器下垫片143之间间隙大小进而使得开路器通孔的大小发生变化,进而可以将穿过开路器通孔的开路器Q1夹紧固定形成开路机构14A,开路器Q1的头部即为开路机构14A的头部。
在开路器下垫片143底面上与第一通槽145对应的位置具有一个横截面为梯形的第一凸起146,第一凸起146的上端面的面积小于下端面。从开路器下垫片143正下方往上看去,第一凸起146外形为与开路器放置位111相同的长方形。第一凸起146嵌入开路器放置位111,使得开路器部14水平地嵌在开路器放置位111上。
如图5所示,上钉器部13呈长方体状,可拆卸地设置在上钉器放置位112上,用于与杆状上钉器Q3连接成为上钉机构13A,包括由上至下依次连接的第二传感器环卡组件131、上钉器上垫片132、上钉器下垫片133以及第二连接螺 栓134。
第二传感器环卡组件131设置在上钉器部13的上部,包括方形第二传感器1311和第二传感器环卡1312,第二传感器环卡1312为外形呈长方体的无底筒状并通过位于四个侧面的可调节紧定螺丝将第二传感器1311固定在第二传感器环卡1312内,在本实施例中,第二传感器1311优选为具有开关及通信状态指示灯的LPMS-B2九轴蓝牙姿态传感器,工作温度-20℃-60℃,可充电,满电状态下可持续使用8小时。
上钉器上垫片132为长方体,与第二传感器环卡组件131相邻设置,上钉器上垫片132的四角通过第二连接螺栓134与第二传感器环卡组件131连接在一起并相互吻合。在上钉器上垫片132下端面的中部设置有第二通槽136,第二通槽136的底面呈圆弧面,并且第二通槽136各处横截面的面积均相同。
上钉器下垫片133形状呈板状,与上钉器上垫片132相邻设置,在上钉器下垫片133上端面的中部设置有第三通槽138,第三通槽138的底面呈圆弧面,此圆弧面与第二通槽136底面的形状大小均相同。上钉器下垫片133的四角通过第二连接螺栓134与上钉器上垫片132连接在一起并相互吻合。
第三通槽138的槽口与第二通槽136的槽口相向设置并且相互吻合,这种槽口设置方式使得第二通槽136与第三通槽138共同形成上钉器通孔,即在上钉器上垫片132和上钉器下垫片133之间形成贯穿上钉器部13的两个对应侧面的上钉器通孔,上钉器通孔轴线与上钉器部13高度方向垂直,且通过调节第二连接螺栓134可调节上钉器上垫片132与上钉器下垫片133之间间隙大小进而使得上钉器通孔的大小发生变化。进而可以将穿过上钉器通孔的上钉器Q3夹紧固定形成上钉机构13A,上钉器Q3的头部即为上钉机构13A的头部。
在上钉器下垫片133底面上与第三通槽138对应的位置具有一个圆弧形第二凸起137,第二凸起137与第三通槽138的形状相同。
从上钉器下垫片133正下方往上看去,第二凸起137外形为与上钉器放置位112相同的长方形。第二凸起137嵌入上钉器放置位112,使得上钉器部13水平地嵌在上钉器放置位112上。
如图6所示,丝攻部12呈长方体状,用于与杆状丝攻器Q2连接成为丝攻机构,可拆卸地设置在丝攻放置位113上,包括丝攻器抱卡1212和设置在丝攻器抱卡1212上部的第三传感器1211。
丝攻器抱卡1212呈长方体状,上端面具有一个平底方形凹陷12121,方形凹陷12121的底面与水平面平行。丝攻器抱卡1212通过位于丝攻器抱卡1212四个侧面上部的四个可调节紧定螺丝将方形第三传感器1211固定在方形凹陷12121内。在本实施例中,第三传感器1211优选为具有开关及通信状态指示灯的LPMS-B2九轴蓝牙姿态传感器,工作温度-20℃-60℃,可充电,满电状态下可持续使用8小时。
丝攻器抱卡1212上设置有贯穿丝攻部12两个对应侧面的丝攻器通孔12122,丝攻器通孔12122设置在方形凹陷12121的下方,丝攻器通孔12122轴线与丝攻部12高度方向垂直。从丝攻器通孔12122的边缘沿平行于方形凹陷12121底面的方向延伸出一条缝隙12124,缝隙12124将丝攻器抱卡1212的一侧分成两个自由端,分别为位于缝隙12124上部的上部自由端B与位于缝隙12124下部的下部自由端A。
如图7,图8所示,下部自由端A靠近丝攻器抱卡1212的两个角落处分别设置有一个螺纹通孔12126,上部自由端B靠近丝攻器抱卡1212的两个角落处 分别设置有一个螺纹盲孔12125,螺纹盲孔12125与螺纹通孔12126位置相对应,当调节螺丝122旋入螺纹通孔12126与螺纹盲孔12125时,可通过调节调节螺丝旋入螺纹盲孔12125的深度来调节缝隙12124的宽度大小进而使得丝攻器通孔12122产生大小变化,进而可以将穿过丝攻器通孔的丝攻器Q2夹紧固定形成丝攻机构12A,丝攻器Q2的头部即为丝攻机构12A的头部。
丝攻器抱卡1212的底面中部设置有第三凸起12123,第三凸起12123呈长方体状且长度方向与丝攻器通孔12122轴线方向一致。
从丝攻器抱卡1212正下方往上看去,第三凸起12123外形为与丝攻放置位113相同的长方形。第三凸起12123嵌入丝攻放置位113,使得丝攻部12水平地嵌在丝攻放置位113上。
