技术领域technical field
本实用新型涉及骨科导航定位领域，尤指一种骨科无创式导针三维定位导向系统。The utility model relates to the field of orthopaedic navigation and positioning, in particular to a three-dimensional positioning and guiding system of an orthopedic non-invasive guide needle.
背景技术Background technique
随着骨科技术的不断的进步与完善，骨科微创手术已经成为骨科发展的主要方向。但微创手术需要一定的设备及技术支持。在不切开皮肤的情况下确定体内骨折块、标志点或骨性通道位置的体外定位技术成为了骨科微创手术的关键技术。With the continuous progress and improvement of orthopedic technology, minimally invasive surgery has become the main direction of orthopedic development. However, minimally invasive surgery requires certain equipment and technical support. In vitro localization techniques to determine the location of fracture fragments, landmarks or bony passages in the body without incision of the skin have become a key technique in minimally invasive orthopaedic surgery.
目前应用于临床上的体外定位方法主要分两种。第一种是基于普通X线照射技术的定位，多较为简单，譬如医生通过放置金属标志物，单纯利用术中C臂X光机进行透视，以实现对体内目标的定位。该类方法只能初步评估目标所在位置，无法进行三维定位，亦无法定位骨性通道，更无法在一些需要特殊投照角度的部位中，如骶髂螺钉、椎弓根钉及髋臼前柱骨折螺钉内固定等手术中实现定位。第二种较为先进，为计算机辅助三维手术定位导航技术，该技术虽然准确性高，但体型庞大且沉重，不易消毒与转运，加之实用性较差，操作复杂且费用高昂，极大地提高了手术成本，而且普通医院无力购置。There are mainly two types of in vitro localization methods currently used in clinical practice. The first is the positioning based on ordinary X-ray irradiation technology, which is relatively simple. For example, doctors place metal markers and simply use the intraoperative C-arm X-ray machine to perform fluoroscopy to achieve the positioning of the target in the body. This type of method can only preliminarily evaluate the location of the target, and cannot perform three-dimensional positioning, nor can it locate the bony channel, and it cannot be used in some parts that require special projection angles, such as sacroiliac screws, pedicle screws, and anterior acetabular column. Fracture screw internal fixation and other operations to achieve positioning. The second type is more advanced, which is computer-aided three-dimensional surgical positioning and navigation technology. Although this technology is highly accurate, it is bulky and heavy, not easy to be sterilized and transported, and has poor practicability, complicated operation and high cost, which greatly improves the operation efficiency. cost, and ordinary hospitals cannot afford it.
针对目前骨科无创式定位技术中存在的缺陷和不足，逐渐出现一种通过结合双目视觉原理配合计算机及其控制操作软件来实现几何重建的定位技术，见专利号为201410056737.5，发明名称为骨科机器人导针定位器、导航装置及定位系统的的专利。该专利是从两个角度拍摄X线图像，并由特殊成像装置采集，经计算机图像控制操作软件建立二维坐标系，并通过双目视觉测距原理经计算最得到定位。但该技术至少存在以下缺陷：1、因采用了双目视觉测距原理，需要使用特殊的X光成像系统及计算机图像控制操作，成本较高不利于普及。2、且该技术重建的几何结构受到匹配点唯一性及顺序一致性约束约束，当目标位置处于图像灰度或图像特征变化不明显的区域时无法获取准确的三维定位。3、在X光图像中骨皮质重叠较多的区域内，如某些髋臼骨折难以准确重建。Aiming at the defects and deficiencies of the current orthopedic non-invasive positioning technology, a positioning technology that realizes geometric reconstruction by combining the principle of binocular vision with the computer and its control operation software has gradually emerged. Patents for Guide Needle Positioner, Navigation Device and Positioning System. In this patent, X-ray images are taken from two angles and collected by a special imaging device, a two-dimensional coordinate system is established by computer image control operation software, and the positioning is obtained by calculation through the principle of binocular vision ranging. However, this technology has at least the following defects: 1. Due to the principle of binocular vision ranging, a special X-ray imaging system and computer image control operations are required, and the high cost is not conducive to popularization. 2. The geometric structure reconstructed by this technique is constrained by the uniqueness of the matching points and the consistency of the sequence. When the target position is in an area where the image grayscale or image feature changes are not obvious, accurate 3D positioning cannot be obtained. 3. In the area where the cortical bone overlaps more in the X-ray image, such as some acetabular fractures, it is difficult to reconstruct accurately.
实用新型内容Utility model content
为解决上述技术问题，并降低使用门槛，本实用新型的目的在于开发一种骨科无创式三维定位系统及导针定位器，该导针定位器为一种导航辅助机器人，其采用蜗轮蜗杆转台、电子罗盘及倾角传感器等技术设备构建坐标系，可以通过从任意两个方向进行X线透视，经过立体几何运算后，即可准确获取目标点及骨性通道的三维坐标。本实用新型的另一目的在于，使所用定位设备具有外形小巧轻便，操作简单易于消毒，价格低廉的特性，达到易于推广的效果。In order to solve the above-mentioned technical problems and lower the threshold for use, the purpose of this utility model is to develop an orthopedic non-invasive three-dimensional positioning system and a guide needle positioner, which is a navigation aided robot, which adopts a worm gear turntable, The electronic compass and inclination sensor and other technical equipment construct the coordinate system, which can accurately obtain the three-dimensional coordinates of the target point and the bony channel by performing X-ray perspective from any two directions and after the three-dimensional geometric operation. Another purpose of the present utility model is to make the used positioning device have the characteristics of small and light appearance, simple operation, easy sterilization, and low price, so as to achieve the effect of easy popularization.
