CN115670576A - Bone nail registration auxiliary mechanism, bone nail registration system and method - Google Patents

Abstract

The invention relates to a bone nail registration auxiliary mechanism, a bone nail registration system and a bone nail registration method. The bone nail registration assisting mechanism comprises a light-emitting device, wherein the light-emitting device is arranged on the probe and used for forming a light spot, so that the probe and the bone nail can be aligned according to the light spot. According to the invention, the light spot is formed by the light-emitting device, so that medical staff can judge whether the probe is aligned with the bone nail according to the distance between the center of the light spot and the center of the bone nail and adjust the angle of the probe according to the light spot so as to overlap the light spot with the probe and align the probe with the bone nail, thereby improving the registration accuracy of the bone nail.

Description

Bone nail registration auxiliary mechanism, bone nail registration system and method

This application is a divisional application of the application with the filing date: "October 27, 2020", the application number "202011164361.1", and the title "Bone Nail Registration Auxiliary Mechanism, Bone Nail Registration System and Method".

technical field

The invention relates to the technical field of medical devices, in particular to a bone nail registration auxiliary mechanism, a bone nail registration system and a method.

Background technique

When the bone nail is registered, the surgical navigation device needs the probe to touch the bone nail to complete the registration work. The bone nail is drilled into the skull by the doctor through a drill bit. In order to avoid the outflow of cranial fluid, the bone nail cannot be drilled through the skull; and because the thickness of the skull is not deep, the part of the bone nail fixed in the skull is very small, so the bone nail and the skull are not fixed. Not very firm.

At present, when the bone nail is registered, the doctor drags the probe to contact the bone nail to realize the registration of the bone nail. Since the angle and strength of dragging the probe to touch the bone nail are controlled by the doctor himself, it is relatively random, so it may cause the angle and strength of the probe to touch the bone nail to be different, which will cause the bone nail to deform to varying degrees. Makes the nail registration deviation.

Contents of the invention

Based on this, it is necessary to provide a bone nail registration auxiliary mechanism, a bone nail registration system and method for the problem of low registration accuracy of bone nails at present.

An embodiment of the present invention provides a bone screw registration auxiliary mechanism, which is used to align the probe at the end of the mechanical arm with the bone screw;

The bone screw registration auxiliary mechanism includes a light-emitting device, which is arranged on the probe to form a light spot on the surface, and the light spot is used to assist in aligning the probe with the bone screw, so that the light-emitting device can be aligned according to The light spot aligns the stylet with the bone pin.

In one of the embodiments, the center of the end of the bone nail has a circular hole, and the circular hole has a diameter of the circular hole; the light spot formed by the light emitting device has a shape matching the circular hole at the end of the bone nail shape.

In one of the embodiments, the shape of the light spot is circular, and the circular light spot has a spot diameter, and the diameter of the light spot is greater than or equal to the diameter of the circular hole; preferably, the diameter of the light spot is slightly larger than the diameter of the hole. Hole diameter.

In one of the embodiments, the shape of the light spot is circular, and the circular light spot has an inner diameter of the light spot and an outer diameter of the light spot, the inner diameter of the light spot is equal to the diameter of the circular hole, and the outer diameter of the light spot is larger than the diameter of the light spot The diameter of the circular hole; preferably, the inner diameter of the light spot is equal to the diameter of the circular hole, and the outer diameter of the light spot is slightly larger than the diameter of the circular hole.

In one of the embodiments, the outer contour of the end of the bone nail has a certain shape and size, and the outer contour shape and size of the light spot formed by the light emitting device are the same as the outer contour shape and size of the end of the bone nail. same size.

In one of the embodiments, the light emitting device has an optical path forming structure, and the optical path forming structure is used to form the light spot with a definite shape and size.

In one of the embodiments, the bone nail registration auxiliary mechanism further includes a photosensitive device;

The photosensitive device is arranged at the tip of the probe, and is used to generate a trigger signal when the intensity of the received light is lower than a preset intensity value, and the trigger signal is used to control the mechanical arm to stop moving.

Based on the same inventive concept, an embodiment of the present invention also provides a bone nail registration system, which includes:

probe;

a mechanical arm, the probe is fixed to the end of the mechanical arm;

The photosensitive device is arranged at the tip of the probe, and is used to generate a trigger signal when the intensity of the received light is less than a preset intensity value, and the trigger signal is used to control the mechanical arm to stop moving.

Based on the same inventive concept, the embodiment of the present invention also provides a bone nail registration method, including:

The light emitting device forms a light spot;

adjusting the angle and/or position of the probe according to the light spot, and aligning the probe with the bone nail;

Driving the probe to move toward the bone screw until the probe is in full contact with the bone screw.