第一传感器1411、第二传感器1311以及第三传感器1211的中心点均位于同一条直线上。将开路器部14至上钉器部13距离作为第一间距、将上钉器部13至丝攻部12作为第二间距,第一间距及第二间距均等于预定长度,在本实施例中,预定长度为1cm。
将开路器部14、上钉器部13以及丝攻部12依次从初始位置定位板10上取下,将第一连接螺栓144、第二连接螺栓134以及调节螺丝122松开。
将开路器Q1通过开路器通孔穿过开路器部14并拧紧第一连接螺栓144使得开路器部14与开路器Q1固定在一起得到开路机构14A;将丝攻器Q2通孔穿过丝攻部12并拧紧调节螺丝122使得丝攻部12与丝攻器Q2固定在一起得到丝攻机构12A;将上钉器Q3通过上钉器通孔穿过上钉器部13并拧紧第二连接螺栓134使得上钉器部13与上钉器Q3固定在一起得到上钉机构13A,上钉器Q3的头部即为上钉机构的头部13A。在本实施例中,在本实施例中,开路器Q1、上钉器Q3以及丝攻器Q2均为横截面为圆形的杆件且具有顶端及供人握持的柄端。
将开路机构14A、上钉机构13A以及丝攻机构12A由左至右依次对应嵌入初始位置定位板10上的开路器放置位111,上钉器放置位112以及丝攻放置位113上。此时,开路器Q1、上钉器Q3以及丝攻器Q2相互平行。在本实施例中,开路器Q1、上钉器Q3以及丝攻器Q2的柄端均朝向初始位置定位板10的后方设置。
第一传感器1411用于采集第一传感器1411所处即时空间位置点的坐标,第二传感器1311用于采集第二传感器1311所处即时空间位置点的坐标,第三传感器1211用于采集第三传感器1211所处即时空间位置点的坐标,在本实施例中,当第一传感器1411、当第二传感器1311以及当第三传感器1211的开关被打开时,相应的通信状态指示灯为第一闪烁状态,当与中心管理装置20完成通信连接后,通信状态指示灯变为第二闪烁状态。
将第一传感器1411的即时空间位置点作为空间点A,空间点A的坐标为开路坐标,将第二传感器1311的即时空间位置点作为空间点B,空间点B的坐标为上钉坐标,将第三传感器1211的即时空间位置点作为空间点C,空间点C的坐标为丝攻坐标,将空间点A与空间点B所在直线称为空间线AB,将空间点B与空间点C所在直线称为空间线BC。
空间线AB与空间线BC之间的夹角小于等于1/100度,空间点A与空间点B的距离,空间点B与空间点C的距离均等于预定长度,在本实施例中,空间线AB与空间线BC重合,空间点A与空间点B的距离,空间点B与空间点C的距离均为1cm。
中心管理装置20,由装置操作员操作,与定位导向装置10通信连接,用于获得及记录与定位导向装置10连接的开路器Q1、丝攻器Q2以及上钉器Q3的空 间位置点的坐标,并对空间位置点的坐标进行计算得到内固定孔道参数,根据内固定孔道参数引导丝攻器Q2以及上钉器Q3的操作,中心管理装置20为台式电脑、笔记本电脑、平板电脑其中任意一种,在本实施例中,中心管理装置20为笔记本电脑。
定位导向装置10与中心管理装置20之间距离在10米以内。
将定位导向装置10与中心管理装置20进行通信连接,当开路机构14A、上钉机构13A以及丝攻机构12A经过校准操作被中心管理装置20识别后,通信部202通过接收开路坐标、上钉坐标以及丝攻坐标实现开路机构14A、上钉机构13A以及丝攻机构12A完成通信连接,此时将开路机构14A、上钉机构13A以及丝攻机构12A分别从初始位置定位板11上拆下。在本实施例中,当校准操作成功时,三个传感器上的指示灯由闪烁状态变为呼吸状态及中心管理装置20附带的声音提示部204将发出每秒一次且持续时间为0.1秒的“bi”声时,即表示通信连接已完成,中心管理装置20将能够针对开路器Q1、丝攻器Q2以及上钉器Q3进行显示操作。如此,可杜绝开路机构14A、上钉机构13A以及丝攻机构12A的错误操作。
如图9所示,中心管理装置20包括通信部202、数据调用部206、数据运算部209、器械校正部201、数据添加部213、数据更新部214、数据生成部207、数据删除部208、数据存储部210、数据判断部211、声音提示部204、画面存储部205、画面显示部203以及与上述各部分别连接的控制部212。
通信部202,用于接收开路坐标、上钉坐标以及丝攻坐标,
用于在使用开路机构14A时接收开路起点坐标和开路终点坐标,所述开路起点坐标为将开路机构14A的头部放置在第一预定点时的即时空间位置点的坐标,开路终点为所述开路机构钻孔至预定深度得到开路孔道时的即时空间位置点的坐标,
用于在使用丝攻机构12A时接收丝攻起点坐标和丝攻即时点坐标,丝攻起点坐标为将丝攻机构12A的头部放置在第一预定点时的即时空间位置点的坐标,丝攻即时点坐标为丝攻机构12A对开路孔道攻丝得到攻丝孔道时的即时空间位置点的坐标,
用于在使用上钉机构13A时接收上钉起点坐标和上钉即时点坐标,上钉起点坐标为将上钉机构13A的头部放置在第一预定点时的即时空间位置点的坐标,上钉即时点坐标为上钉机构13A在攻丝孔道内放置椎弓根螺钉时的即时空间位置点的坐标;
数据调用部206,用于调用通信部202接收的开路坐标、上钉坐标以及丝攻坐标;
数据运算部209,用于在使用开路机构14A时对开路起点坐标和开路终点坐标进行计算得到相应的开路行进方向,用于在使用丝攻机构12A时对丝攻起点坐标和丝攻即时点坐标进行计算得到相应的丝攻初始方向,用于在使用上钉机构13A时对上钉起点坐标和所述上钉即时点坐标进行计算得到相应的上钉初始方向,
