Disclosure of Invention
The invention aims to provide a Kirschner wire fixing mechanism, a bone canal preparation device and a preparation method thereof, which solve the technical problems of difficult punching and inaccurate punching caused by easy slipping when a guide pin in the prior art is obliquely punched.
In order to solve the technical problems, the invention provides a Kirschner wire fixing mechanism which comprises a femur guiding positioner and a tibia guiding positioner;
The femur guiding positioner is provided with a first channel for the Kirschner wire to pass through, the femur guiding positioner is abutted with the femur end face, and the Kirschner wire passes through the femur guiding positioner through the first channel and is drilled on the femur end face;
the femur guiding positioner is also provided with a first positioning component, and the navigation camera determines the position of the first channel through the first positioning component;
The tibia guiding positioner is provided with a second channel for the Kirschner wire to pass through, the tibia guiding positioner is in butt joint with tibia, and the Kirschner wire passes through the tibia guiding positioner through the second channel and is drilled in the tibia;
the tibia guiding locator is further provided with a second locating component, and the navigation camera determines the position of the second channel through the second locating component.
In an alternative embodiment, the femoral guide locator comprises a femoral guide tube, a first bracket, and a handpiece;
the first bracket is respectively connected with the femur guide tube, the handheld part and the first positioning component;
The femur guide tube is internally provided with the first channel, the first channel runs through along the length direction of the femur guide tube, the end face of the femur guide tube is abutted to the femur surface, and the extending direction of the hand-held part and the length direction of the femur guide tube are arranged in an included angle.
In an alternative embodiment, a plurality of first saw teeth are circumferentially arranged at one end, close to the femur, of the femur guide tube, and the femur guide tube is abutted with the femur end face through the first saw teeth.
In an alternative embodiment, the tibial guide locator includes a tibial guide tube, a second bracket, and an adjustment tab;
the adjusting piece is fixedly sleeved on the tibia guiding tube and is rotationally connected with the second bracket, so that the adjusting piece can drive the tibia guiding tube to adjust the angle relative to the second bracket;
The second support is connected with the second positioning assembly.
In an alternative embodiment, a plurality of second saw teeth are circumferentially arranged at one end of the tibia guiding tube, which is close to the tibia, and the tibia guiding tube is abutted with the tibia through the second saw teeth.
In an alternative embodiment, the second bracket is provided with a connecting hook and a supporting leg;
The connecting hooks are arranged at an included angle with the supporting legs, the connecting hooks are hooked on the end face of the tibia, and the supporting legs are abutted to the tibia.
In an alternative embodiment, a plurality of fixing holes are formed in the supporting leg;
The fixing holes are arranged at intervals along the length direction of the supporting leg, the adjusting piece is rotationally connected with the supporting leg, and the pin shaft penetrates through one fixing hole and is detachably connected with the adjusting piece, so that the adjusting piece can be connected with each fixing hole through the pin shaft.
The invention also provides a bone canal preparation device which comprises a probe, a femur positioner, a tibia positioner and the Kirschner wire fixing mechanism;
the probe is provided with a third positioning component, one end of the probe is abutted against the end face of the femur or the end face of the tibia, and the navigation camera determines the end face of the femur and the end face of the tibia through the third positioning component;
the femur positioner is provided with a fourth positioning component, the femur positioner is connected with a femur, and the navigation camera determines the position of the femur through the fourth positioning component and the femur positioner;
The tibia positioner is provided with a fifth positioning component, the tibia positioner is connected with tibia, and the navigation camera determines the position of tibia through the fifth positioning component and the tibia positioner.
In an alternative embodiment, the probe comprises a ball head and a probe rod;
the two ends of the probe rod are respectively connected with the ball head and the third positioning assembly, the ball head is abutted with the tibia end face or the femur end face, and the navigation camera determines the shape of the tibia end face or the femur end face through the third positioning assembly, the probe rod and the ball head.
