CN119257681A - Bone model registration device and method - Google Patents
Bone model registration device and method Download PDFInfo
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- CN119257681A CN119257681A CN202411270577.4A CN202411270577A CN119257681A CN 119257681 A CN119257681 A CN 119257681A CN 202411270577 A CN202411270577 A CN 202411270577A CN 119257681 A CN119257681 A CN 119257681A
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- 210000000988 bone and bone Anatomy 0.000 title claims abstract description 55
- 238000000034 method Methods 0.000 title claims abstract description 16
- 239000000523 sample Substances 0.000 claims abstract description 177
- 210000000689 upper leg Anatomy 0.000 claims abstract description 120
- 210000002303 tibia Anatomy 0.000 claims abstract description 117
- 210000000629 knee joint Anatomy 0.000 claims abstract description 28
- 210000002414 leg Anatomy 0.000 claims abstract description 24
- 210000004872 soft tissue Anatomy 0.000 claims description 13
- 238000012795 verification Methods 0.000 claims description 13
- 231100000732 tissue residue Toxicity 0.000 claims description 2
- 238000001356 surgical procedure Methods 0.000 abstract description 5
- 210000001264 anterior cruciate ligament Anatomy 0.000 abstract description 3
- 239000000700 radioactive tracer Substances 0.000 description 16
- 238000010586 diagram Methods 0.000 description 6
- 210000000845 cartilage Anatomy 0.000 description 3
- 210000001930 leg bone Anatomy 0.000 description 3
- 238000012790 confirmation Methods 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- -1 514 Substances 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 210000003041 ligament Anatomy 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Abstract
本申请涉及前交叉韧带重建手术的导航系统的技术领域，具体涉及一种骨模型的配准装置及其方法，包括股骨定位组件、胫骨定位组件、探针组件、相机和电脑，股骨定位组件用于确定股骨的空间位置；胫骨定位组件用于确定胫骨的空间位置；探针组件用于确定膝关节骨面平台的空间位置；相机发射入射光线，同时接收入射光线由股骨定位组件、胫骨定位组件和探针组件反射后的反射光线；电脑与相机电连接，采集反射光线的方位信息，转化为空间坐标，并将其与术前获得的腿部图像坐标进行拟合。由于股骨定位组件、股骨定位组件和探针组件之间的位置是相对固定的，所以电脑可以将反射光线转化为空间坐标，与术前获得的腿部图像坐标进行拟合，使配准结果更为精准。
The present application relates to the technical field of navigation systems for anterior cruciate ligament reconstruction surgery, and specifically to a bone model registration device and method thereof, including a femoral positioning component, a tibial positioning component, a probe component, a camera and a computer, wherein the femoral positioning component is used to determine the spatial position of the femur; the tibial positioning component is used to determine the spatial position of the tibia; the probe component is used to determine the spatial position of the knee joint bone surface platform; the camera emits incident light and simultaneously receives reflected light after the incident light is reflected by the femoral positioning component, the tibial positioning component and the probe component; the computer is electrically connected to the camera, collects the orientation information of the reflected light, converts it into spatial coordinates, and fits it with the leg image coordinates obtained before the operation. Since the positions of the femoral positioning component, the femoral positioning component and the probe component are relatively fixed, the computer can convert the reflected light into spatial coordinates, and fit it with the leg image coordinates obtained before the operation, so that the registration result is more accurate.
Description
Technical Field
The application relates to the technical field of navigation systems for anterior cruciate ligament reconstruction surgery, in particular to a registration device and a registration method for a bone model.
Background
In a navigation system for anterior cruciate ligament reconstruction surgery, registration is needed to be performed on the femur and tibia of a surgery leg, so that the system identifies coordinate systems of the femur and the tibia in space, fitting of a bone coordinate system and an image (CT & MRI) coordinate system is realized, and fitting of the bone coordinate system and the image coordinate system is an important operation for positioning of knee joints of patients.
Common devices and methods for registering a surgical site using a registration tool with a tracer are not very well suited for surgical procedures, which are not minimally invasive. Meanwhile, the influence of the movement of the leg bones during the operation on the registration accuracy needs to be considered in the registration.
Disclosure of Invention
In order to solve the technical problems described above or at least partially solve the technical problems described above, the present application provides a registration device of a bone model and a method thereof.