为实现上述目的，本实用新型提供了一种骨科无创式导针三维定位导向系统,其特征在于，其包含，一导针定位器，该导针定位器主要包括：至少一个X轴精密电动滚珠丝杠滑台，至少一个Y轴精密电动滚珠丝杠滑台，一Z轴精密电动滚珠丝杠滑台，两个精密电动蜗轮蜗杆旋转台，一套筒固定支架及可更换套筒；In order to achieve the above purpose, the present utility model provides an orthopedic non-invasive three-dimensional positioning and guiding system for guide needles, which is characterized in that it includes a guide needle positioner, and the guide needle positioner mainly includes: at least one X-axis precision electric ball Lead screw slide table, at least one Y-axis precision electric ball screw slide table, one Z-axis precision electric ball screw slide table, two precision electric worm gear and worm rotary tables, a sleeve fixing bracket and a replaceable sleeve;
其中，所述X轴精密电动滚珠丝杠滑台与所述Y轴精密电动滚珠丝杠滑台相互垂直呈水平设置，且所述Y轴精密电动滚珠丝杠滑台能沿X轴方向在X轴精密电动滚珠丝杠滑台上移动；Z轴精密电动滚珠丝杠滑台一端借助一精密电动蜗轮蜗杆旋转台滑设于Y轴精密电动滚珠丝杠滑台，而使Z轴精密电动滚珠丝杠滑台能沿Y轴方向在Y轴精密电动滚珠丝杠滑台上移动且可以Z轴为中心线旋转；可更换套筒通过套筒固定支架的另一端固定于另一精密电动蜗轮蜗杆旋转台，且该一精密电动蜗轮蜗杆旋转台滑设于Z轴精密电动滚珠丝杠滑台，以使可更换套筒通能沿Z轴方向移动且能以套筒固定支架为中心旋转；借助所述结构，能使设于可更换套筒中的导针以导针定位点为球心从空间中任一点指向任意方向。Wherein, the X-axis precision electric ball screw slide table and the Y-axis precision electric ball screw slide table are vertically arranged horizontally, and the Y-axis precision electric ball screw slide table can move in the X axis along the X-axis direction. The axis moves on the precision electric ball screw slide table; one end of the Z axis precision electric ball screw slide table is slid on the Y axis precision electric ball screw slide table by means of a precision electric worm gear and worm rotary table, so that the Z axis precision electric ball screw slide table is slid. The screw slide can move on the Y-axis precision electric ball screw slide along the Y-axis direction and can rotate on the Z-axis as the center line; the replaceable sleeve is fixed to another precision electric worm gear through the other end of the sleeve fixing bracket to rotate The precision electric worm gear and worm rotary table is slid on the Z-axis precision electric ball screw sliding table, so that the replaceable sleeve can move along the Z-axis direction and can rotate around the sleeve fixing bracket; With the above structure, the guide needle provided in the replaceable sleeve can be directed to any direction from any point in space with the guide needle positioning point as the spherical center.
其中较佳的，所述X轴精密电动滚珠丝杠滑台、Y轴精密电动滚珠丝杠滑台及Z轴精密电动滚珠丝杠滑台分别由滑台步进电机、滑台传动器、滑台丝杆、滑台滑轨、滑台滑块、滑台底座构成。Preferably, the X-axis precision electric ball screw sliding table, the Y-axis precision electric ball screw sliding table and the Z-axis precision electric ball screw sliding table are respectively composed of a sliding table stepping motor, a sliding table drive, a sliding table It is composed of a table screw, a slide rail, a slide block and a slide base.
其中较佳的，所述精密电动蜗轮蜗杆旋转台分别由旋转台轴步进电机、蜗轮蜗杆旋转台机身、蜗轮蜗杆旋转台台面构成。Preferably, the precision electric worm wheel and worm rotary table is composed of a rotary table shaft stepping motor, a worm wheel and worm rotary table body, and a worm wheel and worm rotary table table.
其中较佳的，该骨科无创式导针三维定位导向系统还包括至少一个C型臂三维电子罗盘、C型臂、手术床及处理系统。Preferably, the orthopaedic non-invasive three-dimensional positioning and guiding system for guide needles further includes at least one C-arm three-dimensional electronic compass, a C-arm, an operating bed and a processing system.
其中较佳的，所述Y轴精密电动滚珠丝杠滑台设有Y轴滑台底座，所述C型臂三维电子罗盘放置于Y轴滑台底座及/或底部粘贴于C型臂放射端顶部，当C型臂三维电子罗盘底部粘贴于C型臂放射端顶部时，其Z轴即为C型臂3的中心投照线方向，其长短轴分别为C型臂三维电子罗盘2的X轴和Y轴C型臂三维电子罗盘2零位的x轴y轴方向与导针定位器的X轴Y轴方向一致，C型臂三维电子罗盘放置于Y轴滑台底座时，即以XOY平面为零位平面，以Y轴方向为航向角零值。Preferably, the Y-axis precision electric ball screw slide is provided with a Y-axis slide base, and the C-arm three-dimensional electronic compass is placed on the Y-axis slide base and/or the bottom is pasted on the C-arm radiation end At the top, when the bottom of the C-arm 3D electronic compass is pasted on the top of the C-arm radiating end, its Z axis is the direction of the center projection line of the C-arm 3, and its long and short axes are the X of the C-arm 3D electronic compass 2. Axis and Y-axis The x-axis and y-axis direction of the zero position of the C-arm three-dimensional electronic compass 2 are consistent with the X-axis and Y-axis direction of the guide needle positioner. The plane is the zero plane, and the direction of the Y axis is the zero value of the heading angle.
其中较佳的，所述Y轴滑台底座不妨碍其他部件活动的侧面或者下面设有容置所述C型臂三维电子罗盘的Y轴三维电子罗盘卡槽；而C型臂放射端顶部可设有容置所述C型臂三维电子罗盘的C型臂三维电子罗盘卡槽。Preferably, a Y-axis three-dimensional electronic compass slot for accommodating the C-arm three-dimensional electronic compass is provided on the side or the bottom of the base of the Y-axis slide table that does not hinder the movement of other components; and the top of the C-arm radiation end can be There is a C-arm three-dimensional electronic compass slot for accommodating the C-arm three-dimensional electronic compass.
其中较佳的，该系统还包括用于照射进针点的激光测距仪。Preferably, the system further includes a laser rangefinder for irradiating the needle entry point.
