CN101869504B - Three-dimensional guiding method for use in orthopaedic operation and guider thereof - Google Patents
Three-dimensional guiding method for use in orthopaedic operation and guider thereof Download PDFInfo
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Abstract
The invention discloses a three-dimensional guiding method for use in an orthopaedic operation and a guider thereof. In the invention, an acceleration sensor and a magnetic field sensor are fixedly arranged on an operating instrument, wherein the acceleration sensor acquires gravity acceleration components corresponding to the axes of the operating instrument, and the magnetic field sensor acquires the magnetic field components corresponding to the axes of the operating instrument; the acquired gravity acceleration components and magnetic field components are converted into azimuth angle and sagittal saw angle information which is to be displayed in real time; and real-time three-dimensional orientation guiding is performed according to the displayed azimuth angle and sagittal saw angle information. The guider can be used to help medical care personnel to determine the sizes of azimuth angles and sagittal saw angles in clinic so as to avoid various human errors. Meanwhile, the guider has a small volume and therefore is convenient to carry; and when the guider is used, the medical care personnel can acquire real-time position accurate information, so that the successful rate of an operation can be increased.
Description
Technical field
The present invention relates to a kind of three-dimensional orientation guidance method that is used for bone surgery; The invention still further relates to a kind of three-dimensional orientation guider that uses this method as bone surgery middle auxiliary devices such as the neck of spinal surgery, breast, pedicle of lumbar vertebra puncture and screw are fixing.
Background technology
In the existing bone surgery operation; Puncture technique is used very extensive; Particularly when carrying out the pedicle operation technique of spinal surgery; Must in unique correct bone property passage, puncture, thereby make implantation sites such as screw or bone cement accurate, so require the clinicist can confirm the sagittal angle and the azimuth of instrumentation accurately.Yet, at present generally all be the size of coming the rough estimate angle by the experience that the doctor observes range estimation, therefore, even the very abundant doctor of experience also can't guarantee the entirely true of angle or accurate basically.The misplace rate of bibliographical information pedicle screw is between 10%-33.7%, and the complication consequence is serious.The inaccurate pedicle nail that possibly make in sagittal angle places intervertebral disc perhaps to injure the nerve root in the intervertebral foramina, causes internal fixation to lose efficacy or the sensorimotor function obstacle; Azimuth (leaning angle) is excessive or too small, pedicle nail is got in the canalis spinalis perhaps pass the vertebral body outer wall, injures trunk and internal organs in spinal cord and the abdomen, causes serious consequence.
The patent No. is that 9724488.1 Chinese utility model patent, the patent No. are that 200620024102.8 Chinese utility model patent, the patent No. are that 200920101434.5 Chinese utility model patent discloses several kinds of auxiliary device that are used for the fixation of pedicle operation; But be same type basically; Difference is material, and is realizing technologic improvement.Wherein, The patent No. is the auxiliary device of the disclosed a kind of mechanical type fixation of pedicle operation of 9724488.1 Chinese utility model patent: through regulating screw bolt and nut on connecting plate and the location-plate with location-plate, connecting plate and bent plate are fixed angle and the lateral separation of adjusting with maintenance.During operation, the card punch in the pilot hole on the mounting angle plate is that institute is to the position.The weak point of this auxiliary device is:
1. before punching, fix angle and lateral separation, can not accomplish in time to adjust this angle and lateral separation according to the difference of concrete individuality.
2. whole device is by wood, and screw and nut constitutes.Be difficult to guarantee its inherent accuracy from the physical characteristic of material own; Through adding the instrument precision in man-hour, influence the precision of its device equally again.
3. medical personnel's difference in operation, being difficult to require each user of service is to observe to read rule reading scale, from reality is used, introduces personal error again.
4. because location-plate and chain connecting plate, and bent plate is to fix through the mode of screw and nut, very difficult assurance before use with use, can not produce relative displacement, and cause the deviation on the orientation angle owing to the effect of external force.
5. from the description of the structure of its device itself, determine that its volume is excessive, not portable, can not provide dynamic positional information to make medical personnel in time adjust angle and satisfy the concrete condition requirement, and use relative very complicated according to individual variation.
