CN108403219A - Orthopaedics non-invasive guide pin three-dimensional localization guidance method and guidance system - Google Patents

Abstract

A three-dimensional positioning and guiding method and guiding system for orthopedic non-invasive guide pins, the X-axis precision electric ball screw slide table and the Y-axis precision electric ball screw slide table are arranged vertically and horizontally, and the Y-axis precision electric ball screw slide table Can move along the X-axis direction on the X-axis precision electric ball screw slide table; Z-axis precision electric ball screw slide table can move along the Y-axis direction on the Y-axis precision electric ball screw slide table and can be centered on the Z axis line rotation; the replaceable sleeve is fixed on another precision electric worm gear rotating table through the other end of the sleeve fixing bracket, and the replacement sleeve can move along the Z-axis direction and rotate around the sleeve fixing bracket; the guide The needle locator is a navigation-assisted robot, which can accurately obtain the three-dimensional coordinates of the target point and the bony channel through X-ray fluoroscopy from any two directions, and after three-dimensional geometric calculation.

Description

Three-dimensional positioning and guiding method and guiding system of orthopedic non-invasive guide pin

technical field

The invention relates to the field of orthopedic navigation and positioning, in particular to a three-dimensional positioning and guiding method and a guiding system of a non-invasive orthopedic guide pin.

Background technique

With the continuous advancement and improvement of orthopedic technology, minimally invasive orthopedic surgery has become the main direction of orthopedic development. However, minimally invasive surgery requires certain equipment and technical support. The in vitro positioning technology to determine the position of fracture fragments, landmarks or bony channels in the body without incision of the skin has become a key technology in minimally invasive orthopedic surgery.

There are two main types of in vitro positioning methods currently used clinically. The first is positioning based on ordinary X-ray irradiation technology, which is usually relatively simple. For example, doctors place metal markers and simply use intraoperative C-arm X-ray machines for fluoroscopy to achieve internal target positioning. This type of method can only preliminarily evaluate the location of the target, and cannot perform three-dimensional positioning, nor can it locate the bony channel, and it cannot be used in some parts that require special projection angles, such as sacroiliac screws, pedicle screws, and anterior acetabular columns. Positioning in fracture screw internal fixation and other operations. The second is more advanced, which is computer-aided three-dimensional surgical positioning and navigation technology. Although this technology has high accuracy, it is bulky and heavy, difficult to sterilize and transfer, and has poor practicability, complicated operation and high cost, which greatly improves surgical procedures. cost, and ordinary hospitals are unable to purchase them.

In view of the defects and deficiencies in the current non-invasive positioning technology in orthopedics, a positioning technology that combines the binocular vision principle with the computer and its control operation software to achieve geometric reconstruction has gradually emerged. See the patent number 201410056737.5, and the invention name is orthopedic robot Patents for guide pin locators, navigation devices and positioning systems. The patent is to take X-ray images from two angles, collect them with a special imaging device, establish a two-dimensional coordinate system through computer image control operating software, and calculate the position through the binocular vision distance measurement principle. But this technology has following defect at least: 1, because adopted binocular vision ranging principle, need to use special X-ray imaging system and computer image control operation, the cost is higher and is unfavorable for popularizing. 2. The geometric structure reconstructed by this technology is constrained by the uniqueness of matching points and sequential consistency constraints. When the target position is in an area where the image grayscale or image features do not change significantly, accurate three-dimensional positioning cannot be obtained. 3. In areas where there is a lot of cortical bone overlap in X-ray images, such as some acetabular fractures, it is difficult to accurately reconstruct.

Contents of the invention

In order to solve the above-mentioned technical problems and reduce the threshold of use, the purpose of the present invention is to develop a non-invasive three-dimensional positioning system for orthopedics and a guide pin positioner. Technical equipment such as compass and inclination sensor builds a coordinate system, through X-ray perspective from any two directions, and after three-dimensional geometry calculation, the three-dimensional coordinates of the target point and bony channel can be accurately obtained. Another object of the present invention is to make the used positioning equipment have the characteristics of small and portable appearance, simple operation, easy disinfection, and low price, so as to achieve the effect of easy promotion.

In order to achieve the above purpose, the present invention provides a three-dimensional positioning and guiding system for orthopedic non-invasive guide pins, which is characterized in that it includes a guide pin positioner, and the guide pin positioner mainly includes: at least one X-axis precision electric ball wire Bar slide table, at least one Y-axis precision electric ball screw slide table, one Z-axis precision electric ball screw slide table, two precision electric worm gear rotary tables, one sleeve fixing bracket and replaceable sleeve;

Wherein, the X-axis precision electric ball screw slide table and the Y-axis precision electric ball screw slide table are arranged vertically and horizontally, and the Y-axis precision electric ball screw slide table can move along the X-axis direction in X One end of the Z-axis precision electric ball screw slide is slid on the Y-axis precision electric ball screw slide by means of a precision electric worm gear rotary table, so that the Z-axis precision electric ball screw The bar slide table can move along the Y-axis direction on the Y-axis precision electric ball screw slide table and can rotate on the Z-axis as the center line; the replaceable sleeve is fixed to another precision electric worm gear through the other end of the sleeve fixing bracket to rotate platform, and the precision electric worm gear rotary table is slid on the Z-axis precision electric ball screw slide table, so that the replaceable sleeve can move along the Z-axis direction and rotate around the sleeve fixing bracket; with the help of the The above-mentioned structure can make the guide pin arranged in the replaceable sleeve point to any direction from any point in space with the guide pin positioning point as the center of the sphere.

Preferably, the X-axis precision electric ball screw slide table, the Y-axis precision electric ball screw slide table and the Z-axis precision electric ball screw slide table are respectively composed of a slide stepping motor, a slide table driver, and a slide table. Table screw, slide rail, slide block, slide base.

Among them, preferably, the precision electric worm-gear turntable is composed of a stepping motor for the shaft of the turntable, a body of the worm-gear turntable, and a top of the worm-gear turntable.

Preferably, the orthopedic non-invasive guide pin three-dimensional positioning and guidance system also includes at least one C-arm three-dimensional electronic compass, C-arm, operating bed and treatment system.

Preferably, the Y-axis precision electric ball screw slide table is provided with a Y-axis slide table base, and the C-arm three-dimensional electronic compass is placed on the Y-axis slide table base and/or the bottom is pasted on the radial end of the C-arm At the top, when the bottom of the C-arm three-dimensional electronic compass is pasted on the top of the C-arm radial end, its Z axis is the direction of the central projection line of the C-arm 3, and its long and short axes are respectively the X of the C-arm three-dimensional electronic compass 2. The x-axis and y-axis directions of the zero position of the C-arm three-dimensional electronic compass 2 are consistent with the X-axis and Y-axis directions of the guide needle positioner. The plane is the zero plane, and the Y-axis direction is the zero value of the heading angle.

Preferably, the base of the Y-axis slide table does not hinder the movement of other components or is provided with a Y-axis three-dimensional electronic compass slot for accommodating the three-dimensional electronic compass of the C-arm; and the top of the radial end of the C-arm can be A C-arm three-dimensional electronic compass slot for accommodating the C-arm three-dimensional electronic compass is provided.

Preferably, the system also includes a laser range finder for irradiating the needle insertion point.