其中较佳的，所述激光测距仪为一球形云台激光测距组件，该球形云台激光测距组件的球形云台底座固定于Z轴精密电动滚珠丝杠滑台上端以通过球形云台使激光测距模块指向任意方向，并通过激光测距三维电子罗盘获取其空间方向，激光测距模块内装有镭射光源，以在获取定位点坐标后，照射至体表理想进针点后测取距离，并记录激光测距三维电子罗盘空间方向，借此可得出进针点的空间坐标，从而得到两点所在直线，并自动使可更换套筒的轴线与该直线重合，且可更换套筒头端沿该直线移动至进针点即贴近体表。Preferably, the laser rangefinder is a spherical pan-tilt laser ranging assembly, and the spherical pan-tilt base of the spherical pan-tilt laser ranging component is fixed on the upper end of the Z-axis precision electric ball screw slide to pass the spherical cloud The platform makes the laser ranging module point in any direction, and obtains its spatial direction through the three-dimensional electronic compass of laser ranging. The laser ranging module is equipped with a laser light source, so that after obtaining the coordinates of the positioning point, it is irradiated to the ideal needle entry point on the body surface and then measured. Take the distance and record the spatial direction of the three-dimensional electronic compass of the laser ranging, by which the spatial coordinates of the needle entry point can be obtained, so as to obtain the straight line where the two points are located, and automatically make the axis of the replaceable sleeve coincide with the straight line, and can be replaced The head end of the sleeve moves along the straight line to the needle insertion point, that is, it is close to the body surface.
其中较佳的，Y轴精密电动滚珠丝杠滑台与Z轴精密电动滚珠丝杠滑台分别通过连接板与精密电动蜗轮蜗杆旋转台连接，而套筒固定架与Z轴精密电动滚珠丝杠滑台通过也是通过连接板相连接。Preferably, the Y-axis precision electric ball screw slide table and the Z-axis precision electric ball screw slide table are respectively connected with the precision electric worm gear and worm rotary table through the connecting plate, and the sleeve fixing frame is connected with the Z-axis precision electric ball screw The slides are also connected by connecting plates.
其中较佳的，所述导针定位器还包含测量精密电动蜗轮蜗杆旋转台旋转角的倾角传感器。Preferably, the guide needle positioner further includes an inclination sensor for measuring the rotation angle of the precision electric worm gear and worm rotary table.
本实用新型还提供了一种骨科无创式导针三维定位导向方法,其将上述任一所述的骨科无创式三维定位系统的导针定位器置于患侧手术床上并于可更换套筒插入导针，以X轴精密电动滚珠丝杠滑台Ⅰ的方向为导针定位器X轴方向，Y轴精密电动滚珠丝杠滑台方向为导针定位器Y轴方向，Z轴精密电动滚珠丝杠滑台方向为导针定位器Z轴方向；以精密电动蜗轮蜗杆旋转台Ⅰ以Y轴方向为零值，读数为α，即导针于XOY平面的投影与X轴的角度；精密电动蜗轮蜗杆旋转台Ⅱ，以XOY平面为零值，读数为β，即导针与XOY平面的夹角；且设定可更换套筒12的轴心与套筒固定支架的轴心的交点为导针定位点，以各轴均处于零位时的导针定位点为原点构建三维坐标系，并记录该点为(x,y,z)，可更换套筒的轴心与Z轴滑台丝杆轴心的距离为L，X轴精密电动滚珠丝杠滑台Ⅰ及X轴精密电动滚珠丝杠滑台Ⅱ的位移为x'，Y轴精密电动滚珠丝杠滑台的位移为y',Z轴精密电动滚珠丝杠滑台的位移为z'，设定：x'＝x-L·cosα，y'＝y-L·sinα，z'＝z，从而控制导针能以导针定位点为球心从空间中任一点指向任意方向；C型臂三维电子罗盘固定于Y轴卡槽，其x轴y轴方向与导针定位器的X轴Y轴方向一致，并于通电后自动记录其当前方向并将其设为零位，即以XOY平面为零位平面，以Y轴方向为航向角零值；记录成功后便取下C型臂三维电子罗盘或取另一C型臂三维电子罗放置于C型臂三维电子罗盘卡槽，并在使用过程中C型臂调整至合适位置时手动记录C型臂放射端顶部的C型臂三维电子罗盘值，并依据所述的C型臂三维电子罗盘值建立C型臂和导针定位器的向量关系，三维电子罗盘轴即为C型臂的中心投照线方向，而其长短轴分别为C型臂三维电子罗盘的轴和轴；The utility model also provides a three-dimensional positioning and guiding method of an orthopedic non-invasive guide pin, which places the guide pin locator of any of the above-mentioned orthopedic non-invasive three-dimensional positioning systems on the operating bed on the affected side and inserts it into a replaceable sleeve Guide needle, the direction of the X-axis precision electric ball screw slide table I is the X-axis direction of the guide needle positioner, the Y-axis precision electric ball screw slide table direction is the Y-axis direction of the guide needle positioner, and the Z-axis precision electric ball screw The direction of the lever slide is the Z-axis direction of the guide needle positioner; the precision electric worm gear and worm rotary table I is zero in the Y-axis direction, and the reading is α, that is, the angle between the projection of the guide needle on the XOY plane and the X-axis; the precision electric worm gear Worm rotary table II, the XOY plane is zero, and the reading is β, that is, the angle between the guide needle and the XOY plane; and the intersection of the axis of the replaceable sleeve 12 and the axis of the sleeve fixing bracket is set as the guide needle. Locating point, construct a three-dimensional coordinate system with the guide pin locating point when each axis is at the zero position as the origin, and record this point as (x, y, z), the axis of the sleeve and the Z-axis slide screw can be replaced The distance between the axes is L, the displacement of the X-axis precision electric ball screw slide I and X-axis precision electric ball screw slide II is x', and the displacement of the Y-axis precision electric ball screw slide is y', Z The displacement of the axis precision electric ball screw slide table is z', set: x'=x-L·cosα, y'=y-L·sinα, z'=z, so that the guide needle can be controlled to take the guide needle positioning point as the center of the ball. Any point in the space points in any direction; the C-arm three-dimensional electronic compass is fixed in the Y-axis slot, and its x-axis and y-axis directions are consistent with the X-axis and Y-axis directions of the needle locator, and its current direction is automatically recorded after power-on. Set it as the zero position, that is, take the XOY plane as the zero position plane, and take the Y axis direction as the zero value of the heading angle; after successful recording, remove the C-arm three-dimensional electronic compass or take another C-arm three-dimensional electronic compass and place it on The C-arm three-dimensional electronic compass slot, and the C-arm three-dimensional electronic compass value at the top of the C-arm radiating end is manually recorded when the C-arm is adjusted to an appropriate position during use, and based on the C-arm three-dimensional electronic compass The value establishes the vector relationship between the C-arm and the guide needle positioner, the three-dimensional electronic compass axis is the direction of the center projection line of the C-arm, and its long and short axes are the axis and the axis of the C-arm three-dimensional electronic compass;