In one aspect, the application provides a registration device of a bone model, which comprises a femur positioning component, a tibia positioning component, a probe component, a camera and a computer, wherein the femur positioning component is used for determining the space position of a femur, the tibia positioning component is used for determining the space position of a tibia, the probe component is used for determining the space position of a knee joint bone surface platform, the camera emits incident light and simultaneously receives reflected light of the incident light reflected by the femur positioning component, the tibia positioning component and the probe component, the computer is electrically connected with the camera, acquires azimuth information of the reflected light, converts the azimuth information into space coordinates, and fits the space coordinates with leg image coordinates obtained before operation.
Optionally, the probe assembly includes a plurality of probes, each of the probes includes a plurality of first tracers, and a plane may be defined by positions of the plurality of first tracers, where the first tracers are configured to reflect the incident light emitted by the camera.
Optionally, the probe assembly includes a double-sided probe, a pointed probe, a blunt probe, and/or a ball probe.
Optionally, the double-sided probe at least comprises six first tracers, the first tracers are equally divided into two groups, a plane can be determined at the position of each group of the first tracers, and the two planes are perpendicular to each other.
Optionally, the tip of the double-sided probe is obliquely arranged, and the planes of the tip of the double-sided probe and the probe rod of the double-sided probe and the planes of each group of first tracers are all 45-degree included angles.
Optionally, the femur positioning component comprises a femur positioner, a femur holder and a femur guide, wherein the femur positioner is installed on the femur holder and is used for reflecting the incident light rays emitted by the camera;
The femur bone needle is inserted into the femur guide and guided by the femur guide so as to be fixed on the femur, and the femur clamp holder is sleeved on the femur bone needle and abuts against the femur guide.
Optionally, the femur locator includes a plurality of second tracers, and a plane may be determined by positions of the second tracers, where the second tracers are used for reflecting the incident light emitted by the camera.
Optionally, the femoral guide comprises two first guide sleeves, the femoral spicules are inserted into and guided by the first guide sleeves, and the ends of the two first guide sleeves are propped against the femur.
Optionally, the tibia positioning assembly comprises a tibia positioner, a tibia holder and a tibia guider, wherein the tibia positioner is installed on the tibia holder and is used for reflecting the incident light rays emitted by the camera;
The tibia bone needle is inserted into the tibia guide and guided by the tibia guide so as to be fixed on the tibia, and the tibia clamp holder is sleeved on the tibia bone needle and abuts against the tibia guide.
Optionally, the tibia locator includes a plurality of third tracers, where a plane may be determined by the positions of the third tracers, and the third tracers are used for reflecting the incident light emitted by the camera.
Optionally, the tibia guider comprises two second guide sleeves, the tibia spicules are inserted into the second guide sleeves and guided by the second guide sleeves, and the end parts of the two second guide sleeves are propped against the tibia.
Optionally, the device further comprises a reference frame, wherein the reference frame comprises a frame body and a plurality of fourth tracers, the fourth tracers are arranged on the frame body, and a plane can be determined by the positions of the fourth tracers;
the frame body is provided with a check point, and the check point is used for placing a needle head of the probe so as to check the probe.
According to the registration device for the bone model, the camera emits incident light, the femur positioning component, the tibia positioning component and the probe component can reflect the light source to obtain reflected light, the camera collects the reflected light at the moment, data of the collected reflected light are transmitted to the computer, and the computer collects information of the reflected light. Because the positions of the femur locating component, the femur locating component and the probe component are relatively fixed, the computer can convert the reflected light into coordinates. The calculated space coordinates are combined with leg image coordinates obtained before operation, so that the registration result is more accurate.
In another aspect, the present application provides a method of registration of a bone model, comprising:
femur positioning, namely fixing a femur through a femur positioning component, transmitting incident light through a camera, and receiving the incident light by the camera after the incident light is reflected by the femur positioning component;
Tibia positioning, namely fixing tibia through a tibia positioning component, transmitting incident light through a camera, and receiving the incident light by the camera after being reflected by the tibia positioning component;
the knee joint bone surface platform is positioned, namely, the camera emits incident light rays, and the incident light rays are received by the camera after being reflected by the probe assembly;
And coordinate fitting, namely collecting azimuth information of reflected light rays reflected by the femur positioning component, the tibia positioning component and the probe component through a computer, converting the azimuth information into space coordinates, fitting the space coordinates with leg image coordinates obtained before operation, and realizing registration of the knee joint bone surface platform.