器械校准部201,根据空间线AB与空间线BC的夹角、空间点A与空间点B的距离以及空间点B与空间点C的距离对开路机构14A、上钉机构13A以及丝攻机构12A进行校准操作,当空间线AB与空间线BC的夹角小于等于1/100度且空间点A与空间点B的距离,空间点B与空间点C的距离均为预定长度,则校准通过,中心管理装置20与开路机构14A、上钉机构13A以及丝攻机构12A实现通 信连接,否则,中心管理装置20与开路机构14A、上钉机构13A以及丝攻机构12A将断开通信连接,在本实施例中,空间点A与空间点B的距离,空间点B与空间点C的距离均为1cm;
数据生成部207,用于生成一条开路数据串、一条上钉数据串以及一条丝攻数据串;
数据添加部213,用于将开路坐标添加入开路数据串、将上钉坐标添加入上钉数据串以及将丝攻坐标添加入丝攻数据串;
数据更新部214,用于对开路数据串、上钉数据串以及丝攻数据串进行更新;
数据删除部208,用于删除开路数据串;
数据存储部210,用于储存计算结果值作为参考结果值;
声音提示部204,用于根据不同的判断结果值发出不同频率的蜂鸣声,包括正常状态提示蜂鸣声及非正常状态提示蜂鸣声;
画面存储部205,存储有如图10所示的管理画面,该管理画面包括控制按键区域C、位置显示区域V以及数据显示区域D。
控制按键区域C包含多个按键,通过对多个按键的操作实现对开路坐标、上钉坐标以及丝攻坐标进行相应的处理,进而驱动中心管理装置20根据开路机构14A、上钉机构13A以及丝攻机构12A的运动情况执行相应的操作。包括用于生成开路数据串、上钉数据串以及丝攻数据串的入路器选择按键,选择将要固定的椎弓根种类及位置的初始化按键、用于分别获取开路坐标、上钉坐标以及丝攻坐标的记录按键、对开路数据串进行更新保存的标记按键、用于对未经更新保存的开路数据串进行删除的退出按键以及用于选择开启或者关闭声音提示部发出的提示蜂鸣声的提示音开关按键。
位置显示区域V通过图形显示开路坐标、上钉坐标以及丝攻坐标的位置,包括一个位置靶图图像V1,位置靶图图像V1由多个同心圆图形构成且多个同心圆的直径从小到大呈等差数列,位置靶图图像V1显示有开路坐标、上钉坐标以及丝攻坐标的图形标记。
数据显示区域D用于显示开路坐标、上钉坐标以及丝攻坐标的值,分为位于位置显示区域V的两侧。
画面显示部203,用于显示管理画面,该管理画面功能在于:在位置显示区域V显示开路坐标、上钉坐标以及丝攻坐标的图形标记、在位置数据显示区域D显示开路坐标、上钉坐标以及丝攻坐标的值以及在控制按键区域C通过多个按键对开路坐标、上钉坐标以及丝攻坐标进行相应的处理;
在位置显示区域V中,位置靶图图像V1的多重环线初始状态下显示为红色。在定位导向装置10与中心管理装置20完成通信连接后,位置靶图图像V1中出现分别表示开路坐标、上钉坐标以及丝攻坐标的空间位置的图形标记P1,P2,P3。在本实施例中,开路坐标的图形标记P1、上钉坐标的图形标记P2以及丝攻坐标的图形标记分别为绿色圆点、红色圆点以及黄色圆点。
入路器选择按键被按下时,下方将出现下拉菜单,下拉菜单中包括“开路器”选项卡、“上钉器”选项卡以及“丝攻器”选项卡,当“开路器”选项卡被选择时,在数据生成部207中将生成一条开路数据串。当“上钉器”选项卡被选择时,在数据生成部207中将生成一条上钉数据串。当“丝攻器”选项卡被选择时,在数据生成部207中将生成一条丝攻数据串。
初始化按键用于选择进行内固定椎弓根种类及位置并将这些椎弓根相关信息写入开路数据串、上钉数据串以及丝攻数据串。此按键表面显示“初始化”。 按下此按键后,如图11所示,该按键处将显示两排两列呈矩阵排列的三个按键和一个输入框,分别是位于矩阵左上角的准备进行操作的椎弓根种类的椎弓根类型选择按键,按下此按键,下方将出现下拉菜单,分别是:选项卡“C”,代表颈椎;选项卡“T”,代表胸椎,选项卡“L”,代表腰椎,选项卡“S”,代表骶椎;位于矩阵右上角的椎弓根位置选择按键,在椎弓根类型选择按键中选定相应的椎弓根类型后,再按下此按键,下方将出现下拉菜单,包括显示为从“1”开始的表示选定椎弓根类型的顺序位置序号,顺序位置序号的确定基于本领域的公知常识;位于矩阵左下角的椎弓根左右侧选择按键,按下此按键,下方将出现下拉菜单,分别是:表面显示“L”的选项卡代表左侧,表面显示“R”的按键代表右侧(根据本领域公知常识,人体椎弓根呈蝴蝶状,分左侧和右侧),上述三个按键选定相应的选项卡后内固定操作的椎弓根类型、椎弓根顺序位置以及椎弓根的内固定操作方位就确定了;位于矩阵右下角的输入框为备注输入框,用以手动输入备注。内固定椎弓根种类、位置以及实施手术方位三条信息数据将被添加进开路数据串或上钉数据串或丝攻数据串。在本实施例中,如图12所示的按键组合则表示准备进行对第5节胸椎的右侧进行上钉器的操作。