当C型臂取得合适X光照射位置时，定义该位置为放射源1，通过C型臂三维电子罗盘手动记录C型臂三维电子罗盘的俯仰角α'，横滚角β'，以及航向角γ'，算出C型臂3的中心投照线与导针定位器XYZ正半轴夹角的余弦值，分别为其中：When the C-arm obtains a suitable X-ray irradiation position, define this position as radiation source 1, and manually record the pitch angle α', roll angle β', and heading angle of the C-arm 3D electronic compass through the C-arm 3D electronic compass γ', calculate the cosine value of the angle between the center projection line of the C-shaped arm 3 and the positive semi-axis XYZ of the guide needle positioner, respectively in:
然后，进行步骤：Then, proceed to the steps:
1.调整导针定位点位置，并调整导针角度α及β使导针于X光图像上指向目标位置，记录导针定位点坐标(x1,y1,z1)及可更换套筒方向α1、β1；1. Adjust the position of the guide needle positioning point, and adjust the guide needle angles α and β to make the guide needle point to the target position on the X-ray image, record the guide needle positioning point coordinates (x1 , y1 , z1 ) and replaceable sleeves directions α1 , β1 ;
2.改变导针定位点位置并使导针于X光图像上再次指向目标位置，点击确认记录导针定位点坐标(x2,y2,z2)及可更换套筒方向α2、β2；2. Change the position of the guide needle positioning point and make the guide needle point to the target position again on the X-ray image, click Confirm to record the guide needle positioning point coordinates (x2 , y2 , z2 ) and the direction of the replaceable sleeve α2 , β2 ;
3.通过处理器运算即能得出通道的轴线的直线方程为：3. Through the processor operation, the straight line equation of the axis of the channel can be obtained as:
其中，in,
cosδ1＝cosα1·cosβ1 cosδ2＝cosα2·cosβ2cosδ1 =cosα1 ·cosβ1 cosδ2 =cosα2 ·cosβ2
cosη1＝sinα1·cosβ1，cosη2＝sinα2·cosβ2。cosη1 =sinα1 ·cosβ1 , cosη2 =sinα2 ·cosβ2 .
cosμ1＝sinβ1 ，cosμ2＝sinβ2cosμ1 =sinβ1 , cosμ2 =sinβ2
其中较佳的，所述定位系统的处理系统根据该通道的轴线的直线方程，并设定β＝90°-θ，而控制导针定位器，以使可更换套筒的轴线与该通道的轴线重合，并借助调整t值，使可更换套筒12沿通道的轴线移动至体表。Preferably, the processing system of the positioning system according to the linear equation of the axis of the channel, and set β=90°-θ, and the guide needle positioner is controlled so that the axis of the replaceable sleeve coincides with the axis of the channel, and by adjusting the value of t, the replaceable sleeve 12 is moved to the body surface along the axis of the channel.
其中较佳的，该方法进一步包括以下步骤：Preferably, the method further comprises the following steps:
改变C型臂的角度并再次照射X光，当取得合适位置时定义该位置为放射源2，并通过C型臂三维电子罗盘手动记录C型臂三维电子罗盘的俯仰角α'2，横滚角β'2，以及航向角γ'2，并算出C型臂的中心投照线与导针定位器XYZ正半轴夹角的余弦值分别为Change the angle of the C-arm and irradiate the X-ray again. When a suitable position is obtained, define the position as the radiation source 2, and manually record the pitch angle α'2 of the C-arm three-dimensional electronic compass through the C-arm three-dimensional electronic compass, and roll Angle β'2 , and heading angle γ'2 , and calculate the cosine value of the angle between the center projection line of the C-arm and the positive half-axis of the guide pin positioner XYZ, respectively:
然后，调整导针定位点位置，并调整导针角度α和β使导针于X光图像上指向目标位置，记录导针定位点坐标(x3,y3,z3)及可更换套筒方向α3、β3；Then, adjust the position of the guide needle positioning point, and adjust the guide needle angles α and β to make the guide needle point to the target position on the X-ray image, record the guide needle positioning point coordinates (x3 , y3 , z3 ) and the replaceable sleeve directions α3 , β3 ;
进一步，通过运算即可得出目标点的坐标(x4,y4,z4)，Further, the coordinates of the target point (x4 , y4 , z4 ) can be obtained by operation,
其中：in:
其中较佳的，根据得出的目标点的坐标(x4,y4,z4)，通过调整导针定位点坐标(x,y,z)，通过控制系统，设定以使调整过程中导针套筒的方向时时瞄准目标点。Preferably, according to the obtained coordinates of the target point (x4 , y4 , z4 ), by adjusting the coordinates (x, y, z) of the positioning point of the guide needle, through the control system, set So that the direction of the needle guide sleeve is always aimed at the target point during the adjustment process.
其中较佳的，在已知两个端点，需要确定导针移动路径时，重复该定位目标点的坐标(x4,y4,z4)方法，以算出两个目标端点，并由定位系统的计算控制模块算出导针移动路径以供控制导针定位器移动。Preferably, when the two end points are known and the moving path of the guide needle needs to be determined, the coordinate (x4 , y4 , z4 ) method of the positioning target point is repeated to calculate the two target end points, and the positioning system The calculation control module calculates the movement path of the guide needle for controlling the movement of the guide needle positioner.
其中较佳的，在使用C型臂透视时，均使目标位置呈现于图像中心，即位于中心投照线上。Preferably, when using the C-arm perspective, the target position is presented in the center of the image, that is, on the center projection line.