The invention also provides a preparation method based on the bone canal preparation device, which comprises the following steps:
Respectively fixing a femur positioner and a tibia positioner on femur and tibia, and determining the position information of the femur and the tibia by displaying the position information of a fourth positioning component and a fifth positioning component in a navigation camera;
determining the position of the knee joint according to the position information of the femur and the tibia, and setting a measuring point in the knee joint;
The detection end of the probe is abutted to the position of the measuring point, and the position information of the detection end is converted according to the position information displayed by the third positioning component in the navigation camera;
establishing a three-dimensional model of femur and tibia according to the position information of the detection end and the position information of the fourth positioning component and the fifth positioning component;
fitting the three-dimensional model with a model obtained by tomography and nuclear magnetic resonance to form a fitted model;
Planning a tibia bone canal and a femur bone canal on a fitting model;
Fixing the femoral guiding and positioning component on the femur through the first positioning component, so that the first channel coincides with the femoral canal;
extending a k-wire into the first channel and drilling the femur;
The Kirschner wire is used as a guide to bore holes of the Kirschner wire, and the reaming depth is smaller than the drilling depth of the Kirschner wire so as to form steps;
Fixing the tibial guiding and positioning assembly on the tibia through the second positioning assembly, so that the second channel coincides with the tibial bone canal;
Extending a k-wire into the second channel and drilling the tibia;
and (5) using the Kirschner wire as a guide to ream the hole of the Kirschner wire.
The K-wire fixing mechanism comprises a femur guiding positioner and a tibia guiding positioner, wherein a first channel for the K-wire to pass through is arranged on the femur guiding positioner, the femur guiding positioner is in butt joint with the end face of a femur, the K-wire passes through the femur guiding positioner through the first channel and is drilled on the end face of the femur, a first positioning component is further arranged on the femur guiding positioner, a navigation camera is used for determining the position of the first channel through the first positioning component, the K-wire is drilled on the femur more accurately, meanwhile, the K-wire is guided to conduct drilling through the femur guiding positioner, so that the K-wire is prevented from slipping, the drilling is more stable, a second channel for the K-wire to pass through is arranged on the tibia guiding positioner, the K-wire is in butt joint with the tibia, the K-wire passes through the tibia guiding positioner through the second channel and is drilled on the tibia, a second positioning component is further arranged on the tibia guiding positioner, the navigation camera is used for determining the position of the second channel through the second positioning component, so that the K-wire is drilled on the tibia more accurately, meanwhile, the K-wire is guided through the guiding positioner, the tibia is drilled through the guiding positioner, and slipping is prevented when the K-wire is drilled more stable. The technical problems that the Kirschner wire in the prior art is easy to slip when inclined to punch, so that the punching difficulty and the inaccurate punching are caused are solved, and the technical effects that the Kirschner wire is difficult to slip when punching and the punching is smooth and accurate are achieved.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
In the description of the present invention, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected via an intervening medium, or in communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the related art, the drilling directions of the guide pins are inclined with respect to the bone canal prepared on the femur and the tibia, i.e., the drilling directions of the guide pins are inclined with respect to the surface of the femur and the surface of the tibia. Because the guide pin direction of punching inclines to and bone face can remain tissue and body fluid, produce serious slipping phenomenon when easily the guide pin punches, lead to punching difficulty and punch inaccurately.
In view of this, as shown in fig. 1-12, some embodiments of the present invention provide a k-wire 1 fixing mechanism, including a femur guiding positioner 2 and a tibia guiding positioner 3, wherein a first channel through which the k-wire 1 passes is provided on the femur guiding positioner 2, the femur guiding positioner 2 abuts against the femur end surface, the k-wire 1 passes through the femur guiding positioner 2 via the first channel and drills a hole in the femur end surface, a first positioning component 4 is further provided on the femur guiding positioner 2, a navigation camera 14 determines the position of the first channel via the first positioning component 4, a second channel through which the k-wire 1 passes is provided on the tibia guiding positioner 3, the tibia guiding positioner 3 abuts against the tibia, the k-wire 1 passes through the tibia guiding positioner 3 via the second channel and drills a hole in the tibia, and a second positioning component 5 is further provided on the tibia guiding positioner 3, and the navigation camera 14 determines the position of the second channel via the second positioning component 5.