In one of the embodiments, the driving the probe to move towards the bone screw until the probe is in full contact with the bone screw includes:

The photosensitive device generates a trigger signal when the intensity of the received light is less than a preset intensity value, and the trigger signal controls the probe to stop moving.

To sum up, the present invention provides a bone screw registration auxiliary mechanism, a bone screw registration system and method. Wherein, the bone nail registration auxiliary mechanism is used to align the probe at the end of the mechanical arm with the bone nail, and includes a light emitting device, which is arranged on the probe to form a light spot, and according to the light spot The stylet is aligned with the bone pin. It can be understood that in the present invention, a light spot is formed by the light-emitting device, which allows medical personnel to judge whether the probe is aligned with the bone nail according to the distance between the center of the light spot and the center of the bone nail, and adjust the angle of the probe according to the light spot , so that the light spot overlaps with the probe and aligns the probe with the bone pin, thereby improving the accuracy of the bone pin registration.

Description of drawings

Fig. 1 is a schematic structural diagram of a bone nail registration auxiliary mechanism provided by an embodiment of the present invention;

Fig. 2 is a schematic diagram of a light spot formed on the patient's head by the searchlight emitted by the light-emitting device provided by the embodiment of the present invention;

(a) in Figure 3 is a schematic diagram of the circular light spot fully aligned with the bone screw hole, and Figure 3 (b) is a schematic diagram of the circular light spot not fully aligned with the bone nail hole;

Fig. 4 is a schematic diagram of the movement of the circular light spot to the bone nail provided by the embodiment of the present invention;

(a) in Fig. 5 is a schematic diagram after the ring-shaped light spot is completely aligned with the bone nail hole, and (b) in Fig. 5 is a schematic diagram when the ring-shaped light spot is not completely aligned with the bone nail hole;

Fig. 6 is a schematic structural diagram of a bone nail registration system provided by an embodiment of the present invention;

Fig. 7 is a schematic flowchart of a bone nail registration method provided by an embodiment of the present invention;

Fig. 8 is a schematic flowchart of another bone nail registration method provided by an embodiment of the present invention;

Fig. 9 is a schematic cross-sectional view of a bone nail provided by an embodiment of the present invention.

Detailed ways

In order to make the above objects, features and advantages of the present invention more comprehensible, specific implementations of the present invention will be described in detail below in conjunction with the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention can be implemented in many other ways different from those described here, and those skilled in the art can make similar improvements without departing from the connotation of the present invention, so the present invention is not limited by the specific implementations disclosed below.

Hereinafter, although terms such as 'first', 'second', etc. may be used to describe various components, the components are not necessarily limited to the above terms. The above terms are only used to distinguish one component from another. It will also be understood that expressions used in the singular include expressions in the plural unless the expressions in the singular have clearly different meanings in context. In addition, in the following embodiments, it will also be understood that the terms "comprising" and/or "having" used herein indicate the presence of stated features or components, but do not exclude the presence or addition of one or more other features or components.

Referring to FIG. 1 and FIG. 2 , an embodiment of the present invention provides a bone screw registration auxiliary mechanism for aligning the probe 300 at the end of the mechanical arm with the bone screw 600 . It can be understood that the alignment of the probe 300 with the bone screw 600 means that the moving direction of the probe is perpendicular to the end surface of the bone screw and the tip of the probe is completely aligned with the center of the end surface of the bone screw. The bone screw registration auxiliary mechanism includes a light emitting device 100 , which is disposed on the probe 300 to form a light spot so that the probe 300 can be aligned with the bone screw 600 according to the light spot. It can be understood that the light spot is a light spot visible to the naked eye when the light emitted by the light emitting device 100 is irradiated on the surface of an object. In the present invention, the light spot is mapped on the patient's head region. When the probe 300 is aligned with the bone screw 600, the formed light spot is on or around the bone screw 600. The shape and size of the light spot are consistent with the shape of the bone screw. and size match.

In this embodiment, the light emitting device is fixed on the probe, for example, surrounds the probe. It can be understood that the search light is emitted through the light emitting device 100 to form a light spot, and when the light spot is projected onto the patient's body surface area (such as the head or other parts), the medical staff can make the distance between the center of the light spot and the center of the bone nail The distance between the probe and the shape of the light spot is used to determine whether the probe is aligned with the bone screw, and the angle of the probe is adjusted according to the light spot so that the light spot overlaps with the end of the probe or matches the shape of the end of the probe. Pin alignment, thereby improving the accuracy of pin registration.