Preferably, the laser rangefinder is a spherical pan/tilt laser ranging assembly, and the spherical pan/tilt base of the spherical pan/tilt laser ranging assembly is fixed on the upper end of the Z-axis precision electric ball screw slide to pass through the spherical cloud. The platform makes the laser ranging module point to any direction, and obtains its spatial direction through the laser ranging three-dimensional electronic compass. The laser ranging module is equipped with a laser light source, so that after obtaining the coordinates of the positioning point, it can be irradiated to the ideal needle insertion point on the body surface and then measured. Take the distance and record the spatial direction of the laser ranging three-dimensional electronic compass, so as to obtain the spatial coordinates of the needle entry point, thereby obtaining the straight line where the two points are located, and automatically make the axis of the replaceable sleeve coincide with the straight line, and can be replaced The head end of the sleeve moves along the straight line to the needle insertion point, which is close to the body surface.

Among them, the Y-axis precision electric ball screw slide table and the Z-axis precision electric ball screw slide table are respectively connected to the precision electric worm gear rotary table through the connecting plate, and the sleeve fixing frame is connected to the Z-axis precision electric ball screw The sliding table is also connected through the connecting plate.

Preferably, the guide pin positioner also includes an inclination sensor for measuring the rotation angle of the precision electric worm gear turntable.

The present invention also provides a three-dimensional positioning and guiding method for orthopedic non-invasive guide pins. The guide pin locator of any one of the above-mentioned orthopedic non-invasive three-dimensional positioning systems is placed on the operating bed of the affected side and inserted into the guide pin with a replaceable sleeve. Needle, take the direction of the X-axis precision electric ball screw slide Ⅰ as the direction of the guide pin positioner X-axis, the direction of the Y-axis precision electric ball screw slide table as the direction of the guide pin positioner Y-axis, and the direction of the Z-axis precision electric ball screw The direction of the slide table is the Z axis direction of the guide pin positioner; the precision electric worm gear rotary table I takes the Y axis direction as zero value, and the reading is α, which is the angle between the projection of the guide pin on the XOY plane and the X axis; the precision electric worm gear Turntable II, with the XOY plane as the zero value, the reading is β, that is, the angle between the guide pin and the XOY plane; and the intersection point of the axis of the replaceable sleeve 12 and the axis of the sleeve fixing bracket is set as the guide pin positioning Point, construct a three-dimensional coordinate system with the guide pin positioning point when each axis is at zero as the origin, and record this point as (x, y, z), the axis center of the replaceable sleeve and the Z-axis slide table screw axis The distance between centers is L, the displacement of X-axis precision electric ball screw slide Ⅰ and X-axis precision electric ball screw slide Ⅱ is x', the displacement of Y-axis precision electric ball screw slide is y', and the displacement of Z-axis precision electric ball screw slide Ⅱ is x'. The displacement of the precision electric ball screw slide table is z', set: x'=x-L·cosα, y'=y-L·sinα, z'=z, so that the guide pin can be controlled from the space with the guide pin positioning point as the center of the ball Any point in it points to any direction; the C-arm three-dimensional electronic compass is fixed in the Y-axis slot, and its x-axis and y-axis directions are consistent with the X-axis and Y-axis directions of the guide pin positioner, and its current direction is automatically recorded after power-on and will be Set it to zero, that is, take the XOY plane as the zero plane, and take the Y-axis direction as the zero value of the heading angle; after the recording is successful, remove the C-arm 3D electronic compass or take another C-arm 3D electronic compass and place it on the C C-arm three-dimensional electronic compass card slot, and manually record the C-arm three-dimensional electronic compass value at the top of the C-arm radial end when the C-arm is adjusted to a suitable position during use, and according to the C-arm three-dimensional electronic compass value Establish the vector relationship between the C-arm and the guide pin locator, the axis of the three-dimensional electronic compass is the direction of the central projection line of the C-arm, and its long and short axes are the axes and axes of the three-dimensional electronic compass of the C-arm;

When the C-arm obtains a suitable X-ray irradiation position, define this position as radiation source 1, and manually record the pitch angle α', roll angle β', and heading angle of the C-arm three-dimensional electronic compass through the C-arm three-dimensional electronic compass γ', calculate the cosine value of the angle between the center projection line of the C-arm 3 and the XYZ positive semi-axis of the guide pin positioner, respectively cosφ, cosθ, where:

Then, proceed to the steps:

1. Adjust the position of the guide pin positioning point, and adjust the guide pin angles α and β so that the guide pin points to the target position on the X-ray image, record the coordinates of the guide pin positioning point (x ₁ , y ₁ , z ₁ ) and replace the sleeve Direction α ₁ , β ₁ ;

2. Change the position of the guide pin positioning point and make the guide pin point to the target position again on the X-ray image, click OK to record the coordinates of the guide pin positioning point (x ₂ , y ₂ , z ₂ ) and the direction of the replaceable sleeve α ₂ , β ₂ ;

3. The straight line equation of the axis of the channel can be obtained through the processor operation:

in,

cosδ ₁ = cosα ₁ · cosβ ₁ cosδ ₂ = cosα ₂ · cosβ ₂

cosη ₁ = sinα ₁ ·cosβ ₁ , cosη ₂ = sinα ₂ ·cosβ ₂ .

cosμ ₁ = sinβ ₁ , cosμ ₂ = sinβ ₂

Preferably, the processing system of the positioning system is based on the linear equation of the axis of the channel, and sets β=90°-θ, and the guide pin positioner is controlled so that the axis of the replaceable sleeve coincides with the axis of the channel, and by adjusting the value of t, the replaceable sleeve 12 is moved to the body surface along the axis of the channel.

Wherein preferably, this method further comprises the following steps:

Change the angle of the C-arm and irradiate X-rays again. When a suitable position is obtained, define this position as radiation source 2, and manually record the pitch angle α' ₂ of the C-arm three-dimensional electronic compass through the C-arm three-dimensional electronic compass, roll Angle β' ₂ , and heading angle γ' ₂ , and calculate the cosine of the angle between the center projection line of the C-arm and the XYZ positive semi-axis of the guide needle positioner as cosφ ₂ , cosθ ₂ ,

Then, adjust the position of the guide pin positioning point, and adjust the guide pin angles α and β to make the guide pin point to the target position on the X-ray image, record the coordinates of the guide pin positioning point (x ₃ , y ₃ , z ₃ ) and replace the sleeve Direction α ₃ , β ₃ ;

Further, the coordinates (x ₄ , y ₄ , z ₄ ) of the target point can be obtained through calculation,

in:

Preferably, according to the obtained coordinates (x ₄ , y ₄ , z ₄ ) of the target point, by adjusting the coordinates (x, y, z) of the positioning point of the guide needle, through the control system, set So that the direction of the guide needle sleeve is always aimed at the target point during the adjustment process.

Preferably, when the two endpoints are known and the moving path of the guide needle needs to be determined, the method of coordinates (x ₄ , y ₄ , z ₄ ) of the positioning target point is repeated to calculate the two target endpoints, and the positioning system The calculation control module calculates the movement path of the guide needle for controlling the movement of the guide needle positioner.

Preferably, when the C-arm is used for fluoroscopy, the target position is presented at the center of the image, that is, on the central projection line.

Preferably, a laser rangefinder is used to irradiate the needle entry point in the positioning of the target point, so that the axis of the replaceable sleeve coincides with the straight line automatically, and the head end of the replaceable sleeve moves along the straight line to the needle entry point That is, close to the body surface, that is, to determine the surgical path.

Preferably, the guide needle positioner includes an inclination sensor for measuring the rotation angle of the precision electric worm gear turntable.