In the above embodiment, the kirschner wire 1 is generally made of metal, the kirschner wire 1 is cylindrical, one end of the kirschner wire 1 is provided with a tip, the other end is connected to the power mobile phone 12, the kirschner wire 1 is driven to rotate by the power mobile phone 12, the tip of the kirschner wire 1 can be perforated on the femur or tibia, a through first channel is arranged on the femur guiding locator 2, the first channel can be cylindrical, the diameter of the first channel is Yu Dengyu kirschner wire 1, the inner diameter of the first channel can be 2.4mm, the outer diameter of the kirschner wire 1 can be 2.4mm, the kirschner wire 1 can be fixed in the first channel, meanwhile, the first channel limits the movement direction of the kirschner wire 1, the kirschner wire 1 can only move towards the length direction of the first channel, one end of the first channel is abutted against the femur, after the other end of the first channel enters, the first channel can be guided by the tibia, the first channel can be drilled on the end face, the diameter of the first channel is Yu Dengyu, the diameter of the first channel can be equal to the tibia, the diameter of the second channel can be 2.4mm, the second channel can be punched by the second channel can be 2.4mm, the inner diameter of the second channel can be equal to the inner diameter of the tibia 1, the tibia can be fixed, and the tibia can be punched by the second channel can be fixed, and the diameter of the tibia 1, and the first channel can be equal to the length, and can be equal to the diameter to the length of the tibia 1.
Further, the first positioning component 4 is arranged on the femur guiding locator 2, the first positioning component 4 can comprise four reflecting balls, each reflecting ball is semicircular, the four reflecting balls are arranged in the same direction, the distances between two adjacent reflecting balls are unequal, so that after the four reflecting balls are irradiated by the navigation camera 14, the position and the angle of the femur guiding locator 2 can be deduced through the positions and the angles of the four reflecting balls, the position and the angle of the first channel can be judged, the position of the first channel is enabled to coincide with the position of the femur channel through the matching of the navigation camera 14 and the four reflecting balls, the position of the femur guiding locator 2 can be determined, the second positioning component 5 is arranged on the tibia guiding locator 3, the second positioning component 5 can comprise four reflecting balls, each reflecting ball is semicircular, the four reflecting balls are arranged in the same direction, the distances between the two adjacent reflecting balls are unequal, so that the position and the angle of the femur guiding locator 2 can be deduced through the positions of the four reflecting balls and the tibia guiding locator 3 after the four reflecting balls are irradiated by the navigation camera 14, and the position of the tibia guiding locator is judged, and the position of the tibia guiding locator is enabled to coincide with the position of the tibia channel through the second channel.
Optionally, the first positioning component 4 and the second positioning component 5 are all set to eight reflective balls, the eight reflective balls are divided into two groups with opposite irradiation directions, and each group is four reflective balls, so that the femur guiding and positioning device 2 and the tibia guiding and positioning device 3 can be respectively applied to a left leg and a right leg, the requirement that the navigation camera 14 is arranged on any side of a patient is also met, and the application range is wider.
Optionally, each positioning component comprises a reflective ball and a protective cover, a protective cover is arranged on the circumference of each reflective ball, the axis of the protective cover is overlapped with the axis of the reflective ball, and the diameter of the protective cover is gradually increased along the direction close to the navigation camera 14, so that the protective cover can protect the reflective ball and prevent the reflective ball from being damaged.
The fixing mechanism of the Kirschner wire 1 comprises a femur guiding positioner 2 and a tibia guiding positioner 3, wherein a navigation camera 14 is used for determining the position of a first channel through a first positioning component 4, so that the Kirschner wire 1 is drilled more accurately, meanwhile, the Kirschner wire 1 is guided to drill through the femur guiding positioner 2, slipping of the Kirschner wire 1 is avoided, the Kirschner wire 1 is more stable in drilling, the navigation camera 14 is used for determining the position of a second channel through a second positioning component 5, so that the Kirschner wire 1 is drilled more accurately, meanwhile, the Kirschner wire 1 is guided to drill through the tibia guiding positioner 3, slipping of the Kirschner wire 1 is avoided, and the Kirschner wire 1 is more stable in drilling. The technical problems that the Kirschner wire 1 in the prior art is easy to slip when inclined to punch, so that the punching difficulty and the inaccurate punching are caused are solved, and the technical effects that the Kirschner wire 1 is difficult to slip when punching and the punching is smooth and accurate are achieved.
In an alternative embodiment, the femur guiding positioner 2 comprises a femur guiding tube 201, a first bracket 202 and a handheld part 203, wherein the first bracket 202 is respectively connected with the femur guiding tube 201, the handheld part 203 and the first positioning component 4, a first channel is arranged in the femur guiding tube 201 and penetrates through the femur guiding tube 201 along the length direction, the end face of the femur guiding tube 201 is abutted to the surface of femur, and the extending direction of the handheld part 203 is arranged at an included angle with the length direction of the femur guiding tube 201.