Optionally, further comprising verification of the probe assembly;
placing the needle heads of probes in the probe assemblies into check points of the reference frame, wherein the coordinates at the check points are standard coordinates;
calculating actual coordinates of the needle tip of the probe through the camera and the computer;
And if the difference value between the standard coordinate and the actual coordinate is within the preset value, checking, and if the difference value between the standard coordinate and the actual coordinate exceeds the preset value, sending out a warning.
Alternatively, a ball probe may be used in alignment with the knee facet platform.
Optionally, when the knee joint bone surface platform is positioned at multiple angles, positioning is performed through two groups of first tracers of the double-sided probe;
And/or when soft tissues are covered on the knee joint bone surface platform to cover the bone surface, a pointed probe is used for penetrating residual soft tissues until the bone surface is abutted for registration point confirmation;
And/or when no soft tissue remains at the registration point of the knee joint bone surface platform, using a blunt probe to enable the end part of the blunt probe to be abutted against the bone surface for registration point confirmation.
According to the registration method of the bone model, the femur positioning component 1 and the tibia positioning component 3 can dynamically monitor the positions of the femur 2 and the tibia 4, and the coordinates of the femur can be updated in real time. The leg image coordinates obtained before operation are two-dimensional coordinates, the space coordinates converted by the azimuth information of the reflected light rays through the computer are calculated coordinates, and the actual two-dimensional coordinates and the calculated space coordinates are fitted, namely, the space coordinates are fitted with the leg image coordinates obtained before operation, so that the registration result is more accurate.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the application or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic view of a first view of a registration apparatus for bone models according to an embodiment of the present application;
fig. 2 is a schematic view of a second view of a registration apparatus of a bone model according to an embodiment of the present application;
FIG. 3 is a schematic view of a femoral, tibial and probe component in use, in accordance with an embodiment of the present application;
FIG. 4 is a schematic view of a femoral and tibial alignment assembly in use according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a structure of a double-sided probe according to an embodiment of the present application;
FIG. 6 is a schematic view of a tip probe according to an embodiment of the present application;
FIG. 7 is a schematic view of the structure of a blunting probe according to an embodiment of the present application;
FIG. 8 is a schematic diagram of a ball probe according to an embodiment of the application;
FIG. 9 is a schematic view of a femoral locator according to an embodiment of the present application;
FIG. 10 is a schematic view of the configuration of a femoral and tibial holder in accordance with an embodiment of the present application;
FIG. 11 is a cross-sectional view of a femoral and tibial holder in accordance with an embodiment of the present application;
FIG. 12 is a schematic view of a first guide according to an embodiment of the present application;
Fig. 13 is a schematic view of a tibial locator in accordance with an embodiment of the present application;
FIG. 14 is a schematic view of a second guide according to an embodiment of the present application;
FIG. 15 is a schematic view of a reference frame according to an embodiment of the present application;
FIG. 16 is a side view of a reference frame of an embodiment of the present application;
FIG. 17 is a schematic diagram of a reference frame verification double-sided probe applied to a right leg in accordance with an embodiment of the present application;
FIG. 18 is a schematic diagram of a reference frame verification double-sided probe applied to a left leg in an embodiment of the present application;
FIG. 19 is a schematic diagram of a verification tip probe in accordance with an embodiment of the present application;
FIG. 20 is a schematic view of a blunt tip probe according to an embodiment of the present application;
FIG. 21 is a schematic diagram of a test ball probe according to an embodiment of the application;
FIG. 22 is a flowchart illustrating the operation of an embodiment of the present application.
Reference numerals in the specific embodiments are as follows:
1. Femur positioning component, 11, femur positioner, 111, second tracer, 12, femur clamp, 13, femur guide, 131, first guide sleeve, 2, femur, 3, tibia positioning component, 31, tibia positioner, 311, third tracer, 32, tibia clamp, 33, tibia guide, 331, second guide sleeve, 4, tibia, 5, probe component, 51, probe, 511, double-sided probe, 512, pointed probe, 513, blunt probe, 514, ball probe, 52, first tracer, 6, camera, 7, console, 8, femur bone needle, 9, tibia bone needle, 10, reference frame, 101, frame body, 102, fourth tracer, 103, check point.
Detailed Description
In order that the above objects, features and advantages of the application will be more clearly understood, a further description of the application will be made. It should be noted that, without conflict, the embodiments of the present application and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, but the present application may be practiced otherwise than as described herein, and it is apparent that the embodiments in the specification are only some, rather than all, of the embodiments of the present application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs, the terms used herein are for the purpose of describing particular embodiments only and are not intended to be limiting of the application, and the terms "comprising" and "having" and any variations thereof in the description of the application and the claims and the above description of the drawings are intended to cover non-exclusive inclusions.