In one of the embodiments, the light emitting device 100 includes a laser emitter. It can be understood that due to the high directivity of the laser, the divergence angle of the laser is very small after emission, so it can ensure that the formed spot can always maintain a consistent shape and size, and prevent the size of the spot from changing with the distance. It can be understood that the fact that the light spot can always maintain a consistent shape and size means that the light emitting device 100 emits searchlight vertically to a certain plane, and the shape and size of the light spot formed on the plane perpendicular to the emission path of the searchlight is determined and unchanged. . In one embodiment of the present invention, the searchlight forms a light spot on the patient's body surface area. When the probe is fully aligned with the bone nail, the direction and path of the searchlight are perpendicular to the end of the bone nail, and the center of the light spot is aligned with the center of the end of the bone nail. Coincident, the shape of the light spot matches the shape of the end of the bone nail. It can be understood that, by using the laser generator to emit search light, the shape and size of the cross-section of the outgoing beam, that is, the search light, can be designed so that the shape and size of the light spot match the shape of the end of the bone screw. For example, when the probe is fully aligned with the bone screw, the shape and size of the light spot formed at the end of the bone screw are exactly the same as the shape and size of the end of the bone screw.

In one of the embodiments, the light emitting device has an optical path forming structure (not shown), through which a light spot with a definite shape and size can be formed. The light path forming structure can be arranged so that the light emitted through the light path forming structure forms a light spot that matches the shape of the end of the bone nail. It can be understood that when the light emitted by the optical path forming structure has a shape that matches the shape of the end of the bone nail, it can be judged whether the light spot formed at the end of the bone nail matches the shape of the end of the bone nail. Whether the needle is aligned with the bone nail and the degree of alignment further improves the accuracy of bone nail registration.

In one embodiment of the present invention, as shown in Figure 9, the end of the bone nail, that is, the center of the outer end 601 has a round hole, and the round hole forms a through hole downwards, that is, the end that is inserted into the bone, that is, the inner end of the bone nail. 602 extends to form a via structure. The circular hole has a circular hole diameter at the outer end of the bone nail, and the circular hole diameter is 2-3mm. The light spot formed by the light emitting device has a shape and a size matched with the circular hole at the end of the bone nail.

In one of the embodiments, the shape of the light spot is circular, and the circular light spot has a light spot diameter, and the light spot diameter is equal to the diameter of the circular hole. The light beam emitted by the light emitting device 100 has a circular cross section, and the light spot formed by the light emitting device has a shape matching the circular hole at the end of the bone nail. The size of the light emitted by the light path forming structure, that is, the diameter of the light spot is equal to the diameter of the circular hole. It can be understood that the circular light spot has better symmetry. When the probe is completely aligned with the bone nail, the circular light spot is concentric with the round hole at the center of the end of the bone nail and completely coincides with the round hole at the end of the bone nail. The searchlight is completely injected into the circular hole, and the light spot cannot be observed with the naked eye on the surface of the end of the bone nail. Whether the probe is aligned with the bone screw can be judged by observing whether the light spot on the end surface of the bone screw is completely injected into the round hole, that is, whether the light spot can be observed on the end surface of the bone screw.

In one of the embodiments, the shape of the light spot is circular, and the circular light spot has a spot diameter, and the diameter of the light spot is larger than the diameter of the circular hole. The light beam emitted by the light emitting device 100 has a circular cross section, and the light spot formed by the light emitting device has a shape matching the circular hole at the end of the bone nail. The size of the light emitted by the light path forming structure, that is, the spot diameter of the light spot is larger than the diameter of the circular hole, which can avoid sensory discomfort to the user due to the inability to see the light spot when it is fully aligned, and can also avoid erroneous results. Judgment, for example, light spots will not be observed when the light emitting device fails. It can be understood that the circular light spot has better symmetry. When the probe is fully aligned with the bone nail, the circular light spot is concentric with the round hole in the center of the bone nail, and a ring shape can be seen on the end surface of the bone nail. The light spot (the part of the light that coincides with the round hole at the end of the bone nail enters the round hole, which cannot be observed by the naked eye), the ring-shaped light spot surrounds the round hole and is completely symmetrical. Whether the probe is aligned with the bone screw can be judged by observing the symmetry of the ring-shaped light spot formed on the surface of the end of the bone screw (its actual shape is circular, but the part injected into the hole is invisible) around the circular hole .