Preferably, the laser rangefinder is a spherical pan/tilt laser ranging assembly, and the spherical pan/tilt base of the spherical pan/tilt laser ranging assembly is fixed on the upper end of the Z-axis precision electric ball screw slide table, which can pass through The spherical head makes the laser ranging module point to any direction, and obtains its spatial direction through the laser ranging three-dimensional electronic compass. The laser ranging module is equipped with a laser light source. After obtaining the coordinates of the positioning point, it is irradiated to the ideal needle insertion point on the body surface Measure the distance and record the spatial direction of the laser ranging three-dimensional electronic compass, so as to obtain the spatial coordinates of the needle insertion point, thereby obtaining the straight line where the two points are located, and automatically make the axis of the replaceable sleeve coincide with the straight line, and can The head end of the replacement sleeve moves along the straight line to the needle insertion point, which is close to the body surface, and the surgical path is obtained.

With the help of the above-mentioned device and method, a non-invasive orthopedic three-dimensional positioning system, a guide pin locator and its positioning method of the present invention, with the help of a navigation auxiliary robot (guide pin locator), which uses a worm gear turntable, an electronic compass and an inclination sensor, etc. The technical equipment constructs a coordinate system, through X-ray perspective from any two directions, and after three-dimensional geometric calculation, the three-dimensional coordinates of the target point and the bony channel can be accurately obtained. In the positioning of the target point, a laser range finder can be used to irradiate the needle point to determine the surgical path. The positioning device is small and portable in appearance, simple in operation, easy to disinfect, and low in price, so it is easy to popularize.

Description of drawings

Fig. 1 system schematic diagram;

Fig. 2 Structural schematic diagram of guide pin locator;

Figure 3 X-axis precision electric ball screw slide table Ⅰ;

Figure 4 Y-axis precision electric ball screw slide (1204 mini slide);

Figure 5 Z-axis precision electric ball screw slide (1204 mini slide);

Figure 6 Precision Electric Worm Gear Rotary Table Ⅰ (ZX110-100);

Figure 7 Precision Electric Worm Gear Rotary Table Ⅱ (ZX110-60);

Figure 8 sleeve fixing bracket;

Figure 9 connecting plate I;

Figure 10 connection board Ⅱ;

Figure 11 connection plate Ⅲ;

Fig. 12, Fig. 13, Fig. 14, Fig. 15 are schematic diagrams of coordinates of the present invention;

Fig. 16 is an overall schematic diagram of another embodiment of the present invention having a laser ranging component;

Fig. 17 is a schematic diagram of a guide pin locator of another embodiment of the present invention having a laser distance measuring component;

Fig. 18 is a schematic diagram of another spherical pan/tilt laser ranging assembly with a laser ranging assembly of the present invention;

Fig. 19 is a schematic diagram of a connecting plate of a laser ranging component in another embodiment of the present invention having a laser ranging component;

In the picture:

1 Guide pin locator 2 C-arm 3D electronic compass

3 C-arm 4 Operating table

5 X-axis precision electric ball screw slide Ⅰ 6 X-axis precision electric ball screw slide Ⅱ

7 Y-axis precision electric ball screw slide table 8 Z-axis precision electric ball screw slide table

9 Precision Electric Worm Gear Rotary Table Ⅰ 10 Precision Electric Worm Gear Rotary Table Ⅱ

11 Socket fixing bracket 12 Replacement socket

13 Connection plate Ⅰ 14 Connection plate Ⅱ

15 Connecting plateⅢ 16 X-axis slide stepper motor

17 X-axis sliding table driver 18 X-axis sliding table screw rod

19 X-axis slide rail 20 X-axis slide block

21 X-axis slider base 22 Y-axis slider stepper motor

23 Y-axis sliding table driver 24 Y-axis sliding table wire

25 Y-axis slide rail 26 Y-axis slide block

27 Y-axis sliding table base 28 Z-axis sliding table stepper motor

29 Z-axis sliding table driver 30 Z-axis sliding table screw rod

31 Z-axis slide rail 32 Z-axis slide block

33 Z-axis sliding table base 34 Rotary table I-axis stepping motor

35 Worm gear rotating table Ⅰ body 36 Worm gear rotating table Ⅰ table top

37 Rotary stage Ⅱ axis stepping motor 38 Worm gear rotary stage Ⅱ body

39 Worm gear rotary table Ⅱ table top

181 Positioner Ball Head Base 182 Positioner Ball Head

183 Positioner Ball Head Slot 184 Positioner Ball Head Lock Lever

185 laser ranging three-dimensional electronic compass 186 spherical pan tilt ranging module.

Detailed ways

The technical solutions of the present invention will be further specifically described below through embodiments and in conjunction with the accompanying drawings.

As shown in Fig. 1, a kind of orthopedics non-invasive three-dimensional positioning system of the present invention comprises: guide pin positioner 1, C-arm three-dimensional electronic compass 2, C-arm 3, operating bed 4 and processing system (not shown in the figure) ).

As shown in Figure 2 is a schematic diagram of the guide pin positioner of the present invention, see also Figure 3-Figure 9, which is a schematic diagram of the components of the guide pin positioner of the present invention, wherein the guide pin positioner 1 mainly includes: X-axis precision motor Ball screw slide table Ⅰ5, X-axis precision electric ball screw slide table Ⅱ6, Y-axis precision electric ball screw slide table 7, Z-axis precision electric ball screw slide table 8, precision electric worm gear rotary table Ⅰ9, precision electric Worm gear rotary table Ⅱ10, sleeve fixing bracket 11 and replaceable sleeve 12 (2.0/2.5/3.0 replaceable sleeve), and also includes three connecting plates: connecting plate Ⅰ13, connecting plate Ⅱ14, connecting plate Ⅲ15.

Please refer to Fig. 3 and Fig. 4, which are structural diagrams of X-axis precision electric ball screw slide table I5, X-axis precision electric ball screw slide table II6 and Y-axis precision electric ball screw slide table 7. The three have the same structure, respectively composed of X-axis slide stepping motor 16, X-axis slide drive 17, X-axis slide screw 18, X-axis slide rail 19, X-axis slide block 20, X-axis Slide base 21, Y-axis slide stepping motor 22, Y-axis slide drive 23, Y-axis slide wire 24, Y-axis slide rail 25, Y-axis slide block 26, Y-axis slide base 27 poses.

Please refer to FIG. 5 , which is a schematic structural diagram of the Z-axis precision electric ball screw slide table 8 . Including: Z-axis sliding table stepper motor 20, Z-axis sliding table driver 29, Z-axis sliding table screw rod 30, Z-axis sliding table slide rail 31, Z-axis sliding table slider 32, Z-axis sliding table base 33.

Please refer to FIG. 6 and FIG. 7 , which are schematic diagrams of two rotary tables: a precision electric worm gear rotary table I9 and a precision electric worm gear rotary table II10. It consists of rotary table I axis stepping motor 34, worm gear rotary table I body 35, worm gear rotary table I table top 36, rotary table II axis stepping motor 37, worm gear rotary table II body 38, worm gear and worm rotation Stage II table top 39 constitutes. The Y-axis precision electric ball screw slide table 7 and the Z-axis precision electric ball screw slide table 8 are respectively connected to the precision electric worm gear rotary table I9 through the connecting plates (13, 14) shown in Fig. 9-10, and the sleeve The fixed frame 11 is connected with the Z-axis precision electric ball screw slide table 8 through the connecting plate III15 shown in FIG. 11 .