6. its device must be anchored on the bone property structures such as spinous process; Only being suitable in the open surgery corresponding anatomic landmark obtains under the clear situation about appearing; Can't be applied to the extensive at present minimally invasive spine surgical operation that rises, as: art formulas such as percutaneous cervical arc root screw fixation, percutaneous vertebroplasty, percutaneous kyphoplasty art.
Summary of the invention
The purpose of this invention is to provide a kind of three-dimensional orientation guidance method that can real-time prompting instrument positions situation, can be in clinical assist personnel accurately confirm sagittal angle and azimuthal size of instrument positions to realize accurately guiding.
Another object of the present invention is to provide the bone surgery three-dimensional orientation guider of realizing said method.
For realizing the object of the invention; The technical scheme that the present invention adopted is following: a kind of three-dimensional orientation guidance method that is used for bone surgery; Through fixed installation acceleration transducer and magnetic field sensor on operating theater instruments; Obtain the gravitational acceleration component of each correspondence of operating theater instruments by acceleration transducer, magnetic field sensor obtains the magnetic-field component of each correspondence of operating theater instruments; Again with the gravitational acceleration component that obtains with magnetic-field component converts the azimuth into and the sagittal angle information shows in real time, carry out according to azimuth that shows and sagittal angle information that real-time three-dimensional is directed to lead.
The present invention also realizes guiding calibration in real time through the setting measurement reference point, specifically is azimuth that obtains current location and sagittal angle information are preserved, as the witness mark of next orientation measurement; And the difference of the angle information of the witness mark of the angle information that should measure next time and storage setting is as content displayed.
The present invention handles azimuth that obtains and mistake shape angle information and demonstration through being wirelessly transmitted to host computer, and more detailed information is provided, and supplies medical personnel's reference.
Before the present invention uses, in environment for use, will be fixed with pick off around apparatus rotate a circle in the horizontal direction, carry out pick off and calibrate automatically, to obtain more accurate data.
According to the inventionly convert the gravitational acceleration component that obtains and magnetic-field component the azimuth of apparatus into and computational methods that the sagittal angle information is adopted are:
Wherein:
Wherein, ∠ B is the azimuth of apparatus, and ∠ A is the sagittal angle, g
x, g
y, g
zBe respectively the component that acceleration transducer obtains at x, y, z axle, h
x, h
y, h
zBe the component of magnetic field sensor in x, y, the acquisition of z axle.
A kind of bone surgery three-dimensional localization guider that uses the said method of claim 1; The sensor unit, microcontroller processor and the display unit that comprise power supply unit, form by acceleration transducer and magnetic field sensor; The sensor unit that is fixed on the apparatus obtains component of acceleration and magnetic field strength component under the geographic coordinate system; And transfer to micro controller unit and handle, converting the azimuth and the sagittal angle information of apparatus into, azimuth and sagittal angle information transfer to display unit and show.
Guider of the present invention also comprises wireless transmission unit; Through wireless data transmission unit azimuth and sagittal angle information are transferred to host computer and carry out other processing; Also on host computer, show corresponding data simultaneously,, medical personnel are provided reference to obtain more information.
Power supply unit of the present invention is the wireless charging type power supply unit, comprises prime part and back level part, and the prime part adopts way of electromagnetic induction to be connected with back level part, when power supply uses up, need not dismantle charging like this, makes things convenient for the use of guider.
The unitary back of wireless power according to the invention level part is fixed on the apparatus with the printed circuit board (PCB) that described sensor unit, microcontroller, wireless data transmission unit are packaged as a whole; The position that the axis of printed circuit board (PCB) overlaps with the axis of entire equipment apparatus is to reduce measurement error.
Described acceleration transducer can adopt two or 3-axis acceleration sensor; Described magnetic field sensor adopts the three-axle magnetic field pick off.
The present invention utilizes magnetic north direction and gravity direction and magnetic west to setting up a geographic coordinate system, is used as the absolute reference system of this device.Record real-time weight component of apparatus and magnetic-field component under absolute coordinate system through acceleration transducer and magnetic field sensor; Again through the transformational relation between apparatus body coordinate system and the geographic coordinate system; Through mathematic(al) manipulation, thereby extract azimuth and sagittal angle information.