记录按键用于对开路坐标、上钉坐标以及丝攻坐标进行获取操作,具体为:记录按键表面初始显示“记录”,当开路机构14A***作时,按下此按键后,按键表面的显示会变成“结束”,同时,控制部212控制数据调用部206获取的开路坐标作为开路起点坐标并通过数据添加部212添加入开路数据串,再次按下按键的同时,按键表面显示将会变成“记录”,同时,控制部202控制数据调用部206获取的开路坐标作为第二开路坐标并通过数据添加部212添加入开路数据串,并控制数据运算部209通过对开路数据串中的开路起点坐标及开路终点坐标进行计算得到开路行进方向并作为开路计算结果值,开路方向为开路起点坐标与开路终点坐标所在直线的方向;当上钉机构13A***作时,按下后,按键表面的显示会变成“结束”,同时,控制部212控制数据调用部206获取的上钉坐标作为上钉起点坐标并通过数据添加部212添加入上钉数据串,并在上钉机构13A不断操作过程中,根据数据调用部206获取的即时上钉坐标作为上钉即时点坐标,控制部212通过数据运算部209对上钉起点坐标与上钉即时点坐标进行计算得到上钉行进方向并作为上钉计算结果值,上钉行进方向为上钉起点坐标与上钉即时点坐标所在直线的方向,当再次按下记录按键,按键表面显示将会变成“记录”,此时,将获得的上钉即时点坐标作为第一上钉坐标,持续上钉操作至结束,将获得的上钉即时点坐标作为第二上钉坐标,控制部202将控制数据调用部206不再获取新的上钉坐标;当丝攻机构12A***作时,按下后,按键表面的显示会变成“结束”,同时,控制部212控制数据调用部206获取的丝攻坐标作为丝攻起点坐标并通过数据添加部212添加入丝攻数据串,并在丝攻机构12A不断操作过程中,根据数据调用部206获取的即时丝攻坐标作为丝攻即时点坐标,控制部212通过数据运算部209对丝攻起点坐标与丝攻即时点坐标进行计算得到丝攻行进方向并作为丝攻计算结果值,丝攻行进方向为丝攻起点坐标与丝攻即时点坐标所在直线的方向,当再次按下记录按键,按键表面显示将会变成“记录”,此时,将获得的丝攻即时点坐标作为第一丝攻坐标,持续丝攻操作至结束,将获得的丝攻即时点坐标作为第二丝攻坐标,控制部202将控制数据调用部206不再获取新的丝攻坐标。
标记按键用于对经过获取操作得到的开路行进方向及开路进行距离进行标记操作,具体为:标记按键表面显示“标记”,当开路机构14A经过获取操作按 下此按键后,数据更新部214将用开路行进方向及开路行进距离对开路数据串中的第一开路坐标及第二开路坐标进行替换,并将新的开路数据串保存至数据存储部210,此时在位置靶图图像V1中,图形标记P1上将覆上一个蓝色圆点。将开路计算结果值作为参考结果值。
退出按键表面显示“退出”,被按下时,控制部212控制数据删除部208删除未经标记操作的开路数据串。
数据判断部211,对参考结果值与计算结果值进行比对得到相应的判断结果值,具体包括将丝攻计算结果值与参考结果值进行比较,相等时,判断结果值为“2”;不相等时,判断结果值为“1”;将上钉计算结果值与参考结果值进行比较,相等时,判断结果值为“2”;不相等时,判断结果值为“1”;
当判断结果值为“2”时,位置靶图图像V1的多重环线显示将由红色变为绿色,对应的图形标记P2或者图形标记P3与图形标记P1重合;当判断结果值为“1”时,声音提示部将发出非正常状态提示蜂鸣声,当判断结果值为“1”时,声音提示部将发出正常状态提示蜂鸣声且位置靶图图像V1的多重环线显示为红色。
提示音开关按键用于选择开启或者关闭中心管理装置20发出的提示蜂鸣声。以及
控制部212,与各部分别连接,用于根据装置操作员在控制按键区域的操作控制上述各部执行相应的功能。
如图图13(a)-图13(c)所示,脊柱椎弓根固定定位导向***结合实际应用时的实施包括以下步骤:
将开路器Q1、上钉器Q3以及丝攻器Q2与定位导向装置10连接得到开路机构14A、攻丝机构12A以及上钉机构13A;
将定位导向装置10置于中心管理装置20屏幕正前方并打开各传感器,执行校准操作;
校准操作完成后得到开路机构14A对应的第一传感器1411的即时坐标并作为开路坐标、得到上钉机构13A对应的第二传感器1311的即时坐标并作为上钉坐标、得到丝攻机构12A对应的第三传感器1211的即时坐标并作为丝攻坐标,将开路机构14A、上钉机构13A以及丝攻机构12A从初始位置定位板11上取下;
在需要进行内固定的椎弓根表面确定入钉点作为第一预定点,操作开路机构14A,使开路机构14A的头部对准第一预定点,保持开路机构14A不动;
在控制功能按键区域C中对入路器按键选定“开路器”、控制部212将控制数据生成部207生成一条开路数据串;
按下记录按键,控制部212将控制数据调用部206获取的开路坐标作为开路起点坐标,并通过数据添加部213将开路初始坐标添加入开路数据串;
应用开路机构14A进行开路操作,即在以入钉点为入口向椎弓根内部开出一条用于安放椎弓根内固定螺钉的开路孔道,开路完成后,保持开路机构14A不动;
再次按下记录按键,控制部212将控制数据调用部206获取的开路坐标作为开路终点坐标并将其通过数据添加部213添加入开路数据串,并根据第一开路坐标及第二开路坐标得到开路行进方向及开路行进距离;
按下标记按键,控制部212控制数据更新部214将开路行进方向及开路行进距离替换开路数据串内的第一开路坐标及第二开路坐标,再将开路数据串存储进数据存储部210,将开路行进方向作为参考结果值,将开路机构14A放置一边;