In one embodiment, the shape of the light spot is circular, and the diameter of the light spot is slightly larger than the diameter of the circular hole. For example, the diameter of the light spot is 0.1-0.4mm larger than the diameter of the circular hole. In one embodiment, the diameter of the circular hole is 2.6 mm, and the diameter of the light spot is greater than 2.6 mm and less than or equal to 3.0 mm, for example, the diameter of the light spot is 2.7 mm to 3.0 mm. More preferably, the spot diameter is 2.8mm. The size of the light emitted by the light path forming structure, that is, the spot diameter of the light spot is slightly larger than the diameter of the circular hole, so that it is more convenient for the user to judge the alignment. It can be understood that the circular light spot has better symmetry. When the probe is fully aligned with the bone nail, the circular light spot is concentric with the round hole in the center of the bone nail, and is displayed as a ring at the end of the bone nail (with the The part of the light that coincides with the round hole at the end of the bone nail enters the round hole and cannot be observed by the naked eye) Please refer to (a) in Figure 3. Whether the probe is aligned with the bone screw can be judged by observing the symmetry of the ring-shaped light spot formed on the surface of the end of the bone screw (its actual shape is circular, but the part injected into the hole is invisible) around the circular hole . When the spot diameter of the spot is slightly larger than the diameter of the circular hole, if there is a small deviation (misalignment, such as angle or distance deviation), that is, the spot around the circular hole will not be observed on one side, while the opposite side The spot on one side is larger, please refer to (b) in Figure 3. In this embodiment, the diameter of the light spot is slightly larger than the diameter of the round hole, that is, the light spot is avoided during alignment, and at the same time, it can be accurately judged whether the probe is completely aligned with the bone screw.

In one of the embodiments, the shape of the light emitted by the light path forming structure is circular, that is, the light spot itself is circular, and a circular light spot can be formed on any plane perpendicular to the search light. The shape is annular, and the annular light spot has an inner diameter of the light spot and an outer diameter of the light spot, the inner diameter of the light spot is equal to the diameter of the circular hole, and the outer diameter of the light spot is larger than the diameter of the circular hole. Please refer to FIG. 4 , in this embodiment, the light beam emitted by the light emitting device 100 has a circular cross-section, which matches the circular hole at the end of the bone nail. It can be understood that the annular light spot has better symmetry. When the probe and the bone nail are fully aligned, the round hole of the bone nail overlaps with the inner circle of the annular light spot, which is convenient for medical staff to judge whether the light spot is consistent with the bone nail. The coincidence degree of the nail, and further adjust the probe according to the coincidence degree of the light spot and the bone nail. Specifically, the probe is fixed on the end of the mechanical arm by screws, and the angle between the probe and the end of the mechanical arm cannot be adjusted. Therefore, when the spot does not coincide with the bone nail or is far away, the doctor can adjust the joints of the mechanical arm. The rotation angle of the probe changes the angle and distance of the probe relative to the bone nail, so that the light spot approaches the bone nail. When the probe is adjusted to a proper position, the ring-shaped light spot should just surround the round hole in the center of the end of the bone screw, and the center of the ring-shaped light spot completely overlaps the center of the cross-section of the end of the bone screw, see Figure 5 (a) diagram. When the probe is almost completely aligned with the bone screw, the circular light spot is concentric with the circular hole in the center of the bone screw, and appears as a completely symmetrical circular ring at the end of the bone screw, that is, the inner ring of the light spot is completely aligned with the circular hole. overlapping. Whether the probe is aligned with the bone screw can be judged by observing the symmetry of the circular light spot formed on the end surface of the bone screw around the circular hole.

Preferably, the shape of the light emitted by the light path forming structure is circular, the inner diameter of the light spot is equal to the diameter of the circular hole, and the outer diameter of the light spot is slightly larger than the diameter of the circular hole. For example, the outer diameter of the light spot is 0.1-0.4mm larger than the diameter of the circular hole. In one embodiment, the diameter of the circular hole is 2.6 mm, the inner diameter of the light spot is 2.6 mm, and the outer diameter of the light spot is greater than 2.6 mm and less than or equal to 3.0 mm, for example, the outer diameter of the light spot is 2.7 mm to 3.0 mm. More preferably, the outer diameter of the light spot is 2.8mm. When the outer diameter of the spot is slightly larger than the diameter of the circular hole, if there is a small deviation (misalignment), the spot around the hole will not be observed on one side, while the spot area on the opposite side is larger And there will be a blank space between the round hole, please refer to (b) in Figure 5. In this embodiment, the outer diameter of the light spot is slightly larger than the diameter of the round hole, which prevents the light spot from being invisible during alignment, and can also accurately judge whether the probe is completely aligned with the bone nail according to the blank when it is not aligned.

In another embodiment of the present invention, the outer contour of the end of the bone nail has a certain shape and size; and the exact same size. For example, the outer contour of the end of the probe is hexagonal, and the outer contour of the light spot formed by the light emitting device is hexagonal and has exactly the same size as the outer contour of the probe end. When the probe bone nail is fully aligned, the light spot coincides completely with the end of the bone nail. Whether the probe is aligned with the bone screw can be judged by observing whether the light spot on the surface of the end of the bone screw completely coincides with the end of the bone screw. In one embodiment, the light spot is ring-shaped, that is, matched with the central circular hole of the bone nail, and the center of the light spot itself does not have search light. Similar to the above-mentioned annular light spot, except that the outer contour of the light spot is the same shape and size as the outer contour of the end of the bone nail, the inner circle at the center of the light spot is the same as the annular light spot, and the inner diameter of the inner circle is equal to the diameter of the circular hole.