Please refer to Figure 2 and Figures 4-6, 9, and 10. The Y-axis precision electric ball screw slide 7 is fixed on the X-axis precision electric ball screw slide Ⅰ 6 and the X-axis precision electric ball screw by means of the Y-axis slide base 27. on the X-axis sliding block of the bar slide II 7, so that the Y-axis precision electric ball screw slide 7 can move along the X-axis direction according to the specified distance with the help of the rotation of the X-axis sliding stepping motor; the Z-axis precision electric ball screw One end of the ball screw slide table 8 is connected with the Y-axis slide block 26 of the Y-axis precision electric ball screw slide table 7 through the precision electric worm gear rotary table I9 through the connection plate I13, the connection plate II14, so that the Z-axis precision The electric ball screw slide table 8 can move along the Y-axis direction according to a specified distance by the rotation of the stepper motor 22 of the Y-axis slide table, and can also rotate horizontally around the Z-axis by the rotation of the I-axis stepper motor 34 of the rotary table the specified angle.

Please refer to Figure 2 and Figures 5, 7, 8, and 11. One end of the sleeve fixing bracket 11 passes through the precision electric worm gear rotary table II10 and the connecting plate III15 and the Z-axis sliding table slide of the Z-axis precision electric ball screw slide table 8. The block 32 is connected so that the sleeve fixing bracket 11 and the replaceable sleeve 12 fixed on the other end can move along the Z axis according to the specified distance by the rotation of the Z axis sliding table stepping motor 28, and can also be used The rotation of the turntable II-axis stepping motor 37 rotates by a specified angle in the direction perpendicular to the plane (XOY plane) formed by the X and Y axes.

To sum up, with the help of the above-mentioned precision electric ball screw slide table, the moving track in the three directions of X, Y, and Z is formed, and the corresponding slide stepper motor (16/22/28) can be driven by the control device in the processing system ) to rotate, thereby driving the guide needle positioning point of the guide needle to move arbitrarily in the three-dimensional direction, so as to reach any point in space.

Referring to Fig. 2, it can be known that by driving the corresponding rotary table shaft stepper motor (9/10), the guide pin can be rotated by a corresponding angle, wherein the angle between the projection of the guide pin on the XOY plane and the X axis (in the direction of the Y axis is zero value), the reading is α; while the precision electric worm gear turntable II10 rotates, the XOY plane is taken as the zero value, and the reading of the angle between the guide needle and the XOY plane is β.

Referring to FIG. 8 , it is a schematic diagram of the replaceable sleeve 12 and the sleeve fixing frame 11 , wherein the distance between the axis of the replaceable sleeve 12 and the axis of the screw rod 34 of the Z-axis sliding table is L.

With the help of these structures, the guide pin can point to any direction from any point in space with the guide pin positioning point as the center of the sphere. At the same time, for convenience and practicality, in the present invention, a remote control device can be provided to control the rotation of the corresponding motor, and the rotation angle can be measured by an inclination sensor, and the linear displacement can be recorded by a stepper motor signal or measured by a displacement sensor.

In addition, a non-invasive orthopedic three-dimensional positioning system of the present invention also includes at least one C-arm three-dimensional electronic compass 2, and in this specific embodiment, the side or bottom of the Y-axis slide base and the top of the C-arm radial end A Y-axis three-dimensional electronic compass slot may be provided so as not to hinder the activities of other components; wherein, those skilled in the art can understand that the three-dimensional electronic compass 2 of the C-arm can be respectively arranged on the top of the radial end of the C-arm The C-arm three-dimensional electronic compass card slot and the Y-axis three-dimensional electronic compass card slot are used to establish the vector of the C-arm and guide pin positioner according to the three-dimensional parameters measured by it, the zero plane and the zero value of the heading angle. relationship; it is better that only one C-arm three-dimensional electronic compass 2 can be set, first place it on the Y-axis three-dimensional electronic compass card slot to measure the initial value, and then place the C-arm three-dimensional electronic compass card on the top of the C-arm radial end The pitch angle, roll angle and heading angle of the trough are measured during operation, so as to ensure the elimination of interference, improve the accuracy and reduce the cost.

The x-axis and y-axis directions of the zero position of the C-arm three-dimensional electronic compass 2 are consistent with the X-axis and Y-axis directions of the guide pin positioner. When the C-arm three-dimensional electronic compass 2 is placed on the Y-axis three-dimensional electronic compass 2 When the compass is stuck in the slot, the XOY plane is taken as the zero plane, and the Y-axis direction is taken as the zero value of the heading angle; when in use, the bottom of the C-arm three-dimensional electronic compass 2 is pasted on the top of the C-arm radial end, so that At this time, its Z axis is the central projection line direction of the C-arm 3 , and its long and short axes are respectively the X-axis and Y-axis of the C-arm three-dimensional electronic compass 2 .

With the aid of the guide pin positioner 1, the C-arm 3 and the corresponding sensors, the orthopedic non-invasive three-dimensional positioning system of the present invention can realize the establishment of bony channels, needle insertion points and surgical paths in various complicated situations. confirmation.

The application method of an orthopedic non-invasive three-dimensional positioning system of the present invention will be described in detail below in combination with specific usage scenarios:

Specifically, during the use of a non-invasive orthopedic three-dimensional positioning system of the present invention, the direction of the X-axis precision electric ball screw slide I5 is used as the X-axis direction of the guide needle positioner, and the Y-axis precision electric ball screw The direction of slide table 7 is the Y-axis direction of the guide pin positioner, and the direction of Z-axis precision electric ball screw slide table 8 is the Z-axis direction of the guide pin positioner.

In addition, the precision electric worm gear rotary table I9 takes the Y-axis direction as the zero value, and the reading is α, that is, the angle between the projection of the guide pin on the XOY plane and the X-axis; the precision electric worm gear rotary table II10 takes the XOY plane as the zero value, The reading is β, which is the angle between the guide pin and the XOY plane.

In this system, the intersection of the axis of the replaceable sleeve 12 and the axis of the sleeve fixing bracket 11 is set as the guide needle positioning point. If the guide pin positioning point when all axes are at zero position is used as the origin to construct a three-dimensional coordinate system, and record this point as (x, y, z). The distance between the axis of the replaceable sleeve 12 and the axis of the Z-axis slide table screw 34 is L, the displacement of the X-axis precision electric ball screw slide Ⅰ5 and the X-axis precision electric ball screw slide Ⅱ6 is x', The displacement of the Y-axis precision electric ball screw slide table 7 is y', and the displacement of the Z-axis precision electric ball screw slide table 8 is z'. Setting: x'=x-L·cosα, y'=y-L·sinα, z'=z, then it can be realized to point to any direction from any point in space with the guide pin positioning point as the center of the sphere.

When the guide pin locator is placed on the operating bed on the affected side, the x-axis and y-axis directions of the zero position of the C-arm three-dimensional electronic compass 2 are consistent with the X-axis and Y-axis directions of the guide pin locator, that is to say, when it is placed on the Y axis When the shaft slide base 27 (in this specific embodiment is positioned by means of the Y-axis slot on the side or bottom of the Y-axis slide base 27), the XOY plane is taken as the zero plane, and the Y-axis direction is used as the zero plane. Zero value of heading angle. During use, the bottom of the C-arm three-dimensional electronic compass 2 is pasted on the C-arm three-dimensional electronic compass slot on the top of the C-arm radial end, and its Z axis is the direction of the central projection line of the C-arm 3 . Its long and short axes are respectively the X axis and the Y axis of the C-arm three-dimensional electronic compass 2 . And in order to reduce errors, when using C-arm fluoroscopy, the target position should be presented at the center of the image, that is, on the central projection line.