In the above embodiment, the first bracket 202 is provided with the first positioning component 4, the first positioning component 4 is disposed on one side of the first bracket 202, that is, the first positioning component 4 may be disposed on the same plane, the femur guide tube 201 and the hand-held portion 203 may be connected on the other side of the first bracket 202 facing away from the first positioning component 4, the femur guide tube 201 is in a straight line shape, the inside is hollow, one side of the femur guide tube 201 facing away from the femur is fixedly connected with the first bracket 202, the hand-held portion 203 is also fixedly connected with the first bracket 202, the hand-held portion 203 may be rectangular, and the hand-held portion 203 may be vertically disposed with the first channel, so that an operator can fix the first bracket 202 and the femur guide tube 201 by holding by hand, thereby being more convenient for the operator to hold.
In an alternative embodiment, the femur guide tube 201 is circumferentially provided with a plurality of first serrations 204 near one end of the femur, and the femur guide tube 201 abuts the end surface of the femur through the first serrations 204.
In the above embodiment, the end of the femoral guide tube 201 facing away from the handle is provided with the plurality of first serrations 204, and the plurality of first serrations 204 are sequentially arranged along the circumference of the femoral guide tube 201, and the first serrations 204 are used for abutting on the end surface of the femur to avoid that the end surface of the femur has residual liquid or tissue to cause slipping easily, and the fixation of the first channel is affected.
In an alternative embodiment, the tibial guiding locator 3 comprises a tibial guiding tube 301, a second bracket 302 and an adjusting piece 303, wherein the adjusting piece 303 is fixedly sleeved on the tibial guiding tube 301, the adjusting piece 303 is rotatably connected with the second bracket 302, so that the adjusting piece 303 can drive the tibial guiding tube 301 to adjust the angle relative to the second bracket 302, and the second bracket 302 is connected with the second locating component 5.
In the above embodiment, the second bracket 302 is provided with the second positioning assembly 5, the second positioning assembly 5 may be disposed on one side of the second bracket 302, or may be symmetrically disposed on two sides of the second bracket 302, the second bracket 302 may be made of metal, the second bracket 302 is rotatably connected with the adjusting plate 303, the adjusting plate 303 may be rotatably connected with the second bracket 302 by means of a rotating shaft, and the adjusting plate 303 is connected with the tibial guide tube 301, and the adjusting plate 303 drives the tibial guide tube 301 to rotate relative to the second bracket 302, so as to adjust the length direction of the tibial guide tube 301, the tibial guide tube 301 is cylindrical, and hollow in the inside, and the adjusting plate 303 may be fixedly connected with the tibial guide tube 301, or may be detachably connected with the tibial guide tube 301, so that the tibial guide tube 301 may be moved along the length direction, thereby adjusting the position of the tibial guide tube 301 relative to the tibia.
In an alternative embodiment, the tibia guide tube 301 is circumferentially provided with a plurality of second serrations 304 near one end of the tibia, and the tibia guide tube 301 abuts the tibia via the second serrations 304.
In the above embodiment, the end of the tibial guide tube 301 close to the tibia is disposed at an included angle with the axis of the tibial guide tube 301, so that when the end of the tibial guide tube 301 close to the tibia contacts the surface of the tibia, the end face of the tibial guide tube 301 is attached to the surface of the tibia, and a plurality of second saw teeth 304 are disposed between the tibial guide tube 301 and the tibia, the plurality of second saw teeth 304 are uniformly disposed along the circumferential direction of the end face of the tibial guide tube 301, and the second saw teeth 304 are used for being abutted on the surface of the tibia, so as to avoid slipping easily caused by residual liquid or tissue on the surface of the tibia, and affect the fixation of the second channel.
In an alternative embodiment, the second bracket 302 is provided with a connecting hook 305 and a supporting leg 306, the connecting hook 305 and the supporting leg 306 are arranged at an included angle, the connecting hook 305 is hooked on the end face of the tibia, and the supporting leg 306 is abutted against the tibia.