In the description of the embodiments of the present application, the meaning of "a plurality" or "a number" is two or more (including two) unless otherwise specifically defined.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
According to some embodiments of the application, reference is made to fig. 1 and 2. The registration device of the bone model comprises a femur positioning component 1, a tibia positioning component 3, a probe component 5, a camera 6 and a computer, wherein the femur positioning component 1 is used for determining the space position of a femur 2, the tibia positioning component 3 is used for determining the space position of a tibia 4, the probe component 5 is used for determining the space position of a knee joint bone surface platform, the camera 6 emits incident light rays and simultaneously receives reflected light rays of the incident light rays reflected by the femur positioning component 1, the tibia positioning component 3 and the probe component 5, the computer is electrically connected with the camera 6, acquires azimuth information of the reflected light rays, converts the azimuth information into space coordinates, and fits the space coordinates with leg image coordinates obtained before operation.
The femur locating component 1 is used for determining the spatial position of the femur 2, the tibia locating component 3 is used for determining the spatial position of the tibia 4, and the probe component 5 is used for determining the spatial position of the knee-joint facet platform. The camera 6 may emit incident light and simultaneously receive reflected light from the femur locating component 1, tibia locating component 3 and probe component 5. At this time, the camera 6 collects the reflected light, and the computer can convert the reflected light into coordinates because the positions among the femur locating component 1, the tibia locating component 3 and the probe component 5 are relatively fixed. Meanwhile, the camera 6 transmits the collected data of the reflected light to a computer, the computer is electrically connected with the camera 6, and the computer collects the azimuth information of the reflected light and converts the azimuth information into space coordinates. During the operation, the femur can move, and the positions of the femur 2 and the tibia 4 can be dynamically monitored by the femur positioning component 1 and the tibia positioning component 3, so that the coordinates of the femur can be updated in real time. The leg image coordinates obtained before operation are two-dimensional coordinates, the space coordinates converted by the azimuth information of the reflected light rays through the computer are calculated coordinates, and the actual two-dimensional coordinates and the calculated space coordinates are fitted, namely, the space coordinates are fitted with the leg image coordinates obtained before operation, so that the registration result is more accurate.
According to some embodiments of the present application, referring to fig. 1 and 2, the probe assembly 5 includes a plurality of probes 51, each probe 51 includes a plurality of first tracers 52, and a plane may be defined by a position of the plurality of first tracers 52, where the first tracers 52 are configured to reflect incident light emitted by the camera 6.
The number of first tracers 52 is at least three, as three points may define a plane. Each first tracer 52 comprises a reflective sphere for reflecting incident light from the camera 6. The reflection ball passing through the first tracer 52 can sufficiently reflect the incident light emitted by the reflection camera 6, so that the camera 6 accurately captures the position information of the first tracer 52.
According to some embodiments of the present application, as shown with reference to fig. 3-8, the probe assembly includes a double-sided probe 511, a pointed probe 512, a blunt probe 513, and/or a ball probe 514. The double-sided probe 511 at least comprises six first tracers 52, the first tracers 52 are divided into two groups, and a plane can be determined at the position of each group of first tracers 52, and the two planes are perpendicular to each other. The needle tip of the double-sided probe 511 is obliquely arranged, and the included angles between the needle tip of the double-sided probe 511 and the plane of the probe rod of the double-sided probe 511 and the plane of each group of first tracers 52 are 45 degrees.
Specifically, the plurality of first tracers 52 in the double-sided probe 511 are equally divided into two groups, each of which includes at least three first tracers 52. And the planes of the two sets of first tracers 52 are perpendicular to each other. The needle tip of the double-sided probe 511 is obliquely arranged, so that the needle tip of the double-sided probe 511 and the probe rod of the double-sided probe 511 can form a plane, and the planes of the needle tip of the double-sided probe 511 and the probe rod of the double-sided probe 511 and the planes of each group of first tracers 52 are all 45-degree included angles.