To sum up, the types of orthopedic non-invasive positioning technology of the present invention can be divided into the following three categories:

1. Use example scenario 1 to locate the target point;

Goal: Locate the collapsed fracture fragment in the coordinate system of the guide pin locator;

This type is a block fracture that needs to be targeted, such as tibial plateau collapse fracture and distal tibial pillon fracture. Its characteristic is that the target is a point, taking tibial plateau collapse fracture as an example. After the affected limb is sterilized, the affected limb is pulled by a rapid reset device for the treatment of long tubular bone fractures of the extremities with the patent No. 201310614751.8, and the guide pin positioner is placed on the operating bed of the affected side and placed on the replaceable sleeve 12 Insert guide pin.

By using the C-arm 3 to irradiate X-rays from any angle, when it obtains a suitable X-ray irradiation position, define this position as the radiation source 1, and the pitch angle manually recorded by the C-arm 3-dimensional electronic compass 2 is its x' axis and The angle α' ₁ of the XOY plane, the roll angle is the angle β' ₁ between the y' axis and the XOY plane, and the heading angle is the angle γ between the vertical projection of the x' axis on the XOY plane and the X axis direction ' ₁ . The cosine value of the angle between the central projection line of the C-arm 3 and the XYZ positive semi-axis of the guide pin positioner can be calculated, respectively cosφ, cosθ.

The calculation process is as follows:

1) Establish an initial coordinate system, as shown in Figure 12, set up a space Cartesian coordinate system xyz (that is, the pitch angle of the C-arm three-dimensional electronic compass 2 and the coordinate axis when the roll angle is zero) with point O as the origin and Two three-dimensional rectangular coordinate axes XYz (that is, the coordinate axes of the guide needle locator) and x'y'z' (that is, the coordinate axes of the C-arm three-dimensional electronic compass 2 ). It is known that the pitch angle of the C-arm three-dimensional electronic compass 2 is ∠x'Ox or α' ₁ , the roll angle is ∠A'OB' or β' ₁ , and the heading angle is ∠IOG or γ' ₁ . Find the cosine of the angle between the positive semi-axis of z' and the positive semi-axis of XYZ, that is cosφ, cosθ.

∠BAO＝∠AOD＝∠x'Ox＝α' ₁ , if the unit length of AB is a, then BO＝atanα' ₁ ,

Let ∠EOG＝σ, ∠HOE＝ε, then

but

cosφ＝cos∠HOY＝-cos(σ-γ)·cosε,

Substitute into σ, ε to get

2) Step 1: Use the remote control to adjust (control the corresponding synchronous motor to rotate) the position of the guide pin positioning point, and adjust the guide pin angles α and β to make the guide pin point to the target position on the X-ray image (that is, the center projection of the C-arm Online), click OK to record the coordinates of the guide pin positioning point (x ₁ , y ₁ , z ₁ ) and the direction of the replaceable sleeve α ₁ , β ₁ ;

Step 2: Then, change the position of the positioning point of the guide pin and make the guide pin point to the target position again on the X-ray image, click OK to record the coordinates of the positioning point of the guide pin (x ₂ , y ₂ , z ₂ ) and the direction of the replaceable sleeve α ₂ , _β2 . The straight line equation between the target point and the radioactive source 1 can be obtained through the operation of the processor (see below for details).

Step 3: Change the angle of the C-arm 3 and irradiate X-rays again. When a suitable position is obtained, define the position as the radiation source 2, and manually record the pitch angle of the C-arm 3-D electronic compass 2 through the C-arm 3-D electronic compass 2 α' ₂ , roll angle β' ₂ , and heading angle γ' ₂ . The cosine value of the angle between the central projection line of the C-arm 3 and the XYZ positive semi-axis of the guide pin positioner can be calculated, respectively cosφ ₂ , cosθ ₂ .

Its derivation process is the same as cosφ, cosθ.

Step 4: Adjust the position of the positioning point of the guide pin through the remote control, and adjust the angles α and β of the guide pin so that the guide pin points to the target position on the X-ray image, click OK to record the coordinates of the positioning point of the guide pin (x ₃ , y ₃ , z ₃ ) and replaceable sleeve directions α ₃ , β ₃ . The coordinates (x ₄ , y ₄ , z ₄ ) of the target point can be obtained through the operation of the processor.

The calculation process is as follows:

As shown in Figure 13, take the guide pin positioning point when all axes of the guide pin positioner are at zero as the origin point O, take the direction of the X-axis precision electric ball screw slide Ⅰ5 as the X-axis direction, and the Y-axis precision The 7-direction of the electric ball screw slide table is the Y-axis direction, and the 8-direction of the Z-axis precision electric ball screw slide table is the Z-axis direction. Establish a space Cartesian coordinate system. There is any point A in space (guide needle positioning point), the known coordinates of point A are (x ₁ , y ₁ , z ₁ ), point D is the target point, and point M is any point on the straight line B′D. AM, the angles between the straight line AM and the positive semi-axes of x, y, z are δ ₁ , η ₁ , μ ₁ respectively, according to α ₁ and β ₁ , it can be obtained that cosδ ₁ = cosα ₁ ·cosβ ₁ , cosη ₁ = sinα ₁ · cosβ ₁ , cosμ ₁ = sinβ ₁ . The coordinates of the known point G (guide pin positioning point) are (x ₂ , y ₂ , z ₂ ), point H is any point on the straight line B′D, connected to GH, and the straight line GH is connected to the positive semi-axes of x, y, z The angles are δ ₂ , η ₂ , and μ ₂ . According to α ₂ and β ₂ , it can be obtained that cosδ ₂ =cosα ₂ ·cosβ ₂ , cosη ₂ =sinα ₂ ·cosβ ₂ , and cosμ ₂ =sinβ ₂ . Radiation source 1, that is, point B′ makes central projection on point G and point H respectively, and is projected into point I and point M′ on the projection plane xoy respectively; a light source point B′ makes central projection on point A and point M respectively, Surface xoy is projected into point A' and point M'respectively; line segment AM' intersects line segment IM' at point M'; connect projection line B'I, B'M' to form a plane B'IM'; connect projection line B 'A', B'M' form a plane B'A'M', the angles between the projection line B'M' and the positive semi-axes of x, y, z are respectively φ, θ. In the plane B'IM', the line segment GH ₀ passing through the point G and parallel to the line segment IM' intersects the projected line B'M' at the point H ₀ . In the plane B'A'M', a line segment AM ₀ passing through point A and parallel to line segment A'M' intersects the projected line B'M' at point M ₀ . There is any straight line EF in the space, the coordinates of the known point E (guiding needle positioning point) are (x ₃ , y ₃ , z ₃ ), and the angles between the known straight line EF and the positive semi-axes of x, y, and z are respectively δ ₃ , η ₃ , μ ₃ , according to α ₃ and β ₃ , it can be obtained that cosδ ₃ =cosα ₃ ·cosβ ₃ , cosη ₃ =sinα ₃ ·cosβ ₃ , cosμ ₃ =sinβ ₃ . Radiation source 2, that is, point B, is projected toward the center of line segment EF, and connects BE and BF to form a plane BEF, and the angles between line BD and the positive semi-axes of x, y, and z are known to be φ ₁ , θ ₁ . To prove: the coordinates of the intersection point D of the straight line B′M′ and the plane BEF. Proof: If the line segment AM is not parallel to the line segment A'M', then the extension of the line segment AM and the line segment A'M' intersects at the point N. As shown in FIG. 14, the plane MNM' intersects the plane xoy on the straight line NM'. In the plane MNM′, it is known that the angles between the straight line AM and the positive semi-axes of x, y, z are δ ₁ , η ₁ , μ ₁ , then the unit vector of the direction vector of the straight line AM is It is known that the angles between the straight line B'M' and the positive semi-axes of x, y, and z are respectively φ, θ, then the unit vector of the straight line B′M′ direction vector is Both the straight line AM and the straight line B'M' are on the plane MNM', and the straight line AM and the straight line B'M' intersect, then the point A(x ₁ , y ₁ , z ₁ ) passes through and the azimuth vector of the plane MNM' The parallel plane MNM' is uniquely determined. So from the point equation of the plane:

Solving this determinant yields the general equation for the plane MNM':

If the line segment AM ₀ is parallel to the line segment A'M', as shown in Figure 15:

Then the plane B'A'M' intersects the plane xoy on the straight line A'M'. It is known that the straight line AM ₀ is in the plane B′A′M′, and the angles between the straight line AM ₀ and the positive semi-axes of x, y, and z are δ ₁ , η ₁ , μ ₁ , then the unit vector of the direction vector of the straight line AM ₀ for It is known that the angles between the straight line B'M' and the positive semi-axes of x, y, and z are respectively φ, θ, then the unit vector of the straight line B′M′ direction vector is The straight line AM ₀ and the straight line B'M' are both on the plane B'A'M', and the straight line AM ₀ and the straight line B'M' intersect at the point M ₀ , then pass through the point A(x ₁ , y ₁ , z ₁ ) and Orientation vector with plane B′A′M′ The parallel plane B'A'M' is uniquely determined. So from the point equation of the plane:

Solving this determinant yields the general equation for the plane B'A'M':

Therefore, the line segment AM is not parallel or parallel to the line segment A'M', and the general equation of the plane B'A'M' is the same.

General equation for plane xoy: z=0.

The general equation of the plane B'A'M' and the plane xoy is combined to obtain the equation of the straight line A'M':

Similarly, the point-position equation of the plane B'IM' can be obtained:

Solving this determinant yields the general equation for the plane B'IM':

General equation for plane xoy: z=0.

The general equation of the plane B'IM' and the plane xoy is combined to obtain the equation of the straight line IM':

In the plane xoy, straight line A'M' and straight line IM' intersect at point M', then the equations are simultaneous:

Solutions have to:

in,

So in the space Cartesian coordinate system, the coordinates of point M′ are:

On the straight line B'M', the unit vector of the direction vector of the known straight line B'M' is and the coordinates of the point M' on the straight line B'M', then the parameter equation of the straight line B'M' is (that is, the straight line equation between the target point and the radioactive source)

Set 2 parameters:

It is known that the angles between the straight line EF and the positive semi-axis of x, y, z are δ ₃ , η ₃ , μ ₃ respectively, then the unit vector of the direction vector of the straight line EF is It is known that the angles between the straight line BD and the positive semi-axes of x, y, and z are respectively φ ₁ , θ ₁ , then the unit vector of the straight line BD direction vector is Both the straight line EF and the straight line BD are on the plane BEF, and the straight line EF intersects with the straight line BD, then the point E(x ₃ , y ₃ , z ₃ ) passes through and the orientation vector of the plane BEF The parallel plane BEF is uniquely determined. So from the point equation of the plane:

Solving this determinant yields the general equation for the plane BEF:

Finally, the parametric equation of the straight line B'M' is

and the general equation for planar BEF:

To find the coordinates of point D is to find the intersection of straight line B'M' and plane BEF. Combining these two equations, we get:

So the coordinates of point D, the target point, are:

which is:

After positioning:

By adjusting the coordinates (x, y, z) of the positioning point of the guide pin, the replaceable sleeve 12 can reach an ideal position.

set up

In the adjustment process, the replaceable sleeve 12 can be aimed at the target point from time to time, and the laser rangefinder can be used to irradiate the needle insertion point in the positioning of the target point to determine the operation path.

2. Use case scenario 2: Locate narrow bony channels,

It is mainly suitable for sacroiliac screws, internal fixation of acetabular anterior column fracture screws, pedicle screws and distal locking screws of intramedullary nails with clear and narrow bony channels or metal channels (that is to say, the goals used are: linear target channel).

Take sacroiliac screws as an example. When the orthopedic non-invasive three-dimensional positioning method of the present invention is adopted, the hand guard can be fixed on the affected side and the guide pin locator can be placed on the operating bed and the hand guard on the affected side. Use the C-arm 3 to irradiate X-rays from the axial position of the pedicle of the sacrum 1 (that is, the axial position of the bony channel). The pitch angle α', the roll angle β', and the heading angle γ' of the arm three-dimensional electronic compass 2. The cosine value of the angle between the central projection line of the C-arm 3 and the XYZ positive semi-axis of the guide pin positioner can be calculated, respectively cosφ, cosθ.

Use the remote control to adjust the positioning point position of the guide pin, and adjust the angles α and β of the guide pin so that the guide pin points to the target position on the X-ray image (that is, the projection line of the center of the C-arm), and click OK to record the coordinates of the positioning point of the guide pin ( x ₁ , y ₁ , z ₁ ) and the direction of the replaceable sleeve α ₁ , β ₁ ; change the position of the guide pin positioning point and make the guide pin point to the target position again, click OK to record the coordinates of the guide pin positioning point (x ₂ , y ₂ , z ₂ ) and replaceable sleeve directions α ₂ , β ₂ . The straight line equation of the axis of the pedicle bony channel can be obtained through the processor operation:

in

cosδ ₁ = cosα ₁ · cosβ ₁ cosδ ₂ = cosα ₂ · cosβ ₂

cosη ₁ = sinα ₁ ·cosβ ₁ , cosη ₂ = sinα ₂ ·cosβ ₂

cosμ ₁ = sinβ ₁ cosμ ₂ = sinβ ₂

The derivation method is the same as the example scenario 1

After obtaining the straight line equation, in the processing system, set β=90°-θ. Then the axis of the replaceable sleeve 12 coincides with the axis of the pedicle bony channel. Adjust the value of t so that the replaceable sleeve 12 moves to the body surface along the axis of the pedicle bony channel.

Use case scenario 3: Locate a thicker bony channel (target: two endpoints of the positioning channel);

Taking femoral neck fracture as an example, the distal end and proximal end of the expected screw position are known, and the surgical path needs to be set.

At this time, the system and method of the present invention can be used to measure the coordinates of the distal end and the proximal end of the expected position of the screw by repeating the use method of the example scenario 1 to obtain the surgical path.

In order to achieve the accuracy of positioning and operation, as shown in Figure 16, in another specific embodiment of the present invention, a laser ranging component can be added to the structure of the above embodiment, and please refer to Figures 17-19, the present invention is In this specific embodiment, with the aid of the laser rangefinder assembly, a laser rangefinder is used to irradiate the needle entry point in the positioning of the target point, so that the axis of the replaceable sleeve coincides with the straight line automatically, and the head end of the replaceable sleeve Move along the straight line until the needle insertion point is close to the body surface, and the surgical path is determined.