In addition, when the doctor adjusts the rotation angle of each joint of the robotic arm and aligns the probe with the bone nail, the process can be achieved by the doctor dragging the end probe, or manually turning the joint angle of the robotic arm; the mechanical arm can also be adjusted through software. The joint angle of the arm is achieved.

In one of the embodiments, the light spots are dark light spots. It can be understood that when the light spot is a dark light spot, it is beneficial to find and determine the coverage of the light spot more quickly, and it is beneficial to quickly and accurately determine whether the probe and the bone nail are aligned. Preferably, the light spots in this example are red light spots, green or orange light spots.

Please continue to refer to FIG. 1 , in one embodiment, the bone screw registration auxiliary mechanism further includes a photosensitive device 200 .

The photosensitive device 200 is arranged at the tip of the probe, and is used to generate a trigger signal when the intensity of the received light is lower than a preset intensity value, and the trigger signal is used to control the mechanical arm to stop moving. In this embodiment, the photosensitive device 200 generates a trigger signal when it is determined that the intensity of the received light is less than a preset intensity value, and provides the trigger signal to the host computer, so that the host computer controls the The mechanical arm stops moving, and the position of the bone nail is recorded.

It can be understood that after adjusting the angle of the probe, the doctor or medical personnel can choose to use the system to drive the mechanical arm to move slowly and linearly along the angle, that is, the probe moves toward the bone nail while the angle relative to the bone nail remains unchanged. Nails approach. At this time, the photosensitive device 200 will sense the surrounding light, generate an electrical signal according to the received light, and use the electrical signal to reflect the magnitude of the light intensity. After the probe is in full contact with the bone screw, the photosensitive device 200 enters into the circular through hole of the bone screw, since there is only a small amount of light or even no light in the circular through hole of the bone screw. At this time, the intensity of the electrical signal becomes smaller, and when the intensity of the electrical signal is reduced to a certain extent, that is, when the intensity of the received light is less than a preset intensity value, a trigger signal is generated, and the trigger signal Provided to the host computer, so that the host computer controls the mechanical arm to stop moving according to the trigger signal, and calculates the current coordinates of the bone nail according to the current angle of each joint of the mechanical arm, and records it to complete the registration of the bone nail. It can be seen that in this example, the photosensitive device 200 can be used to quickly and accurately determine whether the probe is in full contact with the bone screw, thereby improving the registration accuracy; The intensity and the preset intensity value generate a trigger signal, and provide the trigger signal to the host computer, so that the host computer controls the mechanical arm to stop moving immediately according to the trigger signal, thereby avoiding the conflict between the probe and the bone nail. Excessive contact force will lead to different degrees of deformation of the bone screw, resulting in deviations in the registration of the bone screw.

In addition, after adjusting the angle of the probe, the doctor can also choose to manually drag the mechanical arm, and after confirming that the probe is in full contact with the bone screw, manually confirm and record the position of the bone screw to complete the registration of the bone screw. Alternatively, the doctor can also combine the manual adjustment method with the system-driven adjustment method to complete the registration of the bone nail.

In one of the embodiments, the photosensitive device 200 includes a photosensitive element (not shown) and a data processing circuit (not shown).

The photosensitive element is used for generating the electrical signal according to the received light.

The data processing circuit is electrically connected to the photosensitive element and the host computer respectively, and is used to compare the intensity of the electrical signal with the preset intensity value, and when the intensity of the electrical signal is less than the preset intensity value, When the intensity value is set, the trigger signal is generated and provided to the host computer.

It can be understood that the working principle of the photosensitive element is to use the mechanism of photoelectric conversion, so after the probe and the bone nail coincide, the amount of light received by the photosensitive element decreases, so the intensity of the generated electrical signal will also decrease. When the probe is in full contact with the bone nail, the intensity of the electrical signal generated by the photosensitive element is almost zero, and at this time, the intensity of the electrical signal is compared with the preset intensity value by the data processing circuit to determine the electrical signal The intensity is less than the preset intensity value, at this time, the data processing circuit generates the trigger signal and provides it to the host computer, so that the host computer controls the mechanical arm to stop moving immediately according to the trigger signal , so as to avoid the excessive contact force between the probe and the bone screw, resulting in different degrees of deformation of the bone screw, resulting in deviations in the registration of the bone screw.