The present invention can assist personnel accurately confirm sagittal angle and azimuthal size in clinical, realize guiding in real time, and positioning accuracy is high; And can carry out real time calibration, and avoided various human error, simultaneously, volume of the present invention is little, is easy to carry.Through the present invention, medical personnel can obtain the success rate that real-time position accurate information improves operation.
Description of drawings
Below in conjunction with the accompanying drawing and the specific embodiment the present invention is done further detailed description.
Fig. 1 is a composition frame chart of the present invention;
Fig. 2 is two coordinate systems of institute of the present invention foundation, and concerns sketch map between azimuth and sagittal angle and this two coordinate systems;
Fig. 3 converts geographic coordinate system to for the present invention the process sketch map of apparatus body coordinate system;
Fig. 4 is the output result's of the embodiment of the invention a flow chart.
The specific embodiment
Now through coming comparatively complete explaination the present invention with reference to accompanying drawing, exemplary embodiment of the present invention shown in it.
A kind of three-dimensional orientation guidance method that is used for bone surgery that the present invention proposes; Through fixed installation acceleration transducer and magnetic field sensor on operating theater instruments; Obtain the gravitational acceleration component of each correspondence of operating theater instruments by acceleration transducer, magnetic field sensor obtains the magnetic-field component of each correspondence of operating theater instruments; Again with the gravitational acceleration component that obtains with magnetic-field component converts the azimuth into and the sagittal angle information shows in real time, carry out according to azimuth that shows and sagittal angle information that real-time three-dimensional is directed to lead.
Convert the gravitational acceleration component that obtains and magnetic-field component the azimuth of apparatus into and computational methods that the sagittal angle information is adopted are:
Wherein:
Wherein, ∠ B is the azimuth of apparatus, and ∠ A is the sagittal angle, g
x, g
y, g
zBe respectively the component that acceleration transducer obtains at x, y, z axle, h
x, h
y, h
zBe the component of magnetic field sensor in x, y, the acquisition of z axle.
Because what measure is under the geographic coordinate system condition; Through the resulting angle information of conversion, and in a concrete measurement event, the magnetic north pole in the geographic coordinate system is constant all the time; And the measurement event orientation is at random; General by patient's orientation of being lain and patient's self conditional decisions such as anatomical position, therefore in the actual guiding process, make things convenient for surgeon to obtain required navigation information in real time through selected witness mark position way.
Generally need to measure the angle information of the symmetric position of reference point both sides, measure therefore that to begin to locate this location point be the reference position, with the angle information of desired position on the symmetric position that conveniently finds its both sides.Specifically be with the azimuth that obtains current location and sagittal angle information witness mark as next orientation measurement.Can be through preserving current position angle information mode, the current location of preserving be exactly the reference point that will set.After having preserved reference point, continuous measurement position angle information, and wireless transmission and demonstration simultaneously.Whenever carry out once all after dates of such measurement-demonstration-transmission, detect once whether need reset witness mark, can repeat measuring period.
For obtaining higher certainty of measurement, when being installed, calibrates by pick off, mainly each of each pick off calibrated, promptly calibrate firmly, then the factor of calibrating is cured in the internal memory of pick off, can call during program running; Before another is to use, carry out the semi-automatic calibration of use location, user is in environment for use; Equipment is rotated a circle at horizontal level slowly, and pick off can write down related data automatically, and calibrate automatically inside; And, be used for actual test with the calibration factor maintenance.To a pick off, under technology and the guaranteed situation of element concordance, can replace with the calibration factor that known pick off carries.
The difference of the angle information of the witness mark that can the angle information of current this measurement and storage be set is as content displayed; Be that this is measured with respect to the half-convergency of witness mark or changes the angle relatively; Rather than actual azimuth and sagittal angle; Therefore, the information of taking measurement of an angle that is shown just can be, and also can be negative.For representing then to represent to be rotated counterclockwise an angle when being negative correct time with respect to reference point with respect to angle of reference point clockwise rotation.And at the beginning of using the beginning, owing to do not set reference point, the initial value of this reference point is 0, and therefore before user was not provided with new witness mark, data presented was exactly true bearing angle and sagittal angle.