When the double-sided probe 511 is used, the double-sided probing hook can be used for probing from the knee joint bone surface platform skin cutting opening and then contact with the registration point of the knee joint bone surface platform to complete registration. The needle tip of the double-sided probe 511 is obliquely arranged, the needle tip is convenient to probe into the bone surface platform, the cartilage surfaces on two sides of the bone surface platform are convenient to register, and meanwhile, the inclined needle tip is convenient to avoid muscles and soft tissues when in use, so that the original human tissue structure is prevented from being damaged. The plurality of first tracers 52 in the double-sided probe 511 are divided into two groups, planes of the first tracers 52 are perpendicular to each other, and the positions of the needle tips of the double-sided probe 511 can be confirmed from two groups of coordinate systems, so that accurate positioning is facilitated. And when the cartilage surfaces on two sides of the knee joint bone surface platform are respectively aligned, or when the left leg and the right leg are aligned, the needle points of the double-sided probes 511 can be positioned anywhere by the arrangement of the two groups of first tracers 52, the first tracers 52 can reflect light sources, and when the left leg and the right leg are changed in a positioning mode, the first tracers 52 can be identified by the camera 6, so that measurement errors caused by insufficient reflected light during use are reduced. Meanwhile, the included angles of the needle tip of the double-sided probe 511 and the plane of the probe rod of the double-sided probe 511 and the plane of each group of first tracers 52 are 45 degrees, so that the double-sided probe 511 can conveniently receive and reflect incident light rays emitted by the camera 6 no matter the double-sided probe 511 is registered to the left leg or the right leg.
In addition, when the knee joint bone surface platform is aligned, since the operation adopts a minimally invasive mode, the registration tool needs to be inserted into knee joint tissues of a patient from a tibia cut skin opening, and the limitation of the registration operation space can not finish the acquisition of all the registration points by means of one tool. A variety of probes 51 may be used in this embodiment, including, in particular, a pointed probe 512, a blunt probe 513, and a ball probe 514.
Wherein the blunt probe 513 is adapted to be in a normal state with the registration point accessible from both left and right side approaches and the first tracer 52 in the blunt probe 513 can be registered under visual conditions by the camera 6. Because blunt probe 513 does not damage cartilage, however, alignment points are required that do not leave soft tissue behind. When the non-load bearing area of the intercondylar fossa is covered with soft tissue (e.g., ligament stumps) to block the bone surface, a pointed probe 512 is preferably used, at which point the pointed probe 512 is used to penetrate the remaining soft tissue until registration points are confirmed against the bone surface. Further, the ball probe 514 is a more convenient and accurate registration tool. Because the tip of the ball probe 514 is spherical, the relative position of any point in the sphere to the center of the sphere can be calculated.
Therefore, the ball probe 514 uses the center of the needle point as the origin of coordinates, the camera 6 can identify the space coordinates of the center of the needle point and the first tracer 52, even if the ball probe 514 stays at any position in space, the vertical distance from the center of the ball to the registration point can be deduced according to the coordinates of the first tracer 52, so that the contact between any position of the spherical surface and the registration point can be realized, and the registration can be completed. The ball probe 514 is used for registration, so that the problem that registration accuracy is affected due to the fact that the coordinate origin and registration point of other probes 51 are difficult to coincide when the minimally invasive environment is aligned can be solved, and registration convenience and registration accuracy are greatly improved.
Notably, the arrangement of the first tracer 52 in the tip probe 512, blunt probe 513, and ball probe 514 are all different. The camera 6 emits incident light and simultaneously receives reflected light of the incident light reflected by the probe assembly 5. If the arrangement of the first tracers 52 is different, the type of the probe 51 used can be determined according to the relative position of the collected reflected light.
According to some embodiments of the present application, referring to fig. 3, 4 and 9 to 12, the femur positioning assembly 1 comprises a femur positioner 11, a femur holder 12 and a femur guide 13, wherein the femur positioner 11 is mounted on the femur holder 12, the femur positioner 11 is used for reflecting incident light rays emitted by the camera 6, the femur needle 8 is inserted into the femur guide 13 and guided by the femur guide 13 to be fixed on the femur 2, and the femur holder 12 is sleeved on the femur needle 8 and abuts against the femur guide 13. The femur locator 11 includes a plurality of second tracers 111, the positions of the plurality of second tracers 111 defining a plane, the second tracers 111 being arranged to reflect incident light from the camera 6. The femur guide 13 includes two first guide sleeves 131, and the femur spicules 8 are inserted into the first guide sleeves 131 and guided by the first guide sleeves 131, and the ends of the two first guide sleeves 131 are abutted against the femur 2.