In the above embodiment, the connection hook 305 and the support leg 306 are disposed on the side of the second bracket 302 near the tibia, the connection hook 305 and the support leg 306 may be disposed integrally with the second bracket 302, and the connection hook 305, the support leg 306 and the second bracket 302 are disposed in the same plane, the connection hook 305 includes a connection arm extending from the second bracket 302 and a right angle hook disposed at the tail end of the connection arm, the right angle hook is disposed between the support leg 306 and the connection arm, the support leg 306 may be disposed in a straight line shape, the lower end of the support leg 306 may abut against the tibia surface, so that the tibia guiding catheter 301 and the support leg 306 abut against the tibia surface, respectively, thereby making the tibia guiding locator 3 more stable, and the lower end of the support leg 306 may also be disposed at a distance from the tibia surface.
In an alternative embodiment, a plurality of fixing holes are formed in the support leg 306, the fixing holes are spaced apart along the length direction of the support leg 306, the adjusting plate 303 is rotatably connected to the support leg 306, and the pin shaft passes through one fixing hole and is detachably connected to the adjusting plate 303, so that the adjusting plate 303 can be connected to each fixing hole through the pin shaft.
In the above embodiment, the fixing holes may be circular, the fixing holes are formed through the thickness direction of the supporting leg 306, the fixing holes are uniformly arranged along the length direction of the supporting leg 306, and the adjusting plate 303 is provided with connecting holes which can respectively correspond to each fixing hole when rotating, in the actual use process, the connecting holes on the adjusting plate 303 can correspond to the fixing holes by rotating the adjusting plate 303, and then the pin shaft is inserted into the fixing holes and the connecting holes, so that the adjusting plate 303 and the supporting leg 306 are fixed, and the adjusting plate 303 drives the tibia and the guiding tube to reach the required angle, that is, the second channel is fixed on the required angle.
Optionally, the supporting leg 306 may be arc-shaped, the adjusting piece 303 and the supporting leg 306 may be shaped like a vernier caliper, the adjusting piece 303 is wrapped on the back surface and two side surfaces of the supporting leg 306, a locking nut is arranged on the back surface of the supporting leg 306, the locking nut can lock the adjusting piece 303 and the supporting leg 306 to fix the adjusting piece 303 and the supporting leg 306, the adjusting piece 303 and the supporting leg 306 may be released, the adjusting piece 303 and the supporting leg 306 may slide relative to each other, further, a scale may be arranged on the supporting leg 306, an indication line is arranged on the adjusting piece 303, and the relative angle between the adjusting piece 303 and the supporting leg 306 may be known through the scale indicated on the supporting leg 306 by the adjusting piece 303.
Some embodiments of the invention also provide a bone canal preparation device, which comprises a probe 6, a femur positioner 7, a tibia positioner 8 and a Kirschner wire 1 fixing mechanism, wherein a third positioning component 9 is arranged on the probe 6, one end of the probe 6 is abutted against the femur end surface or the tibia end surface, a navigation camera 14 is used for determining the femur end surface and the tibia end surface through the third positioning component 9, a fourth positioning component 10 is arranged on the femur positioner 7, the femur positioner 7 is connected with a femur, the navigation camera 14 is used for determining the position of the femur through the fourth positioning component 10 and the femur positioner 7, a fifth positioning component 11 is arranged on the tibia positioner 8, the tibia positioner 8 is connected with the tibia, and the navigation camera 14 is used for determining the position of the tibia through the fifth positioning component 11 and the tibia positioner 8.
In the above embodiment, the femur locator 7 and the tibia locator 8 are respectively connected to the femur and the tibia, and the femur locator 7 and the tibia locator 8 may be respectively disposed at a distance of 10cm from the knee joint, wherein the working principle and the mounting process of the femur locator 7 and the tibia locator 8 are the same, taking the femur locator 7 as an example, the femur locator 7 includes two spicules 701, a femoral double needle guide 702 and a reference frame clamp 703, the two spicules 701 are first drilled into a position of 10cm from the end face of the femur at a fixed interval, then the femoral double needle guide 702 is sleeved into the two spicules 701 and is close to the femur, then the reference frame clamp 703 is sleeved into the two spicules 701 and is abutted against the femoral double needle guide 702, so that the other end of the femoral double needle guide 702 is abutted against the femur, and the reference frame clamp 703 is locked, then the fourth positioning component 10 is connected to the reference clamp, thereby determining the position of the fourth positioning component 10 through the navigation camera 14, and determining the positions of the femur and the two spicules are also approximate positions of the femur through the fourth positioning component 10, the reference clamp, the double needle guide 702 and the femoral double needle guide, and the femoral double needle guide.