操作攻丝机构12A对开路孔道进行攻丝,使丝攻机构12A的头部对准第一预 定点,此时数据调用部206将获取的丝攻坐标作为丝攻起点坐标;
手动微微转动丝攻机构12A,使丝攻机构12A的头部产生微小的方向变动和距离的变动,此时数据调用部206将即时获取的丝攻坐标作为丝攻即时点坐标;
数据运算部209对丝攻起点坐标及丝攻即时点坐标进行计算得到丝攻初始方向;
数据判断部211判断丝攻初始方向与参考结果值是否一致,若不一致,进入步骤S14,若一致,进入步骤S15;
声音提示部204发出非正常状态提示蜂鸣声,然后进入步骤S11;
声音提示部204发出正常状态提示蜂鸣声且位置靶图图像V1的多重环线显示将由红色变为绿色,在控制功能按键区域C中对入路器按键选定“丝攻器”,数据生成部将生成一条丝攻数据串;
按下记录按键,控制部212将控制数据调用部206从通信部202获取的丝攻坐标作为第一丝攻坐标,并将第一丝攻坐标添加入数据生成部207中的丝攻数据串;
应用丝攻机构12A对开路孔道进行攻丝操作,攻丝过程中,数据调用部206将即时获取的丝攻坐标作为第二丝攻坐标;
数据运算部209对第二丝攻坐标与第一丝攻坐标进行运算得到丝攻行进方向及丝攻行进距离,将丝攻行进方向作为丝攻计算结果值;
数据判断部211判断丝攻计算结果值与参考结果值是否一致,若不一致,进入步骤S20,若一致,进入步骤S21;
在开路孔道内,微微转动丝攻机构,使得第二丝攻坐标发生变化,数据运算部209对第二丝攻坐标与第一丝攻坐标进行运算得到调整后的丝攻行进方向作为新的丝攻计算结果值,然后返回步骤S19;
监控位置靶图图像V1中图形标记P1与图形标记P2是否重合时,若重合,则表示丝攻行进距离与开路行进距离一致,进入步骤S22,若不重合,进入步骤S17;
再次按下记录按键,丝攻操作完成,得到丝攻孔道,将丝攻机构12A取出放置一边;
在上钉机构13A头部附上内固定螺钉,操作上钉机构13A,使上钉机构13A的头部对准第一预定点,此时数据调用部206将获取的上钉坐标作为上钉起点坐标;
手动微微转动上钉机构13A,使上钉机构13A的头部产生微小的方向变动和距离的变动,此时数据调用部206将获取的上钉坐标作为上钉即时点坐标;
数据运算部209对上钉起点坐标及上钉即时点坐标进行计算得到上钉初始方向;
数据判断部211判断上钉初始方向与参考结果值是否一致,若不一致,进入步骤S27,若一致,进入步骤S28;
声音提示部204发出非正常状态提示蜂鸣声,然后进入步骤S24;
声音提示部204发出正常状态提示蜂鸣声且位置靶图图像V1的多重环线显示将由红色变为绿色,在控制功能按键区域C中对入路器按键选定“上钉器”,数据生成部将生成一条上钉数据串;
按下记录按键,控制部212将控制数据调用部206从通信部202获取的上钉坐标作为第一上钉坐标,并将第一上钉坐标添加入数据生成部207中的上钉数据串;
应用上钉机构13A对丝攻孔道进行上钉操作,上钉过程中,数据调用部206将获取的上钉坐标作为第二上钉坐标;
数据运算部209对第二上钉坐标与第一上钉坐标进行运算得到上钉行进方向及上钉行进距离,将上钉行进方向作为上钉计算结果值;
数据判断部211判断上钉计算结果值与参考结果值是否一致,若不一致,进入步骤S33,若一致,进入步骤34;
在丝攻孔道内,微微转动上钉机构13A,使得第二上钉坐标发生变化,数据运算部209对第二上钉坐标与第一上钉坐标进行运算得到调整后的上钉行进方向作为新的上钉计算结果值,然后返回步骤S32;
监控位置靶图图像V1中图形标记P1与图形标记P3是否重合时,若重合,则表示丝攻行进距离与开路行进距离一致,进入步骤S35,若不重合,进入步骤S30;
再次按下记录按键,上钉操作完成。
以上实施步骤需要操作定位导向装置10的医师和操作中心管理装置20的***操作人员相配合完成,其中步骤S1-S3可由医师或者***操作人员执行,其中涉及医师操作的为步骤S4、S7、S10、S11、S17、S20、S23、S24、S30、S33,其中涉及***操作人员操作的为步骤S5、S6、S8、S9、S16、S22、S28、S29、S35,其余步骤均为中心管理装置20自动完成。
如图14(a)-图14(b)所示,采用固定定位导向***对开路机构14A、丝攻机构12A以及上钉机构13A进行准确的定位及导向来完成椎弓根螺钉的植入的椎弓根螺钉的植入方法T100的步骤如下:
步骤T1:通信部202得到开路机构14A(即开路组件)、丝攻机构12A(即丝攻组件)以及上钉机构13A(即上钉组件)的即时空间位置点的坐标(即即时空间坐标);包括如下子步骤:
步骤T1-1:将开路器Q1安装至开路器部14形成开路机构14A,将丝攻器Q2安装至丝攻部13形成丝攻机构12A,将上钉器Q3安装至上钉器部12形成上钉机构13A;
步骤T1-2:将开路机构14A、丝攻机构12A以及上钉机构13A分别放置在开路器放置位111、上钉器放置位112以及丝攻放置位113上;