The femoral spicule 8 is inserted into the femoral guide 13, and the femoral spicule 8 penetrates into the femur 2 for fixing the position of the femur 2. The femoral guide 13 comprises two first guide sleeves 131, and the distance between the two first guide sleeves 131 is relatively constant, so that the distance between the two femoral spicules 8 can be ensured. The femur positioner 11 is mounted on a femur holder 12, and the femur holder 12 is sleeved on the femur spicule 8 and abuts against the femur guide 13. The femoral guide 13 also serves to limit the movement of the femoral holder 12 on the femoral spicule 8. The femur locator 11 includes a plurality of second tracers 111, the plurality of second tracers 111 being configured to reflect incident light rays emitted by the camera 6. The computer collects the azimuth information of the reflected light and converts the azimuth information into space coordinates so as to determine the position of the femur 2.
According to some embodiments of the present application, referring to fig. 10 to 11 and 13 to 14, the tibia positioning assembly 3 comprises a tibia positioner 31, a tibia holder 32 and a tibia guide 33, wherein the tibia positioner 31 is mounted on the tibia holder 32, the tibia positioner 31 is used for reflecting incident light rays emitted by the camera 6, the tibia spicule 9 is inserted into the tibia guide 33 and guided by the tibia guide 33 to be fixed on the tibia 4, and the tibia holder 32 is sleeved on the tibia spicule 9 and abuts against the tibia guide 33. The tibia locator 31 includes a plurality of third tracers 311, where the third tracers 311 are positioned to define a plane, and the third tracers 311 are configured to reflect incident light from the camera 6. The tibia guide 33 comprises two second guide sleeves 331, and the tibia spicules 9 are inserted into the second guide sleeves 331 and guided by the second guide sleeves 331, and the ends of the two second guide sleeves 331 are abutted against the tibia 4.
The tibial spicule 9 is inserted into the tibial guide 33, and the tibial spicule 9 penetrates into the tibia 4 for fixing the position of the tibia 4. The tibial guide 33 comprises two second guide sleeves 331, the distance between the two second guide sleeves 331 being relatively constant, the distance between the two tibial spicules 9 being ensured. The tibia positioner 31 is mounted on the tibia holder 32, and the tibia holder 32 is sleeved on the tibia spicule 9 and abuts against the tibia guider 33. The tibial guide 33 also acts to limit the movement of the tibial clamp 32 on the tibial spicule 9 at this time. The tibial locator 31 includes a plurality of third tracers 311, the plurality of third tracers 311 being configured to reflect incident light from the camera 6. The computer collects the azimuth information of the reflected light and converts the azimuth information into space coordinates so as to determine the position of the tibia 4.
It should be noted that the femoral holder 12 and the tibial holder 32 are identical in construction. The second guide sleeve 331 of the tibial guide 33 is shorter than the first guide sleeve 131 of the femoral guide 13. Because the guide sleeves are all against the leg bones, and the thighs are thicker in the human body, the first guide sleeve 131 needs to be longer than the second guide sleeve 331 in order for the guide sleeves to be against the leg bones.
Further, the arrangement of the second tracer 111 on the femoral locator 11 is different from the arrangement of the third tracer 311 on the tibial locator 31. The camera 6 emits incident light and simultaneously receives reflected light rays of the incident light rays reflected by the femur positioning assembly 1 and the tibia positioning assembly 3. If the second tracer 111 and the third tracer 311 are arranged differently, the type of the used locator can be determined according to the relative position of the collected reflected light.
In other embodiments, referring to fig. 15 to 21, the reference frame 10 further includes a frame body 101 and a plurality of fourth tracers 102, the fourth tracers 102 are disposed on the frame body 101, a plane can be determined by positions of the fourth tracers 102, and a check point 103 is disposed on the frame body 101, where the check point 103 is used for placing a needle of the probe 51 to check the probe 51.
Specifically, the check point 103 is in a hole shape, wherein the check point 103 is divided into a first check point and a second check point, the first check point is used for checking the double-sided probe 511, the tip probe 512 and the blunt probe 513, and the second check point is used for checking the ball probe 514. Since the tip of the ball probe 514 is spherical and requires a large space for placement, the hole of the second checkpoint is larger than the hole of the first checkpoint.