In this embodiment, the photosensitive element may include a photoresistor, a photodiode, a phototransistor, a photodiode, a photosensitive sensor or a photosensitive chip. Described data processing circuit can comprise MCU (Microcontroller Unit, microcontroller processor), CPU (Central Processing Unit, central processing unit), DSP (Digital Signal Processing, digital signal processing) or FPGA (Field Programmable Gate Array, programmable logic device ) and other smart chips.

Based on the same inventive concept, an embodiment of the present invention also provides a bone nail registration system, please refer to FIG. The position of the tip of the probe 300 is used to generate a trigger signal when the intensity of the received light is less than a preset intensity value, and the trigger signal is used to control the mechanical arm to stop moving.

After adjusting the angle and position of the probe 300, the system in the upper computer drives the mechanical arm 400 to move slowly and linearly, that is, the probe 300 moves toward the bone while keeping the angle relative to the bone nail unchanged. Nails close. At the same time, the photosensitive device 200 in the bone nail registration system can sense the surrounding light. Until the probe 300 is in full contact with the bone nail, the intensity of the light received by the photosensitive device 200 is less than the preset intensity value, the data processing circuit in the bone nail registration system generates a trigger signal, and provides the trigger signal to the host computer 500, so that the host computer 500 controls the mechanical arm 400 to stop moving according to the trigger signal, and calculates the coordinates of the current bone screw according to the current angles of each joint of the mechanical arm 400, and records it to complete the registration of the bone screw. In this example, the photosensitive device 200 can be used to determine whether the probe 300 is in full contact with the bone screw, thereby improving the registration accuracy; And the preset intensity value generates a trigger signal, and provides the trigger signal to the host computer 500, so that the host computer 500 controls the mechanical arm 400 to stop moving immediately according to the trigger signal, so as to avoid the probe 300 from colliding with the bone. The contact force of the nail is too large, resulting in different degrees of deformation of the bone nail, which makes the registration of the bone screw deviate.

In one of the embodiments, the bone nail registration system further includes a light emitting device 100 and a host computer 500 . Wherein, the light emitting device 100 is disposed on the probe 300 to form a light spot, so that the probe 300 can be aligned with the bone nail according to the light spot.

The host computer 500 is used to calculate and record the coordinates of the bone nails according to the angles of the joints of the mechanical arm 400 .

It can be understood that, by emitting the search light to the patient's head (or other parts) through the light-emitting device 100, a light spot is formed on the patient's head, which allows the medical staff to To determine whether the probe 300 has been aligned with the bone nail, and adjust the angle and/or position of the probe 300 according to the light spot, so that the center of the light spot coincides with the center of the round hole at the end of the probe 300, and the probe 300 and Pin alignment, thereby improving the accuracy of pin registration.

In this embodiment, the light emitting device 100 is fixed on the probe 300 , for example, surrounds the probe 300 , and the light beam emitted by the light emitting device 100 has a circular cross-section, which matches the shape of the round hole of the bone nail.

It can be understood that the annular light spot has better symmetry. When the probe is almost completely aligned with the bone nail, the circular hole of the bone nail overlaps with the inner circle of the annular light spot, which is convenient for medical staff to judge the light spot The degree of coincidence with the bone nail, and further adjust the probe according to the coincidence degree of the light spot and the bone nail. Specifically, the probe is fixed on the end of the mechanical arm by screws, and the angle between the probe and the end of the mechanical arm cannot be adjusted. Therefore, when the spot does not coincide with the bone nail or is far away, the doctor can adjust the joints of the mechanical arm. The rotation angle of the probe changes the angle of the probe relative to the bone nail so that the light spot approaches the bone nail. When the probe is adjusted to a proper angle, the ring-shaped light spot should coincide with the bone screw, and even the center of the ring-shaped light spot and the center of the bone screw hole completely overlap. It can be understood that, in a preferred embodiment, the photosensitive device 200 is suitable for the shape of the light emitted by the above-mentioned light path forming structure to be circular, that is, the light spot itself is ring-shaped, and the center of the light spot itself does not have search light. At this time, combining the light emitting device and the photosensitive device can achieve a better photosensitive effect, the change of light intensity is more obvious, and it is possible to better judge whether the probe is in contact with the bone nail.

In one of the embodiments, the light emitting device 100 includes a laser emitter. It can be understood that due to the high directivity of the laser, the divergence angle after the laser is emitted is very small, so it can ensure that the formed light spot can always maintain a consistent shape and size, and prevent the size of the light spot from changing with the distance, which is conducive to improving the judgment of medical staff The accuracy of whether the light spot and the bone nail coincide, thereby improving the registration accuracy of the bone nail.

In one embodiment, the photosensitive device 200 includes a photosensitive element and a data processing circuit.

The photosensitive element is used for generating the electrical signal according to the received light.