步骤T1-3:中心管理装置20(即外部装置)得到第一传感器1411、第二传感器1311以及第三传感器1211的即时空间位置点的坐标,并将第一传感器1411、第二传感器1311以及第三传感器1211的即时坐标作为对应的开路机构14A的即时空间位置点的坐标、丝攻机构12A的即时坐标以及上钉机构13A的即时空间位置点的坐标;
步骤T2:分别将开路机构14A、丝攻机构12A以及上钉机构13A从开路器放置位111、上钉器放置位113以及丝攻放置位112上拆下;
步骤T3:操作开路机构14A在椎弓根表面进行开路操作得到开路孔道,中心管理装置20得到开路孔道的开路起点坐标和开路终点坐标,具体包括以下子步骤:
步骤T3-1:在需要固定的脊柱椎弓根表面确定钻孔点作为第一预定点,将开路机构14A的头部放置在第一预定点,将中心管理装置20得到的即时空间位置点的坐标作为开路起点坐标;
步骤T3-2:操作开路机构14A向椎弓根内部钻孔至预定深度得到开路孔道,此时中心管理装置20得到的即时坐标作为开路终点坐标。
步骤T4:中心管理装置20根据开路起点坐标与开路终点坐标得到开路方向及开路距离,此时取出开路机构14A;
步骤T5:操作丝攻机构12A对开路孔道进行攻丝得到丝攻孔道,此时中心管理装置20通过第二传感器1311得到丝攻孔道的丝攻起点坐标和丝攻即时点坐标,具体包括以下子步骤:
步骤T5-1:将丝攻机构12A的头部放置在第一预定点,此时中心管理装置20得到的即时空间位置点的坐标作为丝攻起点坐标;
步骤T5-2:操作丝攻机构12A对开路孔道攻丝得到攻丝孔道,此时中心管理装置20得到的即时空间位置点的坐标作为丝攻即时点坐标。
步骤T6:中心管理装置20根据丝攻即时点坐标与丝攻起点坐标得到攻丝方向与攻丝距离;
步骤T7:中心管理装置20判断攻丝方向与开路方向是否相同,当攻丝方向与开路方向不同时,进入步骤T8,当攻丝方向与开路方向相同时,进入步骤T9;
步骤T8:中心管理装置20发出第一错误报警信号,通过调整丝攻机构12A的即时位置改变丝攻即时点坐标使得攻丝方向改变,进入步骤T7;
步骤T9:中心管理装置20判断攻丝距离与开路距离是否相等,当攻丝距离与开路距离相等时,中心管理装置20发出第一正确提示信号,取出丝攻机构12A,进入步骤T10,当攻丝距离与开路距离不相等时,继续攻丝操作使中心管理装置20得到新的丝攻即时点坐标,进入步骤T6;
步骤T10:操作设置有椎弓根螺钉的上钉机构13A在丝攻孔道内放置椎弓根螺钉,此时第三传感器1211得到上钉起点坐标和上钉即时点坐标,具体包括以下子步骤:
步骤T10-1:将设置有椎弓根螺钉的上钉机构13A放置在第一预定点,此时中心管理装置20得到的即时空间位置点的坐标作为上钉起点坐标;
步骤T10-2:操作上钉机构13A在攻丝孔道内放置椎弓根螺钉,此时中心管理装置20得到的即时空间位置点的坐标作为上钉即时点坐标。
步骤T11:中心管理装置20根据上钉即时点坐标与上钉起点坐标得到上钉方向及上钉距离;
步骤T12:中心管理装置20判断上钉方向与开路方向是否相同,当上钉方向与开路方向不同时,进入步骤T13,当攻丝方向与开路方向相同时,进入步骤T14;
步骤T13:中心管理装置20发出第二错误报警信号,通过调整上钉机构13A的即时位置改变上钉即时点坐标使得上钉方向改变,进入步骤T12;
步骤T14:数据判断部211判断上钉距离与开路距离是否相等,当攻丝距离与开路距离不相等时,继续上钉操作使外部装置得到新的上钉即时点坐标,进入步骤T11;当上钉距离与开路距离相等时,声音提示部204发出第二正确提示信号,进入结束状态。
实施例的作用与效果
根据本实施例的一种脊柱椎弓根固定定位导向***,因为包括定位导向装置和中心管理装置,定位导向装置包含初始位置定位板、开路器部、上钉器部以及丝攻部,中心管理装置包括器械校准部,初始位置定位板具有开路器放置位、上钉器放置位以及丝攻放置位;开路器部设置在开路器放置位上且具有开路器通孔;上钉器部设置在上钉器放置位上且具有上钉器通孔;丝攻部设置在丝攻放置 位上且具有丝攻器通孔,开路器通孔、上钉器通孔以及丝攻器通孔的孔径均可以在一定范围内调节。开路器部、上钉器部以及丝攻部均设置有传感器,且三个传感器均为相同的传感器,开路器通孔的轴线、上钉器通孔的轴线以及丝攻器通孔的轴线均相互平行。当将开路器和开路器部连接得到的开路机构、将上钉器和上钉器部连接得到的上钉机构、将丝攻器和丝攻部连接得到的上钉机构分别安装在开路器放置位、上钉器放置位以及丝攻放置位上时,器械校准部能够对开路机构、上钉机构以及丝攻机构执行校准操作;校准成功的标准为第一传感器采集的空间位置坐标点分别和第二传感器采集的空间位置坐标点,第三传感器采集的空间位置坐标点所在的两条直线之间的夹角在1/100度以内,所以,定位导向装置的设计能够使得开路机构的位置、丝攻机构的位置以及上钉机构的位置快速、准确地被中心管理装置识别,相对以往技术,使得开路机构、上钉机构以及丝攻机构的***连接操作更加便捷,简化;
因为开路机构包含第一传感器、上钉机构包含第二传感器以及丝攻机构包含第三传感器,分别与中心管理装置相连接,能够采集开路机构、丝攻机构以及上钉机构的即时空间位置点的坐标并向中心管理装置的通信部传递,即在对开路机构、上钉机构以及丝攻机构进行单独操作时,实时采集开路机构、上钉机构以及丝攻机构的即时空间位置点的坐标,从而能够通过中心管理装置对开路机构、上钉机构以及丝攻机构进行即时跟踪标记,所以,使得中心管理装置能够快速、准确地对开路机构、丝攻机构以及上钉机构进行辨识及定位,因此本发明较以往技术具有更好的精确性、可操作性。