其中较佳的，在对目标点的定位中采用激光测距仪照射进针点，自动使可更换套筒的轴线与该直线重合，且可更换套筒头端沿该直线移动至进针点即贴近体表，即确定手术路径。Preferably, a laser range finder is used to irradiate the needle entry point in the positioning of the target point, the axis of the replaceable sleeve is automatically coincident with the straight line, and the head end of the replaceable sleeve moves along the straight line to the needle entry point That is, close to the body surface, that is, to determine the surgical path.
其中较佳的，所述导针定位器包含测量精密电动蜗轮蜗杆旋转台旋转角的倾角传感器。Preferably, the guide needle positioner includes an inclination sensor for measuring the rotation angle of the precision electric worm gear and worm rotary table.
其中较佳的，所述激光测距仪为一球形云台激光测距组件，该球形云台激光测距组件的球形云台底座固定于Z轴精密电动滚珠丝杠滑台上端，其可通过球形云台使激光测距模块指向任意方向，并通过激光测距三维电子罗盘获取其空间方向，激光测距模块内装有镭射光源，在获取定位点坐标后，照射至体表理想进针点后测取距离，并记录激光测距三维电子罗盘空间方向，借此可得出进针点的空间坐标，从而得到两点所在直线，并自动使可更换套筒的轴线与该直线重合，且可更换套筒头端沿该直线移动至进针点即贴近体表，即获得手术路径。Preferably, the laser rangefinder is a spherical pan-tilt laser ranging assembly, and the spherical pan-tilt base of the spherical pan-tilt laser ranging component is fixed on the upper end of the Z-axis precision electric ball screw slide, which can pass The spherical head makes the laser ranging module point in any direction, and obtains its spatial direction through the three-dimensional electronic compass of laser ranging. The laser ranging module is equipped with a laser light source. After obtaining the coordinates of the positioning point, it is irradiated to the ideal needle entry point on the body surface. Measure the distance, and record the spatial direction of the three-dimensional electronic compass of the laser ranging, from which the spatial coordinates of the needle entry point can be obtained, so as to obtain the straight line where the two points are located, and automatically make the axis of the replaceable sleeve coincide with the straight line, and can The head end of the replacement sleeve moves along the straight line to the needle insertion point, that is, it is close to the body surface, and the surgical path is obtained.
借助上述装置及方法，本实用新型的一种骨科无创式三维定位系统及导针定位器以及其定位方法，借助导航辅助机器人(导针定位器)，其采用蜗轮蜗杆转台、电子罗盘及倾角传感器等技术设备构建坐标系，通过从任意两个方向行X线透视，经过立体几何运算后，即可准确获取目标点及骨性通道的三维坐标。在对目标点的定位中可采用激光测距仪照射进针点即可确定手术路径。该定位设备外形小巧轻便，操作简单易于消毒，价格低廉因而易于推广。With the aid of the above-mentioned device and method, an orthopedic non-invasive three-dimensional positioning system, a guide needle locator and a positioning method thereof of the present invention are provided with the aid of a navigation aid robot (guide needle locator), which adopts a worm gear turntable, an electronic compass and an inclination sensor. The coordinate system is constructed with technical equipment such as X-ray from any two directions, and the three-dimensional coordinates of the target point and the bony channel can be accurately obtained after three-dimensional geometric operations. In the positioning of the target point, the laser rangefinder can be used to illuminate the needle entry point to determine the surgical path. The positioning device is small and light in appearance, simple in operation, easy to sterilize, low in price and easy to popularize.
附图说明Description of drawings
图1系统示意图；Figure 1 is a schematic diagram of the system;
图2导针定位器结构示意图；Fig. 2 is a schematic diagram of the structure of the guide needle positioner;
图3X轴精密电动滚珠丝杠滑台Ⅰ；Figure 3X-axis precision electric ball screw slide table I;
图4Y轴精密电动滚珠丝杠滑台(1204迷你滑台)；Figure 4 Y-axis precision electric ball screw slide (1204 mini slide);
图5Z轴精密电动滚珠丝杠滑台(1204迷你滑台)；Figure 5 Z-axis precision electric ball screw slide (1204 mini slide);
图6精密电动蜗轮蜗杆旋转台Ⅰ(ZX110-100)；Figure 6. Precision electric worm gear and worm rotary table I (ZX110-100);
图7精密电动蜗轮蜗杆旋转台Ⅱ(ZX110-60)；Figure 7 Precision electric worm gear and worm rotary table II (ZX110-60);
图8套筒固定支架；Figure 8 Sleeve fixing bracket;
图9连接板Ⅰ；Figure 9 connecting plate I;
图10连接板Ⅱ；Figure 10 Connecting board II;
图11连接板Ⅲ；Figure 11 Connecting board III;
图12、图13、图14、图15本实用新型的坐标示意图；Figure 12, Figure 13, Figure 14, Figure 15 are schematic diagrams of coordinates of the present utility model;
图16本实用新型另一具有激光测距组件的具体实施例的总体示意图；FIG. 16 is a general schematic diagram of another specific embodiment of the present invention having a laser ranging assembly;
图17本实用新型另一具有激光测距组件的具体实施例的导针定位器示意图；FIG. 17 is a schematic diagram of a needle guide locator according to another specific embodiment of the present invention with a laser ranging assembly;