Further, the probe 6 is in a strip shape, one side of the probe 6 is provided with a third positioning component 9, the other side is provided with a detection end, at least three reflective balls capable of being irradiated by a navigation camera 14 are arranged on the third positioning component 9, the navigation camera 14 determines the position and the angle of the probe 6 through the third positioning component 9 on the probe 6, deduces the position information of the detection end of the probe 6 according to the certain length of the probe 6, and determines the end face shape and the structure of the femur and the tibia through the end face of the probe 6, which is close to each other, of the tibia and the tibia, so as to determine the shape of the end face of the femur and the tibia needing punching, and further make the three-dimensional model more accurate.
In an alternative embodiment, the probe 6 comprises a ball head 601 and a probe rod 602, two ends of the probe rod 602 are respectively connected with the ball head 601 and a third positioning component 9, the ball head 601 is abutted with the tibia end face or the femur end face, and the navigation camera 14 determines the shape of the tibia end face or the femur end face through the third positioning component 9, the probe rod 602 and the ball head 601.
In the above embodiment, the ball head 601 and the probe rod 602 may be integrally formed, the probe rod 602 and the ball head 601 may be made of metal, the ball head 601 is disposed at one end of the probe rod 602, the ball head 601 is in a spherical shape, the navigation camera 14 deduces the coordinates of the position of the center of the ball head 601 through the third positioning component 9, and because the diameters of the ball head 601 are consistent, when the operator holds the probe rod 602 and stretches into the space between the tibial end face and the femoral end face, the navigation camera 14 determines the position and the movement direction of the ball head 601 through the movement trend of the third positioning component 9, thereby determining that a certain position of the ball head 601 is touched, deducing the coordinate information of the touched position and presenting the coordinate information in the three-dimensional model, the ball head 601 can be touched at a plurality of angles in a narrow space, and the application range is wider.
Optionally, the probe 6 may further include a pointed probe, a blunt probe and a double-sided probing hook, where the probing end of the pointed probe is pointed, the pointed probe may use the pointed tip to puncture the tissue remained on the tibial end surface or the femoral end surface, so that the pointed tip reaches the tibial end surface or the femoral end surface, the measurement result is more accurate, the probing end of the blunt probe is a sphere with a smaller diameter, the blunt probe abuts against the tibial end surface or the femoral end surface, so that damage to the tibial end surface or the femoral end surface can be avoided, the double-sided probing hook includes a hook at the probing end, and then two sets of third positioning assemblies 9 are connected to the probing rod 602, and the two sets of third positioning assemblies 9 are respectively disposed on two planes arranged vertically, so that the double-sided probing hook can be irradiated by the navigation camera 14 when the tibia is used in both left leg and right leg, and can easily contact with the registration point of the cartilage surface of the platform after probing from the cut tibial opening, that is completed, that the determination of the probing position of the double-sided probing hook is completed through the third positioning assemblies 9.
Some embodiments of the invention also provide a method of preparing a bone tunnel-based preparation apparatus comprising the steps of fixing a patient's leg to an operating table 13 to make the femur and tibia 90 degrees and the patient's upper half to the femur 120 degrees, fixing a femoral locator 7 and a tibial locator 8 to the femur and tibia, respectively, connecting the femoral locator 7 to the femur or tibia through a threaded bone pin 701 to enable the femoral locator 7 to be firmly connected to the femur, the tibial locator 8 to be firmly connected to the tibia, displaying the position information of a fourth locating component 10 and a fifth locating component 11 in a navigation camera 14 to determine the approximate position information of the femur and tibia, determining the approximate position of the knee joint according to the position information of the femur and tibia and setting a measurement point in the knee joint, abutting the probe 6 at the measurement point position, and converting the position information of the probe end according to the position information displayed by a third locating component 9 in the navigation camera 14, establishing a three-dimensional model of the femur and tibia according to the position information of the fourth locating component 10 and the fifth locating component 11, drilling a pilot hole in a three-dimensional model of the femur and tibia, guiding a pilot hole in a three-dimensional model 1 to be fitted to a pilot hole 1, drilling a pilot hole 1 to be fitted to the three-dimensional model of the femur and a pilot hole 1, the second channel is overlapped with the planned tibial bone canal, the Kirschner wire 1 is extended into the second channel and the tibia is drilled, and the Kirschner wire 1 is used as a guide to drill holes for reaming.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.