In the preparation stage before operation, the above instruments need to be checked to ensure that all the instruments are in an intact state, so as to prevent collision deformation in the storage and transportation processes, and the registration deviation is caused. Specifically, the tip of the probe 51 is placed in the calibration point 103, the reference frame 10 is a standard coordinate system, the position coordinate of the tip of the probe 51 can be calculated by a computer, if the difference value of the two is within a preset value, the probe passes through the calibration point, and if the difference value exceeds the preset value, a warning is issued. In the verification of the double-sided probe 511, since there are two sets of first tracers 52 in the double-sided probe 511, the two sets of first tracers 52 are located in two planes perpendicular to each other, and therefore the two sets of first tracers 52 in the two planes are calibrated respectively. I.e. by placing the tip of the double-sided probe 511 in the verification point 103, the probe rod of the double-sided probe 511 is parallel to the frame body 101 and verification is performed in both directions.
In addition, the design of the reference frame 10 also considers the verification of various tools such as drill bits, femur perforation guiding locators, tibia perforation guiding locators and the like used for preparing bone tunnels, and only the registration method is described, so the calibration of various drill bits, femur/tibia perforation guiding locators is not repeated.
According to some embodiments of the application, reference is made to fig. 1-22. The registration method of the bone model comprises the following steps:
S1, femur positioning, namely fixing a femur 2 through a femur positioning component 1, transmitting incident light through a camera 6, and receiving the incident light through the camera 6 after the incident light is reflected by the femur positioning component 1.
Specifically, the femur locating component 1 is used for determining the spatial position of the femur 2, and can dynamically monitor the position of the femur 2 and update the coordinates of the femur 2 in real time. The femur positioning assembly 1 comprises a femur positioner 11, a femur holder 12 and a femur guide 13, a femur needle 8 is inserted into the femur guide 13, the femur needle 8 penetrates into the femur 2, and the position of the femur 2 is fixed. The femur positioner 11 is mounted on a femur holder 12, and the femur holder 12 is sleeved on the femur spicule 8 and abuts against the femur guide 13. The femur locator 11 includes a plurality of second tracers 111, the plurality of second tracers 111 being configured to reflect incident light rays emitted by the camera 6. The computer collects the azimuth information of the reflected light and converts the azimuth information into space coordinates so as to determine the position of the femur 2.
S2, tibia positioning, namely fixing the tibia 4 through the tibia positioning component 3, transmitting incident light through the camera 6, and receiving the incident light through the camera 6 after the incident light is reflected by the tibia positioning component 3.
Specifically, the tibia positioning assembly 3 is used for determining the spatial position of the tibia 4, and can dynamically monitor the position of the tibia 4 and update the coordinates of the tibia 4 in real time. The tibia positioning assembly 3 comprises a tibia positioner 31, a tibia clamp 32 and a tibia guider 33, wherein a tibia spicule 9 is inserted into the tibia guider 33, the tibia spicule 9 penetrates into the tibia 4, and the position of the tibia 4 is fixed. The tibia positioner 31 is mounted on the tibia holder 32, and the tibia holder 32 is sleeved on the tibia spicule 9 and abuts against the tibia guider 33. The tibial locator 31 includes a plurality of third tracers 311, the plurality of third tracers 311 being configured to reflect incident light from the camera 6. The computer collects the azimuth information of the reflected light and converts the azimuth information into space coordinates so as to determine the position of the tibia 4.
S3, knee joint bone surface platform positioning, namely, transmitting incident light through the camera 6, and receiving the incident light through the camera 6 after being reflected by the probe assembly 5.
Specifically, the probe assembly 5 includes a plurality of probes 51, each probe 51 includes a plurality of first tracers 52, and a plane may be defined by a position of the plurality of first tracers 52, where the first tracers 52 are configured to reflect incident light emitted by the camera 6.
It should be noted that, when aligning the knee joint facet platform, the ball probe 514 may be used, when positioning the knee joint facet platform at multiple angles, the double-sided probe 511 may be used, and the positioning may be performed by the two sets of first tracers 52 of the double-sided probe 511, when covering the soft tissue of the knee joint facet platform with the occlusion bone surface, the tip probe 512 may be used to penetrate the residual soft tissue until the bone surface is checked, and when there is no soft tissue residue at the registration point of the knee joint facet platform, the blunt probe 513 may be used to make the end of the blunt probe abut the bone surface until the registration point is checked.
And S4, coordinate fitting, namely collecting azimuth information of reflected light rays reflected by the femur positioning component 1, the tibia positioning component 3 and the probe component 5 through a computer, converting the azimuth information into space coordinates, fitting the space coordinates with leg image coordinates obtained before operation, and realizing registration of a knee joint bone surface platform.