因为脊柱椎弓根固定定位导向***具有通信连接的定位导向装置与中心管理装置,中心管理装置包括数据运算部、数据判断部以及声音提示部,数据运算部可以在使用开路机构时对开路起点坐标和开路终点坐标进行计算得到相应的开路行进方向及开路行进距离,可以在使用丝攻机构时对丝攻起点坐标和丝攻即时点坐标进行计算得到相应的丝攻初始方向,并对第一丝攻坐标及第二丝攻坐标得到丝攻行进距离,可以在使用上钉机构时对上钉起点坐标和上钉即时点坐标进行计算得到相应的上钉初始方向,并对第一丝攻坐标及第二丝攻坐标得到丝攻行进距离;数据判断部能够判断丝攻初始方向和上钉初始方向与开路行进方向是否一致,当判断丝攻初始方向和开路行进方向一致时,丝攻机构对开路孔道开始进行攻丝操作,当判断丝攻初始方向和开路行进方向不一致时,让丝攻机构的头部产生方向变动从而获得新的丝攻初始方向。当进行攻丝操作时,数据判断部可以判断丝攻行进距离与开路行进距离是否一致,当判断丝攻行进距离和开路行进距离一致时,结束丝攻操作并开始进行上钉操作,当判断丝攻行进距离和开路行进距离不一致时,继续丝攻操作。当判断上钉初始方向和开路行进方向一致时,上钉机构对丝攻孔道开始进行上钉操作,当判断上钉初始方向和开路行进方向不一致时,使上钉机构的头部产生方向变动从而获得新的上钉初始方向。当进行上钉操作时,数据判断部可以判断上钉行进距离与开路行进距离是否一致,当判断上钉行进距离和开路行进距离一致时,结束上钉操作,即完成椎弓根螺钉植入,当判断上钉行进距离和开路行进距离不一致时,继续上钉操作。声音提示部,用于根据数据判断部的判断结果发出不同频率的蜂鸣声,即本实施例的脊柱椎弓根固定定位导向***能以操作开路机构时得到的开路方向及开路距离为依据引导丝攻机构以及上钉机构进行操作,当丝攻机构以及上钉机构的实际动作方向及实际动作行程和开路方向及开路距离一致或不一致时通过声音提示部及时的进行不同的信号提示,所以本实施例的脊柱椎弓根固定定位导向***能够快速、准确地 进行脊柱椎弓根螺钉植入操作,而且相对以往技术能简化脊柱椎弓根螺钉的植入操作的过程进而提高脊柱椎弓根螺钉的植入操作效率且能大大提高脊柱椎弓根螺钉的植入的准确性。
上述实施方式为本发明的优选案例,并不用来限制本发明的保护范围。
Claims (10)
- 一种定位导向装置,通过对脊柱椎弓根固定器械进行定位,其特征在于,包括:初始位置定位板,呈板状,具有依次设置且互相平行的开路器放置位、上钉器放置位、丝攻放置位;开路器部,呈长方体状,水平地设置在所述开路器放置位上,包括由上至下依次连接的第一传感器环卡组件、开路器上垫片以及开路器下垫片,所述开路器上垫片和所述开路器下垫片之间设置有贯穿所述开路器部两个对应侧面的开路器通孔;上钉器部,呈长方体状,水平地设置在所述上钉器放置位上,包括由上至下依次连接的第二传感器环卡组件、上钉器上垫片以及上钉器下垫片,所述上钉器上垫片和所述上钉器下垫片之间设置有贯穿所述上钉器部两个对应侧面的上钉器通孔;以及丝攻部,呈长方体状,水平地设置在所述丝攻放置位上,包括丝攻器抱卡组件,该丝攻器抱卡组件包括丝攻器抱卡,所述丝攻器抱卡上设置有贯穿所述丝攻部两个对应侧面的丝攻器通孔,其中,所述第一传感器环卡组件设置在所述开路器部的上部,所述第二传感器环卡组件设置在所述上钉器部的上部,所述第一传感器环卡组件含有第一传感器环卡和设置在该第一传感器环卡内的第一传感器,所述第二传感器环卡组件含有第二传感器环卡和设置在该第二传感器环卡内的第二传感器,所述丝攻器抱卡内设置有第三传感器,所述第一传感器的中心点、所述第二传感器的中心点以及所述第三传感器的中心点均位于同一条直线上。
- 根据权利要求1所述的定位导向装置,其特征在于:其中,所述开路器放置位、所述上钉器放置位、所述丝攻放置位均为贯穿所述初始位置定位板上下端面的矩形通孔。
- 根据权利要求1所述的定位导向装置,其特征在于:其中,所述第一传感器环卡和所述第二传感器环卡均呈筒状,用于固定所述第一传感器和所述第二传感器。
- 根据权利要求1所述的定位导向装置,其特征在于:其中,所述第一传感器、所述第二传感器以及所述第三传感器均为姿态传感器。
- 根据权利要求1所述的定位导向装置,其特征在于:其中,所述开路器上垫片为矩形平板,所述开路器下垫片为中部具有“V”形第一通槽的板体且所述第一通槽槽口朝向所述开路器上垫片设置,所述第一通槽与所述开路器上垫片共同形成所述开路器通孔。
- 根据权利要求1所述的定位导向装置,其特征在于:其中,所述上钉器上垫片为长方体,中部设置有第二通槽,该第二通槽具有呈圆弧面的底面,所述上钉器下垫片为板体,中部设置有第三通槽,该第三通槽具有呈圆弧面 的底面,所述第二通槽槽口与所述第三通槽槽口相对设置并且相互吻合,所述第二通槽与所述第三通槽共同形成所述上钉器通孔。