Utilize bone surgery three-dimensional localization guider such as Fig. 1 of said method; The sensor unit 4, microcontroller 5, wireless data transmission unit 7 and the display unit 6 that comprise power supply unit 1, form by acceleration transducer 2 and magnetic field sensor 3; Power supply unit 1 is given other component units power supplies; The sensor unit 4 that is fixed on the apparatus obtains component of acceleration and magnetic field strength component under the geographic coordinate system; And transfer to micro controller unit 5 and handle, converting the azimuth and the sagittal angle information of apparatus into, azimuth and sagittal angle information show at display unit in real time; And send to host computer through wireless data transmission unit 7 and be for further processing, to show more detailed information.
Power supply unit 1 is divided into prime part and back level part, and the prime part does not directly link to each other with back level part, but through the principle that electromagnetism is changed each other both is connected.Prime partly is to be made up of AC-DC circuit module, primary coil drive circuit, primary coil; Back level part is made up of secondary coil, current rectifying and wave filtering circuit, mu balanced circuit, lithium electricity charge protection and cue circuit.In the use, lithium battery is given other unit power supply, and during lithium power consumption deficiency, meeting detects automatically and the prompting user passes through prime to back level charging.With the printed circuit board (PCB) that the back level part of wireless power unit 1 and sensor unit 4, microcontroller 5 and wireless data transmission unit 7 are packaged as a whole, pick off should be arranged in the center of printed circuit board (PCB); Because pick off is subject to ferrum property, the influence of magnetic material in order to reduce this interference, is arranged in the end of printed circuit board (PCB) with wireless data transmission unit, as much as possible from the farthest of pick off; Device around the placement sensor should be avoided all around occurring in 10 millimeters at pick off; The fixed position of printed circuit board (PCB) on apparatus will guarantee that the axis of printed circuit board (PCB) overlaps with the axis of entire equipment apparatus, otherwise will bring error to measurement.Whole printed circuit board (PCB) does not need the lead and the external world to get in touch, thereby realizes wireless transmission, and the wireless transmission corresponding data shows on display unit, carries out other processing to host computer simultaneously and respective data transfer.Above-mentioned power supply unit 1 also can adopt other forms of working power commonly used, or minicell etc. independently.
Magnetic field sensor 3 in the sensor unit 4 adopts the reluctance type magnetic field sensor, and what use in the present embodiment is the earth magnetism integration module of ST (meaning method) company, also can use the giant magnetoresistance magnetometer of the HMC of Honeywell Inc. series magnetometer and Infineon company.
Microcontroller 5 is the high performance microprocessor of super low-power consumption, and we use the MSP430 series microprocessor of TI company in the present embodiment, also can use the microprocessor of atmel corp, NXP company, Yi Fa company or AD company.
What display unit 6 adopted is undersized liquid crystal, and corresponding Chinese prompt character and symbol are arranged, and can certainly take other to show carrier, and display unit can be installed on and make things convenient on the apparatus that medical personnel conveniently watch.
The radio frequency that has the industry lowest power consumption (RF) the chip CC1000 that wireless transmission unit 7 adopts TI companies also can pass through other wireless data transmission technology, as: infrared, bluetooth, zigbee, WIFI etc.
Operation principle of the present invention is: ST (meaning method) company's 3-axis acceleration sensor is used for obtaining the component of acceleration under the geographic coordinate system of apparatus in whole process; Three betwixt mountains magnetic integration module pick offs of ST (meaning method) company obtain the magnetic-field component under geographic coordinate system in the whole process; Six components that the MSP430 series microprocessor is obtained sensor unit 4 are done corresponding mathematical operation and are handled, and obtain sagittal angle and azimuthal information; Indicate according to the user and to differentiate current measured value and whether need store still and need show, and the wireless transmission unit that constitutes through radio frequency chip CC1000 is carried out exchanges data in 433,000,000 frequency ranges or other frequency range and host computer through undersized liquid crystal display screen.