The data processing circuit is electrically connected to the photosensitive element and the host computer 500 respectively, and is used to compare the intensity of the electrical signal with the preset intensity value, and when the intensity of the electrical signal is less than the The trigger signal is generated when the intensity value is preset, and provided to the host computer 500 .

In this embodiment, the photosensitive element may include a photoresistor, a photodiode, a phototransistor, a photodiode, a photosensitive sensor or a photosensitive chip. Described data processing circuit can comprise MCU (Microcontroller Unit, microcontroller processor), CPU (Central Processing Unit, central processing unit), DSP (Digital Signal Processing, digital signal processing) or FPGA (Field Programmable Gate Array, programmable logic device ) and other smart chips.

Based on the same inventive concept, the embodiment of the present invention also provides a bone nail registration method, please refer to Figure 7 and Figure 8, the bone nail registration method includes:

Step S710, the light emitting device forms a light spot;

Step S720, adjusting the angle and/or position of the probe 300 according to the light spot, and aligning the probe 300 with the bone nail.

Step S730, driving the probe 300 to move towards the bone screw until the probe 300 is in full contact with the bone screw.

In this embodiment, a light spot is formed on the patient's head (or other parts) by emitting the search light, and the distance between the light spot and the bone nail and the shape of the light spot are used to indicate the distance between the probe 300 and the bone nail. Alignment deviation between nails. The medical staff judges whether the probe 300 has been aligned with the bone nail according to the distance between the center of the light spot and the center of the bone nail and the shape of the light spot, and adjusts the angle and/or position of the probe 300 according to the light spot so that the light spot is aligned with the probe. The pins 300 overlap, aligning the stylet 300 with the pin, thereby improving the accuracy of pin registration. It can be understood that adjusting the angle of the probe is a rotational movement, and adjusting the position of the probe is a translational movement. By adjusting the angle and/or position of the stylet 300, the stylet can be perfectly aligned with the bone screw.

In this embodiment, a laser is used to emit search light to ensure that the formed light spot can always maintain a consistent shape and size, and to prevent the size of the light spot from changing with the distance. In addition, using the laser generator to emit search light, it can also be understood that the deformation of the cross-section of the outgoing beam needs to be designed to make the shape of the light spot consistent with the shape of the end of the bone screw as much as possible, so that the medical staff can judge whether the light spot coincides with the bone screw.

In addition, the light spot in this embodiment is in the shape of a ring, which matches the round hole at the end of the bone nail. Specifically, the probe 300 is fixed on the end of the mechanical arm 400 by screws, and the angle between the probe 300 and the end of the mechanical arm 400 cannot be adjusted. The rotation angles of the joints of the mechanical arm 400 further change the angle and/or position of the probe 300 relative to the bone nail, so that the light spot approaches the bone nail. When the probe 300 is adjusted to a proper angle and/or position, the inner circle of the circular light spot coincides with the round hole of the bone screw, and even the center of the circular light spot completely overlaps the center of the end of the bone screw.

In one of the embodiments, the driving the probe 300 to move toward the bone screw until the probe fully contacts the bone screw includes:

The photosensitive device 200 generates a trigger signal when the intensity of the received light is less than a preset intensity value, and the trigger signal controls the probe to stop moving.

In this embodiment, after the angle and position of the probe 300 are adjusted, the system in the host computer drives the mechanical arm 400 to move slowly and linearly along the angle, that is, the probe 300 remains in a state where the angle relative to the bone nail remains unchanged. down towards the bone nail. At the same time, the photosensitive device 200 in the bone nail registration system can sense the surrounding light. Until the probe 300 is in full contact with the bone nail, the intensity of the light received by the photosensitive device 200 is less than the preset intensity value, the data processing circuit in the bone nail registration system generates a trigger signal, and provides the trigger signal to the host computer 500, so that the host computer 500 controls the mechanical arm 400 to stop moving according to the trigger signal, and calculates the coordinates of the current bone screw according to the current angles of each joint of the mechanical arm 400, and records it to complete the registration of the bone screw. In this example, the photosensitive device 200 can be used to determine whether the probe 300 is in full contact with the bone screw, thereby improving the registration accuracy; And the preset intensity value generates a trigger signal, and provides the trigger signal to the host computer 500, so that the host computer 500 controls the mechanical arm 400 to stop moving immediately according to the trigger signal, so as to avoid the probe 300 from colliding with the bone. The contact force of the nail is too large, resulting in different degrees of deformation of the bone nail, which makes the registration of the bone screw deviate.

In one of the embodiments, the mechanical arm 400 is manually dragged to move the probe 300 toward the bone screw; and, after confirming that the probe 300 is in full contact with the bone screw, calculate and record The coordinates of the bone nail.