图18本实用新型另一具有激光测距组件的球形云台激光测距组件示意图；18 is another schematic diagram of the laser ranging assembly of the spherical pan/tilt with the laser ranging assembly of the present invention;
图19本实用新型另一具有激光测距组件的具体实施例的激光测距组件连接板示意图；FIG. 19 is a schematic diagram of a connecting board of a laser ranging assembly with another specific embodiment of the laser ranging assembly of the present invention;
图中：In the picture:
1 导针定位器 2 C型臂三维电子罗盘1 Guide needle positioner 2 C-arm three-dimensional electronic compass
3 C型臂 4 手术床3 C-arm 4 Operating table
5 X轴精密电动滚珠丝杠滑台Ⅰ 6 X轴精密电动滚珠丝杠滑台Ⅱ5 X-axis precision electric ball screw slide Ⅰ 6 X-axis precision electric ball screw slide Ⅱ
7 Y轴精密电动滚珠丝杠滑台 8 Z轴精密电动滚珠丝杠滑台7 Y-axis precision electric ball screw slide 8 Z-axis precision electric ball screw slide
9 精密电动蜗轮蜗杆旋转台Ⅰ 10 精密电动蜗轮蜗杆旋转台Ⅱ9 Precision Electric Worm Gear Rotary Table Ⅰ 10 Precision Electric Worm Gear Rotary Table Ⅱ
11 套筒固定支架 12 可更换套筒11 Sleeve retention bracket 12 Replaceable sleeve
13 连接板Ⅰ 14 连接板Ⅱ13 Connecting plate I 14 Connecting plate II
15 连接板Ⅲ 16 X轴滑台步进电机15 Connecting plate III 16 X-axis slide stepper motor
17 X轴滑台传动器 18 X轴滑台丝杆17 X-axis slide drive 18 X-axis slide screw
19 X轴滑台滑轨 20 X轴滑台滑块19 X-axis slide rail 20 X-axis slide slide
21 X轴滑台底座 22 Y轴滑台步进电机21 X-axis slide base 22 Y-axis slide stepper motor
23 Y轴滑台传动器 24 Y轴滑台丝23 Y-axis slide drive 24 Y-axis slide wire
25 Y轴滑台滑轨 26 Y轴滑台滑块25 Y-axis slide rail 26 Y-axis slide slide
27 Y轴滑台底座 28 Z轴滑台步进电机27 Y-axis slide base 28 Z-axis slide stepper motor
29 Z轴滑台传动器 30 Z轴滑台丝杆29 Z-axis slide drive 30 Z-axis slide screw
31 Z轴滑台滑轨 32 Z轴滑台滑块31 Z-axis slide rail 32 Z-axis slide slide
33 Z轴滑台底座 34 旋转台Ⅰ轴步进电机33 Z-axis slide base 34 Rotary table I-axis stepping motor
35 蜗轮蜗杆旋转台Ⅰ机身 36 蜗轮蜗杆旋转台Ⅰ台面35 Worm Gear Rotary Table Ⅰ Body 36 Worm Gear Rotary Table Ⅰ Table Top
37 旋转台Ⅱ轴步进电机 38 蜗轮蜗杆旋转台Ⅱ机身37 Rotary table Ⅱ-axis stepping motor 38 Worm gear rotary table Ⅱ body
39 蜗轮蜗杆旋转台Ⅱ台面39 Worm gear rotary table II table
181 定位器球形云台底座 182 定位器球形云台181 Positioner Ball Head Base 182 Positioner Ball Head
183 定位器球形云台球形卡槽 184 定位器球形云台锁定杆183 Positioner Ball Head Ball Slot 184 Positioner Ball Head Lock Lever
185 激光测距三维电子罗盘 186 球形云台测距模块。185 Laser ranging 3D electronic compass 186 Spherical PTZ ranging module.
具体实施方式Detailed ways
下面通过实施例，并结合附图，对本实用新型的技术方案做进一步具体的说明。The technical solutions of the present utility model are further described in detail below through the embodiments and in conjunction with the accompanying drawings.
如图1所示，本实用新型的一种骨科无创式三维定位系统包括：导针定位器1、C型臂三维电子罗盘2、C型臂3、手术床4及处理系统(图中未绘示)。As shown in FIG. 1 , a non-invasive three-dimensional positioning system for orthopedics of the present invention includes: a guide needle positioner 1, a C-arm three-dimensional electronic compass 2, a C-arm 3, an operating bed 4 and a processing system (not shown in the figure). Show).
如图2所示为本实用新型的导针定位器示意图，另请参见图3-图9，为本实用新型的导针定位器部件示意图，其中，该导针定位器1主要包括：X轴精密电动滚珠丝杠滑台Ⅰ5，X轴精密电动滚珠丝杠滑台Ⅱ6，Y轴精密电动滚珠丝杠滑台7，Z轴精密电动滚珠丝杠滑台8，精密电动蜗轮蜗杆旋转台Ⅰ9，精密电动蜗轮蜗杆旋转台Ⅱ10，套筒固定支架11及可更换套筒12(2.0/2.5/3.0可更换套筒)，另外还包含三个连接板：连接板Ⅰ13、连接板Ⅱ14、连接板Ⅲ15。Fig. 2 is a schematic diagram of the guide needle positioner of the present invention, and please refer to Fig. 3-Fig. 9 , which are schematic diagrams of the guide needle positioner components of the present invention, wherein, the guide needle positioner 1 mainly includes: X axis Precision electric ball screw slide Ⅰ5, X-axis precision electric ball screw slide Ⅱ6, Y-axis precision electric ball screw slide 7, Z-axis precision electric ball screw slide 8, precision electric worm gear and worm rotary table Ⅰ9, Precision Electric Worm Gear Rotary Table II10, Sleeve Fixing Bracket 11 and Replaceable Sleeve 12 (2.0/2.5/3.0 Replaceable Sleeve), and also includes three connecting plates: connecting plate I13, connecting plate II14, connecting plate III15 .
请参见图3及图4，其为X轴精密电动滚珠丝杠滑台Ⅰ5、X轴精密电动滚珠丝杠滑台Ⅱ6及Y轴精密电动滚珠丝杠滑台7结构示意图。三者结构相同，分别由X轴滑台步进电机16、X轴滑台传动器17、X轴滑台丝杆18、X轴滑台滑轨19、X轴滑台滑块20、X轴滑台底座21、Y轴滑台步进电机22、Y轴滑台传动器23、Y轴滑台丝24、Y轴滑台滑轨25、Y轴滑台滑块26、Y轴滑台底座27构成。Please refer to Figures 3 and 4, which are schematic structural diagrams of the X-axis precision electric ball screw slide table I5, the X-axis precision electric ball screw slide table II6, and the Y-axis precision electric ball screw slide table 7. The structure of the three is the same. Slide base 21, Y-axis slide stepper motor 22, Y-axis slide drive 23, Y-axis slide wire 24, Y-axis slide rail 25, Y-axis slide slider 26, Y-axis slide base 27 compositions.