Fig. 2 is the geographic coordinate system of institute's foundation among the present invention and the sketch map of apparatus body coordinate system.This geographic coordinate system and apparatus body coordinate system all are mutually orthogonal cartesian coordinate systems.Wherein, apparatus body coordinate system OX
bY
bZ
bBeing positioned on the apparatus, is to change the coordinate system of moving with the apparatus attitude.Its longitudinal axis OZ
bFor apparatus axially, point to the upper end of apparatus.OX
bAnd OY
bAxle is in the sagittal plane, and is orthogonal.Another coordinate system OX
rY
rZ
rBe geographic coordinate system, OX
rAxle points to magnetic north, OY
rAxle points to earth magnetism west, OZ
rAxle is the ground vertical line, points to the sky.This is the reference frame that is used to represent the apparatus trend.Two coordinate systems meet right hand rule.
According to definition, ∠ A apparatus sagittal angle is apparatus coordinate system axle OZ
bWith geographic coordinate system axle OZ
rBetween angle.
Magnetic azinuth is that apparatus axis is to OZ
bWith geographical coordinate axle OZ
rPlace plane OZ
bZ
rMean north axle OX with geographical coordinate
rWith geographic coordinate system axle OZ
rPlace plane OX
rZ
rBetween angle, like the ∠ B angle among Fig. 2, clockwise, corner is for just from north orientation east.
The tool face azimuth is with apparatus coordinate system OZ
bBe axle, spinning clockwise is from apparatus axis OZ
bPlane OZ hangs down on the ground at place
bZ
rForward to by apparatus coordinate system axle OZ
bWith axle OX
bThe plane OX at place
bZ
bBetween angle ∠ C be the tool face azimuth, clockwise for just, the power of weighing again tool face azimuth is like the ∠ C among Fig. 2.
Fig. 3 explains geographic coordinate system OX
rY
rZ
rThrough reaching the coordinate system OX of apparatus body after three rotation of coordinate
bY
bZ
bProcess.
Step1 explanation rotation for the first time is with OZ
rBe axle, with axle OX
rRotate an azimuth ∠ B clockwise eastwards.Coordinate system OX after the rotation
1Y
1Z
1, axle OZ
rWith OZ
1Axle overlaps.
Step2 explanation rotation for the second time is with OY
1Be axle, make OZ
1(OZr) axle rotates a sagittal angle ∠ A to OZ
2, the coordinate system after the rotation is OX
2Y
2Z
2, OY
2Axle promptly is an OY
1
Step3 explanation rotation for the third time is with OZ
2Be axle, a tool face azimuth ∠ C turns clockwise.Reach apparatus coordinate system OX at last
bY
bZ
bOZ
bAxle promptly is an OZ
2
Rotate to be rotation for the third time, it changes the tool face azimuth, does not change magnetic azinuth and apparatus sagittal angle.Rotation for the second time, it only changes the sagittal angle of apparatus, and magnetic azinuth is constant, the tool face azimuth changes into zero.The visible bearing angle by the first time anglec of rotation determine, apparatus sagittal angle then by the second time anglec of rotation determine.The anglec of rotation then is the tool face azimuth for the third time.
The gravity acceleration g vector is at geographic coordinate system OZ
rOn the axle, earth's magnetic field h vector is then at OX
rZ
rIn the plane.H is at OX
rOn horizontal component be-h
N, at OZ
rVertical component on the axle is h
N
Bone surgery three-dimensional localization guider can adopt 3-axis acceleration sensor and three magnetometric sensors, also can adopt two axle acceleration sensors and three magnetometric sensors.The former can carry out the detection of comprehensive attitude parameter, and sagittal angular measurement scope is the 0-180 degree.And the latter can only carry out the detection of attitude parameter in about 85 degree scopes from 0 at the sagittal angle.Three acceleration sensors of meaning method (ST) company that adopts in the present embodiment and magnetometric sensor, thus its sagittal angular measurement scope at the 0-180 degree, the azimuth determination scope is at the 0-360 degree.