In this specific embodiment, the laser rangefinder used by the system to irradiate the needle entry point includes: a locator spherical pan/tilt base 181, a locator spherical pan/tilt 182, a locator spherical pan/tilt spherical card slot 183, a locator spherical cloud Platform locking rod 184, laser ranging three-dimensional electronic compass 185, spherical pan tilt ranging module 186. Among them, the spherical head base of the spherical head laser ranging component is fixed on the upper end of the Z-axis precision electric ball screw slide table, which can make the laser ranging module point to any direction through the spherical head, and the three-dimensional electronic compass through the laser ranging To obtain its spatial direction, the laser ranging module is equipped with a laser light source. After obtaining the coordinates of the positioning point, it is irradiated to the ideal needle entry point on the body surface to measure the distance, and records the spatial direction of the laser ranging three-dimensional electronic compass, so that it can be obtained The spatial coordinates of the needle insertion point can be used to obtain the straight line where the two points are located, and the axis of the replaceable sleeve is automatically coincident with the straight line, and the head end of the replaceable sleeve moves along the straight line until the needle insertion point is close to the body surface. surgical path.

The above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that the specific implementation methods of the present invention can still be modified Or an equivalent replacement, but any modification or equivalent replacement that does not depart from the spirit and scope of the present invention shall fall within the scope of the claims of the present invention.

Claims (20)