请参见图5，其为Z轴精密电动滚珠丝杠滑台8的结构示意图。包括：Z轴滑台步进电机20、Z轴滑台传动器29、Z轴滑台丝杆30、Z轴滑台滑轨31、Z轴滑台滑块32、Z轴滑台底座33。Please refer to FIG. 5 , which is a schematic structural diagram of the Z-axis precision electric ball screw slide table 8 . It includes: Z-axis slide stepper motor 20 , Z-axis slide drive 29 , Z-axis slide screw 30 , Z-axis slide rail 31 , Z-axis slide slider 32 , and Z-axis slide base 33 .
请参见图6及图7，为两个旋转台：精密电动蜗轮蜗杆旋转台Ⅰ9、精密电动蜗轮蜗杆旋转台Ⅱ10的示意图。其分别由旋转台Ⅰ轴步进电机34、蜗轮蜗杆旋转台Ⅰ机身35、蜗轮蜗杆旋转台Ⅰ台面36及旋转台Ⅱ轴步进电机37、蜗轮蜗杆旋转台Ⅱ机身38、蜗轮蜗杆旋转台Ⅱ台面39构成。Y轴精密电动滚珠丝杠滑台7与Z轴精密电动滚珠丝杠滑台8分别通过图9-10所示的连接板(13、14)与精密电动蜗轮蜗杆旋转台Ⅰ9连接，而套筒固定架11与Z轴精密电动滚珠丝杠滑台8通过图11所示的连接板Ⅲ15相连接。Please refer to FIG. 6 and FIG. 7 , which are schematic diagrams of two rotary tables: precision electric worm wheel and worm rotary table I9 and precision electric worm wheel and worm rotary table II10. It consists of rotary table I axis stepping motor 34, worm wheel and worm rotary table I body 35, worm wheel and worm rotary table I table surface 36 and rotary table II axis stepping motor 37, worm wheel and worm rotary table II body 38, worm wheel and worm rotation. The table II table 39 is constituted. The Y-axis precision electric ball screw slide table 7 and the Z-axis precision electric ball screw slide table 8 are respectively connected with the precision electric worm gear and worm rotary table I9 through the connecting plates (13, 14) shown in Figure 9-10, and the sleeve The fixing frame 11 is connected with the Z-axis precision electric ball screw slide table 8 through the connecting plate III15 shown in FIG. 11 .
请参见图2及图4-6、9、10，Y轴精密电动滚珠丝杠滑台7借助Y轴滑台底座27固定于X轴精密电动滚珠丝杠滑台Ⅰ6及X轴精密电动滚珠丝杠滑台Ⅱ7的X轴滑台滑块上，从而使Y轴精密电动滚珠丝杠滑台7能借助X轴滑台步进电机的转动沿X轴方向按照指定的距离移动；Z轴精密电动滚珠丝杠滑台8的一端借助连接板Ⅰ13连接板Ⅱ14通过精密电动蜗轮蜗杆旋转台Ⅰ9与Y轴精密电动滚珠丝杠滑台7的Y轴滑台滑块26相连接，以使Z轴精密电动滚珠丝杠滑台8可以借助Y轴滑台步进电机22的转动沿Y轴方向按照指定的距离移动，同时也可以借助旋转台Ⅰ轴步进电机34的转动以Z轴为中心水平转动指定的角度。Please refer to Fig. 2 and Fig. 4-6, 9, 10, the Y-axis precision electric ball screw slide table 7 is fixed to the X-axis precision electric ball screw slide table I6 and the X-axis precision electric ball screw by means of the Y-axis slide table base 27 On the X-axis slide block of the ball screw slide table II7, the Y-axis precision electric ball screw slide table 7 can move along the X-axis direction according to the specified distance by means of the rotation of the X-axis slide table stepping motor; the Z-axis precision electric ball screw slide table One end of the ball screw slide table 8 is connected with the Y-axis slide block 26 of the Y-axis precision electric ball screw slide table 7 through the connecting plate I13 and the connecting plate II14 through the precision electric worm gear and worm rotary table I9, so that the Z-axis precision The electric ball screw slide table 8 can be moved along the Y-axis by a specified distance by the rotation of the Y-axis slide stepper motor 22, and can also be horizontally rotated around the Z-axis by the rotation of the I-axis stepper motor 34 of the rotary table. the specified angle.
请参见图2及图5、7、8、11，套筒固定支架11的一端通过精密电动蜗轮蜗杆旋转台Ⅱ10及连接板Ⅲ15与Z轴精密电动滚珠丝杠滑台8的Z轴滑台滑块32相连接，以使套筒固定支架11及固定于其另一端的可更换套筒12可以借助Z轴滑台步进电机28的转动沿Z轴方向按照指定的距离移动，同时也可以借助旋转台Ⅱ轴步进电机37的转动以X、Y轴构成的平面(XOY平面)相垂直的方向转动指定的角度。Please refer to Fig. 2 and Fig. 5, 7, 8, and 11. One end of the sleeve fixing bracket 11 slides with the Z-axis slide table of the Z-axis precision electric ball screw slide table 8 through the precision electric worm gear and worm rotary table II10 and the connecting plate III15. The blocks 32 are connected, so that the sleeve fixing bracket 11 and the replaceable sleeve 12 fixed at the other end can be moved along the Z-axis according to the specified distance by means of the rotation of the Z-axis slide stepper motor 28, and can also be The rotation of the turntable II-axis stepping motor 37 rotates a predetermined angle in the direction perpendicular to the plane (XOY plane) formed by the X and Y axes.
综上所述，借助上述精密电动滚珠丝杠滑台，构成X、Y、Z三个方向的移动轨道，由可由处理系统中的控制装置驱动相应的滑台步进电机(16/22/28)转动，从而带动导针的导针定位点在三维方向上任意移动，从而到达空间中任一点。To sum up, with the help of the above-mentioned precision electric ball screw slide table, the moving tracks in three directions of X, Y, and Z are formed, and the corresponding slide table stepping motor (16/22/28) can be driven by the control device in the processing system. ) rotates, thereby driving the guide needle positioning point of the guide needle to move arbitrarily in the three-dimensional direction, thereby reaching any point in space.