By pick off 4 resultant component of acceleration (g
x, g
y, g
z) and magnetic-field component (h
x, h
y, h
z), according to above-mentioned geographic coordinate system and apparatus body coordinate system change procedure and sagittal angle and azimuthal relation, can record the azimuth, its computing formula:
Wherein:
The sagittal angle, its computing formula:
The present invention also can be used in combination software, and said software is the readable code on computer and the microcontroller computer-readable recording medium.Said computer-readable recording medium is any data memory device, and this storage device can store the data that can have computer and microprocessor to read thereafter.Microprocessor computer-readable recording medium example comprises flash memory (FLASH), random access memory (RAM), read only memory (ROM); The example of computer-readable medium comprises read only memory (ROM), random access memory (RAM), CD-ROM, tape, light data storage device and carrier wave (for example: through the Internet transmission data).Computer-readable recording medium can be distributed on the network that is connected to processor, thereby makes readable code distributed storage and execution.Like Fig. 4, treatment step comprises:
(1) initialization: the i.e. retention value zero setting of setting measurement reference point in depositor;
(2) acceleration transducer obtains the gravitational acceleration component of each correspondence, and magnetic field sensor obtains the magnetic-field component of each correspondence;
(3) gravitational acceleration component that obtains and magnetic-field component are converted into required azimuth and lose the shape angle information;
(4) judge whether to calibrate, promptly, if desired, the retention value of witness mark in depositor is updated to current location whether with the witness mark of current location as measurement next time;
(5) relative bearing and mistake shape angle information are shown on display unit, and be transferred to host computer through wireless transmission unit.
The present invention utilizes magnetic north direction and gravity direction and magnetic west to setting up a geographic coordinate system, is used as the absolute reference system of this device.Record the real-time three weight component (g of apparatus under absolute coordinate system through acceleration transducer 4 and magnetic field sensor 3
x, g
y, g
z) and magnetic-field component (h
x, h
y, h
z), again through the transformational relation between apparatus body coordinate system and the geographic coordinate system,, just can extract azimuth and sagittal angle information through mathematic(al) manipulation.
Although come special explanation with reference to exemplary embodiment of the present invention; It should be appreciated by those skilled in the art; The foregoing description only limits to content of the present invention is described, and unrestricted protection scope of the present invention, under the prerequisite that does not break away from inventive concept; The present invention is carried out the equivalence replacement, all belong to protection scope of the present invention.
Claims (5)
1. bone surgery three-dimensional localization guider; It is characterized in that: the sensor unit, micro controller unit and the display unit that comprise power supply unit, form by acceleration transducer and magnetic field sensor; The sensor unit that is fixed on the apparatus obtains component of acceleration and magnetic-field component under the geographic coordinate system; And transfer to micro controller unit and handle, converting the azimuth and the sagittal angle information of apparatus into, azimuth and sagittal angle information output to display unit and show in real time;
Specifically be through fixed installation acceleration transducer and magnetic field sensor on operating theater instruments, obtain the gravitational acceleration component of each correspondence of operating theater instruments by acceleration transducer, magnetic field sensor obtains the magnetic-field component of each correspondence of operating theater instruments; Again with the gravitational acceleration component that obtains with magnetic-field component converts the azimuth into through following computational methods and the sagittal angle information shows in real time, carry out according to azimuth that shows and sagittal angle information that real-time three-dimensional is directed to lead;
Computational methods:
Wherein:
Wherein, ∠ B is the azimuth of apparatus, and ∠ A is the sagittal angle, and gx, gy, gz are respectively the component that acceleration transducer obtains at x, y, z axle, and hx, hy, hz are the component that magnetic field sensor obtains at x, y, z axle.
2. bone surgery three-dimensional localization guider according to claim 1; It is characterized in that: also comprise wireless data transmission unit; Through wireless data transmission unit azimuth and sagittal angle information are transferred to host computer and carry out other and handle, on host computer, show the data after handling simultaneously.
3. based on the described bone surgery three-dimensional localization of claim 2 guider, it is characterized in that: described power supply unit is the wireless power unit, comprises prime part and back level part, and the prime part adopts way of electromagnetic induction to be connected with back level part.
4. bone surgery three-dimensional localization guider according to claim 3; It is characterized in that: the unitary back of said wireless power level part is fixed on the operating theater instruments with the printed circuit board (PCB) that described sensor unit, micro controller unit, wireless data transmission unit are packaged as a whole, and the axis of printed circuit board (PCB) overlaps with the axis of entire equipment apparatus.
5. bone surgery three-dimensional localization guider according to claim 1 is characterized in that: described acceleration transducer adopts two or 3-axis acceleration sensor; Described magnetic field sensor adopts the three-axle magnetic field pick off.
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