1. An orthopedic non-invasive guide pin three-dimensional positioning and guiding system, characterized in that it includes a guide pin positioner, the guide pin positioner mainly includes: at least one X-axis precision electric ball screw slide table, at least one Y One-axis precision electric ball screw slide table, one Z-axis precision electric ball screw slide table, two precision electric worm gear rotary tables, one sleeve fixing bracket and replaceable sleeve; Wherein, the X-axis precision electric ball screw slide table and the Y-axis precision electric ball screw slide table are arranged vertically and horizontally, and the Y-axis precision electric ball screw slide table can move along the X-axis direction in X One end of the Z-axis precision electric ball screw slide is slid on the Y-axis precision electric ball screw slide by means of a precision electric worm gear rotary table, so that the Z-axis precision electric ball screw The bar slide table can move along the Y-axis direction on the Y-axis precision electric ball screw slide table and can rotate on the Z-axis as the center line; the replaceable sleeve is fixed to another precision electric worm gear through the other end of the sleeve fixing bracket to rotate platform, and the precision electric worm gear rotary table is slid on the Z-axis precision electric ball screw slide table, so that the replaceable sleeve can move along the Z-axis direction and rotate around the sleeve fixing bracket; By means of the structure, the guide pin arranged in the replaceable sleeve can point to any direction from any point in space with the guide pin positioning point as the center of the sphere. 2. A three-dimensional positioning and guiding system for orthopedic non-invasive guide pins according to claim 1, characterized in that, the X-axis precision electric ball screw slide table, the Y-axis precision electric ball screw slide table and the Z-axis precision electric ball screw slide table The electric ball screw slide table is composed of a slide table stepping motor, a slide table driver, a slide table screw rod, a slide table slide rail, a slide table slider, and a slide table base. 3. A three-dimensional positioning and guiding system for orthopedic non-invasive guide pins according to claim 1, characterized in that, the precision electric worm wheel and worm turntable is composed of a stepper motor for the turntable shaft, a worm wheel and worm turntable body, and a worm wheel respectively. The table top of the worm rotating table is composed. 4. The orthopedic non-invasive guide pin three-dimensional positioning and guiding system according to claim 1, wherein the orthopedic non-invasive guide pin three-dimensional positioning and guiding system further comprises at least one C-arm three-dimensional electronic compass, a C-arm, Operating tables and handling systems. 5. A three-dimensional positioning and guiding system for orthopedic non-invasive guide pins according to claim 4, wherein the Y-axis precision electric ball screw slide table is provided with a Y-axis slide table base, and the C-arm three-dimensional The electronic compass is placed on the base of the Y-axis slide table and/or the bottom is pasted on the top of the radial end of the C-arm. When the bottom of the three-dimensional electronic compass of the C-arm is pasted on the top of the radial end of the C-arm, its Z-axis is the The direction of the center projection line, the long and short axes are respectively the X axis and the Y axis of the C-arm three-dimensional electronic compass 2. Consistent, when the C-arm three-dimensional electronic compass is placed on the base of the Y-axis slide table, the XOY plane is taken as the zero plane, and the Y-axis direction is taken as the zero value of the heading angle. 6. A non-invasive orthopedic guide pin three-dimensional positioning and guiding system according to claim 5, characterized in that, the side or underside of the base of the Y-axis slide table that does not hinder the movement of other components is provided with the C-arm The Y-axis three-dimensional electronic compass card slot of the three-dimensional electronic compass; The top of the radial end of the C-arm is provided with a C-arm three-dimensional electronic compass slot for accommodating the C-arm three-dimensional electronic compass. 7. A three-dimensional positioning and guiding system for orthopedic non-invasive guide pins according to claim 3, characterized in that the system further comprises a laser range finder for irradiating the needle insertion point. 8. A kind of orthopedic non-invasive guide pin three-dimensional positioning and guiding system according to claim 7, wherein the laser range finder is a spherical pan/tilt laser ranging assembly, and the spherical pan/tilt laser ranging assembly The base of the spherical pan/tilt is fixed on the upper end of the Z-axis precision electric ball screw slide to make the laser ranging module point to any direction through the spherical pan/tilt, and obtain its spatial direction through the laser ranging three-dimensional electronic compass. The laser ranging module is equipped with a laser The light source, after obtaining the coordinates of the positioning point, measures the distance after irradiating the ideal needle entry point on the body surface, and records the spatial direction of the laser ranging three-dimensional electronic compass, so as to obtain the spatial coordinates of the needle entry point, thereby obtaining two points and automatically make the axis of the replaceable sleeve coincide with the straight line, and the head end of the replaceable sleeve moves along the straight line to the needle insertion point, which is close to the body surface. 9. A non-invasive orthopedic guide pin three-dimensional positioning and guiding system according to claim 3, wherein the guide pin positioner also includes an inclination sensor for measuring the rotation angle of the precision electric worm-wheel worm turntable. 10. A three-dimensional positioning and guiding system for orthopedic non-invasive guide pin according to claim 5, characterized in that, the Y-axis precision electric ball screw slide table and the Z-axis precision electric ball screw slide table pass through the connecting plate and the precision ball screw slide respectively. The electric worm gear rotary table is connected, and the sleeve fixed frame and the Z-axis precision electric ball screw slide table are also connected through the connecting plate. 11. A three-dimensional positioning and guiding method for orthopedic non-invasive guide pins, characterized in that the guide pin locator of the orthopedic non-invasive three-dimensional positioning system according to any one of the above claims is placed on the operating bed of the affected side and placed on the replaceable sleeve Insert the guide pin, take the direction of the X-axis precision electric ball screw slide Ⅰ as the direction of the guide pin positioner X-axis, the direction of the Y-axis precision electric ball screw slide table as the direction of the guide pin positioner Y-axis, and the direction of the Z-axis precision electric ball screw The direction of the screw slide table is the Z-axis direction of the guide pin positioner; the precision electric worm gear rotary table I takes the Y-axis direction as zero value, and the reading is α, which is the angle between the projection of the guide pin on the XOY plane and the X-axis; Worm wheel and worm rotary table II, with the XOY plane as zero value, the reading is β, that is, the angle between the guide pin and the XOY plane; and the intersection point of the axis of the replaceable sleeve 12 and the axis of the sleeve fixing bracket is set as the guide Needle positioning point, construct a three-dimensional coordinate system with the guide pin positioning point when each axis is at zero position as the origin, and record this point as (x, y, z), and then perform X-ray fluoroscopy from any two directions, through After the three-dimensional geometric calculation, the three-dimensional coordinates of the target point and the bony channel can be accurately obtained. 12. A three-dimensional positioning and guiding method for orthopedic non-invasive guide pins according to claim 11, characterized in that the distance between the axis of the replaceable sleeve and the axis of the Z-axis sliding table screw is L, and the X-axis is precisely The displacement of the electric ball screw slide table Ⅰ and the X-axis precision electric ball screw slide table II is x', the displacement of the Y-axis precision electric ball screw slide table is y', and the displacement of the Z-axis precision electric ball screw slide table As z', set: x'=x-L·cosα, y'=y-L·sinα, z'=z, so that the control guide pin can point to any direction from any point in space with the guide pin positioning point as the center of the sphere; C type The three-dimensional electronic compass of the arm is fixed in the Y-axis card slot, and its x-axis and y-axis directions are consistent with the X-axis and Y-axis directions of the guide needle positioner, and automatically records its current direction after power-on and sets it to zero, that is, XOY The plane is the zero plane, and the Y-axis direction is the zero value of the heading angle; after the recording is successful, remove the C-arm 3D electronic compass or take another C-arm 3D electronic compass and place it in the C-arm 3D electronic compass slot, and When the C-arm is adjusted to a proper position during use, record the C-arm three-dimensional electronic compass value at the top of the C-arm radial end, and establish the relationship between the C-arm and the guide pin positioner based on the C-arm three-dimensional electronic compass value. Vector relationship, the Z axis of the three-dimensional electronic compass is the direction of the central projection line of the C-arm, and its long and short axes are the X-axis and Y-axis of the three-dimensional electronic compass of the C-arm; When the C-arm irradiates X-rays, define this position as radiation source 1, record the pitch angle α', roll angle β', and heading angle γ' of the C-arm three-dimensional electronic compass through the C-arm three-dimensional electronic compass, and calculate The cosine values of the angle between the central projection line of the C-arm 3 and the XYZ positive semi-axis of the guide pin positioner are respectively cosφ, cosθ, where: Then, proceed to the steps: 1) Adjust the position of the guide pin positioning point, and adjust the guide pin angles α and β so that the guide pin points to the target position on the X-ray image, record the coordinates of the guide pin positioning point (x ₁ , y ₁ , z ₁ ) and replace the sleeve Direction α ₁ , β ₁ ; 2) Change the position of the guide pin positioning point and make the guide pin point to the target position again on the X-ray image, click OK to record the coordinates of the guide pin positioning point (x ₂ , y ₂ , z ₂ ) and the direction of the replaceable sleeve α ₂ , β ₂ ; 3) The linear equation of the axis of the channel can be obtained through the processor operation: in, cosδ ₁ = cosα ₁ · cosβ ₁ cosδ ₂ = cosα ₂ · cosβ ₂ cosη ₁ = sinα ₁ ·cosβ ₁ , cosη ₂ = sinα ₂ ·cosβ ₂ . cosμ ₁ = sinβ ₁ , cosμ ₂ = sinβ ₂ 13. A three-dimensional positioning and guiding method for orthopedic non-invasive guide pin according to claim 12, characterized in that, the processing system of the positioning system is based on the linear equation of the axis of the channel, and sets β=90°-θ, and the guide pin positioner is controlled so that the axis of the replaceable sleeve coincides with the axis of the channel, and by adjusting the value of t, the replaceable sleeve 12 is moved to the body surface along the axis of the channel. 14. A method for three-dimensional positioning and guiding of an orthopedic non-invasive guide pin according to claim 12, characterized in that the method further comprises the following steps: Change the angle of the C-arm and irradiate X-rays again, define this position as radiation source 2, and record the pitch angle α' ₂ and roll angle β' ₂ of the C-arm 3-dimensional electronic compass through the C-arm 3-dimensional electronic compass, and heading angle γ' ₂ , and calculate the cosine of the angle between the center projection line of the C-arm and the XYZ positive semi-axis of the guide pin positioner as Then, adjust the position of the positioning point of the guide pin, and adjust the angles α and β of the guide pin so that the guide pin points to the target position on the X-ray image, record the coordinates of the positioning point of the guide pin (x ₃ , y ₃ , z ₃ ) and replace the sleeve Direction α ₃ , β ₃ ; Further, the coordinates (x ₄ , y ₄ , z ₄ ) of the target point can be obtained through calculation, in: 15. A three-dimensional positioning and guiding method for orthopedic non-invasive guide pin according to claim 14, characterized in that, according to the obtained coordinates (x ₄ , y ₄ , z ₄ ) of the target point, by adjusting the guide pin positioning point Coordinates (x, y, z), through the control system, set So that the direction of the guide needle sleeve is always aimed at the target point during the adjustment process. 16. A method for three-dimensional positioning and guiding of an orthopedic non-invasive guide pin according to claim 14, characterized in that, when two end points are known and the moving path of the guide pin needs to be determined, the coordinates of the positioning target point (x ₄ , y ₄ , z ₄ ) method to calculate the two target endpoints, and the calculation and control module of the positioning system calculates the moving path of the guide pin for controlling the movement of the guide pin locator. 17. A three-dimensional positioning and guiding method for orthopedic non-invasive guide pins according to any one of claims 11-16, characterized in that, when using C-arm fluoroscopy, the target position is presented in the center of the image, that is, it is located in the center projection According to online. 18. A three-dimensional positioning and guiding method for orthopedic non-invasive guide pins according to any one of claims 11-16, characterized in that, in the positioning of the target point, a laser rangefinder is used to irradiate the needle insertion point to automatically make the replaceable sleeve The axis of the barrel coincides with the straight line, and the head end of the replaceable sleeve moves along the straight line to the point where the needle is inserted, that is, it is close to the body surface, and the surgical path is determined. 19. A method for three-dimensional positioning and guiding of an orthopedic non-invasive guide pin according to any one of claims 11-16, characterized in that the guide pin positioner includes an inclination sensor for measuring the rotation angle of a precision electric worm gear turntable. 20. A method for three-dimensional positioning and guiding of orthopedic non-invasive guide pins according to claim 18, wherein the laser range finder is a spherical pan/tilt laser ranging assembly, and the spherical pan/tilt laser ranging assembly The spherical pan/tilt base is fixed on the upper end of the Z-axis precision electric ball screw slide, which can make the laser ranging module point to any direction through the spherical pan/tilt, and obtain its spatial direction through the laser ranging three-dimensional electronic compass. The laser ranging module is equipped with With a laser light source, after obtaining the coordinates of the positioning point, measure the distance after irradiating to the ideal needle entry point on the body surface, and record the spatial direction of the laser ranging three-dimensional electronic compass, so as to obtain the spatial coordinates of the needle entry point, thus obtaining two point, and automatically make the axis of the replaceable sleeve coincide with the straight line, and the head end of the replaceable sleeve moves along the straight line to the needle insertion point, which is close to the body surface, and the surgical path is obtained.