It should be noted that the sequence of the step S1 and the step S2 may be adjusted interchangeably, and the present application is not limited to the sequence.
The application further comprises verification of the probe assembly 5 before femur positioning, specifically, the needle head of the probe 51 in the probe assembly 5 is placed in the verification point 103 of the reference frame 10, the coordinate at the verification point 103 is standard coordinate, the actual coordinate at the needle head of the probe 51 is calculated through the camera 6 and the computer, if the difference value between the standard coordinate and the actual coordinate is within the preset value, through verification, if the difference value between the standard coordinate and the actual coordinate exceeds the preset value, a warning is sent out, and the probe assembly 5 is replaced or adjusted.
The working principle of the registration device for the bone model will be described in detail below.
After the patient is positioned on the console 7, the femur positioning assembly 1 is used to determine the spatial position of the femur 2, the tibia positioning assembly 3 is used to determine the spatial position of the tibia 4, and the probe assembly 5 is used to determine the spatial position of the knee facet platform. The camera 6 may emit incident light and simultaneously receive reflected light from the femur locating component 1, tibia locating component 3 and probe component 5. At this time, the camera 6 collects the reflected light, and the computer can convert the reflected light into coordinates because the positions among the femur locating component 1, the tibia locating component 3 and the probe component 5 are relatively fixed. Meanwhile, the camera 6 transmits the collected data of the reflected light to a computer, the computer is electrically connected with the camera 6, and the computer collects the azimuth information of the reflected light and converts the azimuth information into space coordinates. During the operation, the femur can move, and the positions of the femur 2 and the tibia 4 can be dynamically monitored by the femur positioning component 1 and the tibia positioning component 3, so that the coordinates of the femur can be updated in real time. The leg image coordinates obtained before operation are two-dimensional coordinates, the space coordinates converted by the azimuth information of the reflected light rays through the computer are calculated coordinates, and the actual two-dimensional coordinates and the calculated space coordinates are fitted, namely, the space coordinates are fitted with the leg image coordinates obtained before operation, so that the registration result is more accurate. It should be noted that the appropriate probe 51 is selected according to the characteristics of the operation space of the probe 51. In addition, in the preparation stage before operation, the above-mentioned instruments need to be checked to ensure that all instruments are in a perfect state, so as to prevent collision deformation in the processes of storage and transportation, and the registration deviation occurs. The tip of the probe 51 is placed in the check point 103, the reference frame 10 is a standard coordinate system at this time, the position coordinate of the tip of the probe 51 can be calculated by a computer, if the difference value of the two is within a preset value, the probe passes through, and if the difference value exceeds the preset value, a warning is sent.
The content of the application is not limited to the examples listed, and any equivalent transformation to the technical solution of the application that a person skilled in the art can take on by reading the description of the application is covered by the claims of the application.
It should be noted that the above embodiments are only used to illustrate the technical solution of the present application, but not to limit the technical solution of the present application, and although the detailed description of the present application is given with reference to the above embodiments, it should be understood by those skilled in the art that the technical solution described in the above embodiments may be modified or some or all technical features may be equivalently replaced, and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the present application, and all the modifications or substitutions are included in the scope of the claims and the specification of the present application. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present application is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.
Claims (16)
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115381552A (en) * | 2022-09-06 | 2022-11-25 | 苏州微创畅行机器人有限公司 | Calibration device, calibration method, computer-readable storage medium, and computer apparatus |
| CN117918911A (en) * | 2024-02-08 | 2024-04-26 | 天津大学医疗机器人与智能系统研究院 | Intelligent operation system suitable for tibia high osteotomy and control system thereof |
| CN118557288A (en) * | 2024-07-31 | 2024-08-30 | 北京大学人民医院 | Optical navigation system three-dimensional positioning tracer and bone knife |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115381552A (en) * | 2022-09-06 | 2022-11-25 | 苏州微创畅行机器人有限公司 | Calibration device, calibration method, computer-readable storage medium, and computer apparatus |
| CN117918911A (en) * | 2024-02-08 | 2024-04-26 | 天津大学医疗机器人与智能系统研究院 | Intelligent operation system suitable for tibia high osteotomy and control system thereof |
| CN118557288A (en) * | 2024-07-31 | 2024-08-30 | 北京大学人民医院 | Optical navigation system three-dimensional positioning tracer and bone knife |
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