It can be understood that after adjusting the angle and position of the probe 300, the doctor can also choose to manually drag the mechanical arm 400, and after confirming that the probe 300 is in full contact with the bone screw, manually confirm and record the position of the bone screw to complete the registration of the bone screw . Alternatively, the doctor can also combine the manual adjustment method with the system-driven adjustment method to complete the registration of the bone nail.

To sum up, the embodiment of the present invention provides a bone nail registration auxiliary mechanism, a bone nail registration system and method. Wherein, the bone screw registration auxiliary mechanism includes a light emitting device 100, which is disposed on the probe to form a light spot, so that the probe 300 can be aligned with the bone screw according to the light spot. It can be understood that in the present invention, a light spot is formed by the light-emitting device 100, which enables the medical personnel to judge whether the probe 300 has been aligned with the bone nail according to the distance between the center of the light spot and the center of the bone nail, and adjust the probe according to the light spot. 300 so that the light spot overlaps with the probe 300 and aligns the probe 300 with the bone screw, thereby improving the registration accuracy of the bone screw.

In the description of this specification, descriptions referring to the terms "some embodiments", "other embodiments", "ideal embodiments" and the like mean that specific features, structures, materials, or characteristics described in connection with the embodiments or examples are included in this specification. In at least one embodiment or example of the invention. In this specification, schematic descriptions of the above terms do not necessarily refer to the same embodiment or example.

The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

The above-mentioned embodiments only express several implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but should not be construed as limiting the patent scope of the invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (10)

1. A bone nail registration auxiliary mechanism, characterized in that, the bone nail registration auxiliary mechanism is used to align the probe at the end of the mechanical arm with the bone nail; The bone nail registration auxiliary mechanism includes a light-emitting device, the light-emitting device includes a laser emitter, and the light-emitting device is arranged on the probe to form a light spot, and the light spot is used to assist in connecting the probe with the Nail alignment; When the probe is fully aligned with the bone nail, the center of the light spot coincides with the center of the end of the bone nail, and the shape of the light spot matches the shape of the end of the bone nail. 2. The bone screw registration auxiliary mechanism according to claim 1, wherein the center of the end of the bone screw has a circular hole, and the circular hole has a circular hole diameter; the light spot formed by the light emitting device has a The shape of the round hole at the end of the bone nail matches. 3. The bone nail registration auxiliary mechanism according to claim 2, wherein the shape of the light spot is circular, and the circular light spot has a spot diameter, and the diameter of the light spot is greater than or equal to the diameter of the circular hole ; Preferably, the diameter of the spot is slightly larger than the diameter of the circular hole. 4. The bone nail registration auxiliary mechanism according to claim 2, wherein the shape of the light spot is circular, and the circular light spot has an inner diameter of the light spot and an outer diameter of the light spot, and the inner diameter of the light spot is equal to the The diameter of the circular hole, the outer diameter of the light spot is larger than the diameter of the circular hole; preferably, the inner diameter of the light spot is equal to the diameter of the circular hole, and the outer diameter of the light spot is slightly larger than the diameter of the circular hole. 5. The bone nail registration auxiliary mechanism according to claim 1, wherein the outer contour of the end of the bone nail has a certain shape and size, and the outer contour shape and size of the light spot formed by the light emitting device are the same as The shape and size of the outer contour of the ends of the bone nails are the same. 6. The bone nail registration auxiliary mechanism according to any one of claims 1-5, wherein the light emitting device has an optical path forming structure, and the optical path forming structure is used to form the light spot with a definite shape and size . 7. The bone nail registration auxiliary mechanism according to claim 4 or 5, further comprising a photosensitive device; The photosensitive device is arranged at the tip of the probe, and is used to generate a trigger signal when the intensity of the received light is lower than a preset intensity value, and the trigger signal is used to control the mechanical arm to stop moving. 8. A bone nail registration system, characterized in that the bone nail registration system comprises: probe; a mechanical arm, the probe is fixed to the end of the mechanical arm; The photosensitive device is arranged at the tip of the probe, and is used to generate a trigger signal when the intensity of the received light is less than a preset intensity value, and the trigger signal is used to control the mechanical arm to stop moving. 9. A bone nail registration method, characterized in that it comprises: The light emitting device forms a light spot; adjusting the angle and/or position of the probe according to the light spot, and aligning the probe with the bone nail; Driving the probe to move toward the bone screw until the probe is in full contact with the bone screw. 10. The bone screw registration method according to claim 9, wherein the driving the probe to move towards the bone screw until the probe is in full contact with the bone screw comprises: The photosensitive device generates a trigger signal when the intensity of the received light is less than a preset intensity value, and the trigger signal controls the probe to stop moving.

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