- 根据权利要求1所述的定位导向装置,其特征在于:其中,所述丝攻器抱卡上部具有平底方形凹陷,该方形凹陷的底面平行于水平面,用于固定所述传感器,所述丝攻器通孔设置在所述方形凹陷下方,从所述丝攻器通孔的边缘沿平行于所述方形凹陷底面的方向延伸出一条缝隙,该缝隙将所述丝攻器抱卡的一侧分成两个自由端。
- 一种脊柱椎弓根固定定位导向***,用于通过对脊柱椎弓根固定器械进行定位及导向,所述脊柱椎弓根固定器械包括开路器、丝攻器以及上钉器,其特征在于,包括:定位导向装置;以及中心管理装置,与所述定位导向装置通信连接;其中,所述定位导向装置为权利要求1-7中所述的定位导向装置,所述开路器部用于安装所述开路器,从而与所述开路器形成开路机构,所述丝攻部用于安装所述丝攻器,从而与所述丝攻器形成丝攻机构,所述上钉器部用于安装所述上钉器,从而与所述上钉器形成上钉机构,所述第一传感器、所述第二传感器以及所述第三传感器分别用于采集所述第一传感器所处即时空间位置点的坐标、所述第二传感器所处即时空间位置点的坐标以及所述第三传感器所处即时空间位置点的坐标,所述第一传感器用于采集该第一传感器所处的即时空间位置点的坐标,从而获取所述第一传感器的即时空间位置点,作为空间点A;所述第二传感器用于采集该第二传感器所处的即时空间位置点的坐标,从而获取所述第二传感器的即时空间位置点,作为空间点B;所述第三传感器用于采集该第三传感器所处的即时空间位置点的坐标,从而获取所述第三传感器的即时空间位置点,作为空间点C;所述空间点A与所述空间点B所在直线为空间线AB,所述空间点B与所述空间点C所在直线为空间线BC;所述中心管理装置包括:通信部,用于接收开路坐标、上钉坐标以及丝攻坐标,用于在使用所述开路机构时接收开路起点坐标和开路终点坐标,所述开路起点坐标为将所述开路机构的头部放置在第一预定点时的即时空间位置点的坐标,所述开路终点为所述开路机构钻孔至预定深度得到开路孔道时的即时空间位置点的坐标,用于在使用所述丝攻机构时接收丝攻起点坐标和丝攻即时点坐标,所述丝攻起点坐标为将所述丝攻机构的头部放置在所述第一预定点时的即时空间位置点的坐标,所述丝攻即时点坐标为所述丝攻机构对所述开路孔道攻丝得到攻丝孔道时的即时空间位置点的坐标,用于在使用所述上钉机构时接收上钉起点坐标和上钉即时点坐标,所述上钉起点坐标为将所述上钉机构的头部放置在所述第一预定点时的即时空间位置点的坐标,所述上钉即时点坐标为所述上钉机构在所述攻丝孔道内放置椎弓根螺钉时的即时空间位置点的坐标,器械校准部,用于对所述开路机构、所述上钉机构以及所述丝攻机构执行校准操作;当所述空间线AB与所述空间线BC之间的夹角小于等于1/100度,所述空间点A与所述空间点B的距离,所述空间点B与所述空间点C的距离均等于预定长度时,校准完成;数据运算部,用于在使用所述开路机构时对所述开路起点坐标和所述开路终点坐标进行计算得到相应的开路行进方向,用于在使用所述丝攻机构时对所述丝攻起点坐标和所述丝攻即时点坐标进行计算得到相应的丝攻初始方向,用于在使用所述上钉机构时对所述上钉起点坐标和所述上钉即时点坐标进行计算得到相应的上钉初始方向,数据判断部,用于分别判断所述丝攻初始方向和所述上钉初始防线与所述开路行进方向是否一致,当判断所述丝攻初始方向和所述开路行进方向一致时,所述丝攻机构对所述开路孔道进行攻丝操作,当判断所述丝攻初始方向和所述开路行进方向不一致时,让所述丝攻机构的头部产生方向变动从而获得新的丝攻初始方向,当判断所述上钉初始方向和所述开路行进方向一致时,所述上钉机构对所述丝攻孔道进行上钉操作,当判断所述上钉初始方向和所述开路行进方向不一致时,使上钉机构的头部产生方向变动从而获得新的上钉初始方向;控制部,用于对所述中心管理装置中其余各个部分进行控制,画面存储部,存储有管理画面,该管理画面包括:控制按键区域、位置显示区域以及数据显示区域,所述控制按键区域包括多个可供操作的按键;以及画面显示部,用于显示所述管理画面,所述控制按键区域包括用于生成所述开路数据串、所述上钉数据串以及所述丝攻数据串的入路器选择按键、用于选择进行椎弓根手术固定椎骨种类及位置的初始化按键、用于分别获取所述开路坐标、所述上钉坐标以及所述丝攻坐标的记录按键、用于对所述开路数据串进行更新保存的标记按键以及用于对未经更新保持的开路数据串进行删除的退出按键。
- 根据权利要求8所述的脊柱椎弓根固定定位导向***,其特征在于:其中,所述中心管理装置还包括数据调用部、数据生成部、数据添加部、数据更新部以及数据删除部,所述数据调用部用于调用所述开路坐标、所述上钉坐标以及所述丝攻坐标;所述数据生成部用于生成开路数据串、上钉数据串以及丝攻数据串;所述数据添加部用于将所述开路坐标添加入所述开路数据串、将所述上钉坐标添加入所述上钉数据串以及将所述丝攻坐标添加入所述丝攻数据串;所述数据更新部用于对所述开路数据串、所述上钉数据串以及所述丝攻数据串进行更新;所述数据删除部用于删除所述开路数据串。
- 根据权利要求8所述的脊柱椎弓根固定定位导向***,其特征在于:其中,所述中心管理装置包括声音提示部,用于根据所述数据判断部的判断结果发出不同频率的蜂鸣声,所述控制按键区域包括提示音开关按键,用于选择开启或者关闭所述声音提示部发出的所述蜂鸣声。
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