继请参见图2可知，借助驱动相应的旋转台轴步进电机(9/10)，可使导针旋转相应的角度，其中导针于XOY平面的投影与X轴的角度(以Y轴方向为零值)，读数为α；而精密电动蜗轮蜗杆旋转台Ⅱ10旋转时，形成以XOY平面为零值，导针与XOY平面的夹角读数为β。Referring to Fig. 2, it can be seen that by driving the corresponding rotary table shaft stepping motor (9/10), the guide needle can be rotated by a corresponding angle, wherein the projection of the guide needle on the XOY plane and the angle of the X axis (in the direction of the Y axis) zero value), the reading is α; while the precision electric worm gear and worm rotary table II10 rotates, the XOY plane is formed as the zero value, and the angle between the guide needle and the XOY plane is read as β.
参见图8为可更换套筒12及套筒固定架11示意图，其中，更换套筒12的轴心与Z轴滑台丝杆34轴心的距离为L。8 is a schematic diagram of the replaceable sleeve 12 and the sleeve fixing frame 11 , wherein the distance between the axis of the replaceable sleeve 12 and the axis of the Z-axis slide screw 34 is L.
借助该些结构，则可实现导针以导针定位点为球心从空间中任一点指向任意方向。同时，为了方便实用，于本实用新型中，可设有遥控装置以控制相应电机旋转，而旋转角可采用倾角传感器测量，直线位移可采用步进电机信号记录或者可采用位移传感器测量。With these structures, the guide needle can be directed to any direction from any point in space with the guide needle positioning point as the spherical center. At the same time, for convenience and practicality, in the present invention, a remote control device can be provided to control the rotation of the corresponding motor, and the rotation angle can be measured by an inclination sensor, and the linear displacement can be recorded by a stepping motor signal or measured by a displacement sensor.
另外，本实用新型的一种骨科无创式三维定位系统，还包括至少一个C型臂三维电子罗盘2，而且在该具体实施例中，Y轴滑台底座的侧面或者下面以及C型臂放射端顶部可设有一Y轴三维电子罗盘卡槽，以不妨碍其他部件活动为要；其中，本领域技术人员可以理解的是，所述C型臂三维电子罗盘2可以分别设于C型臂放射端顶部的C型臂三维电子罗盘卡槽及Y轴三维电子罗盘卡槽，以根据其测量的工作时的三维参数和零位平面及航向角零值，从而建立C型臂和导针定位器的向量关系；其较佳的是可以仅设置一个C型臂三维电子罗盘2，先放在Y轴三维电子罗盘卡槽上测定初始值，然后放置C型臂放射端顶部的C型臂三维电子罗盘卡槽测量工作时的俯仰角、横滚角以及航向角，从而确保排除干扰，提高精度，并降低成本。In addition, an orthopedic non-invasive three-dimensional positioning system of the present invention further includes at least one C-arm three-dimensional electronic compass 2, and in this specific embodiment, the side or bottom of the Y-axis slide base and the radiation end of the C-arm The top can be provided with a Y-axis three-dimensional electronic compass slot, so as not to hinder the movement of other components; wherein, those skilled in the art can understand that the C-arm three-dimensional electronic compass 2 can be respectively set at the radiation end of the C-arm The C-arm three-dimensional electronic compass slot and the Y-axis three-dimensional electronic compass slot at the top can be used to establish the C-arm and the guide needle positioner according to the three-dimensional parameters and the zero plane and the zero value of the heading angle measured at work. It is better to set only one C-arm three-dimensional electronic compass 2, first place it on the Y-axis three-dimensional electronic compass slot to measure the initial value, and then place the C-arm three-dimensional electronic compass on the top of the C-arm radiation end The card slot measures the pitch, roll, and heading angles during operation, thereby ensuring that interference is eliminated, improving accuracy, and reducing costs.
C型臂三维电子罗盘2零位的x轴y轴方向与导针定位器的X轴Y轴方向一致，当C型臂三维电子罗盘2放置于Y轴滑台底座27上的Y轴三维电子罗盘卡槽时，即以XOY平面为零位平面，以Y轴方向为航向角零值；而在使用时，是将C型臂三维电子罗盘2的底部粘贴于C型臂放射端顶部，此时其Z轴即为C型臂3的中心投照线方向，其长短轴分别为C型臂三维电子罗盘2的X轴和Y轴。The x-axis and y-axis directions of the zero position of the C-arm three-dimensional electronic compass 2 are consistent with the X-axis and Y-axis directions of the guide needle positioner. When the compass is stuck in the slot, the XOY plane is the zero plane, and the Y axis direction is the zero value of the heading angle; while in use, the bottom of the C-arm three-dimensional electronic compass 2 is pasted on the top of the C-arm radiation end. At this time, its Z-axis is the direction of the center projection line of the C-arm 3 , and its long and short axes are the X-axis and the Y-axis of the C-arm three-dimensional electronic compass 2 respectively.
借助该导针定位器1及、C型臂3及相应传感器的协助，本实用新型的一种骨科无创式三维定位系统可实现各种复杂情况下的骨性通道的建立及进针点和手术路径的确认。With the assistance of the guide needle positioner 1, the C-shaped arm 3 and the corresponding sensors, the non-invasive three-dimensional positioning system for orthopaedics of the present invention can realize the establishment of the bony channel, the needle entry point and the operation under various complicated situations. Confirmation of the path.
以下结合具体的使用场景，对本实用新型的一种骨科无创式三维定位系统的应用方法做详细说明：The following is a detailed description of the application method of an orthopedic non-invasive three-dimensional positioning system of the present invention in conjunction with specific usage scenarios:
具体来说，本实用新型的一种骨科无创式三维定位系统在使用过程中，是以X轴精密电动滚珠丝杠滑台Ⅰ5的方向为导针定位器X轴方向，Y轴精密电动滚珠丝杠滑台7方向为导针定位器Y轴方向，Z轴精密电动滚珠丝杠滑台8方向为导针定位器Z轴方向。Specifically, in the process of using the orthopaedic non-invasive three-dimensional positioning system of the present invention, the direction of the X-axis precision electric ball screw slide table I5 is the X-axis direction of the guide needle positioner, and the Y-axis precision electric ball screw The direction of the rod slide table 7 is the Y-axis direction of the needle guide positioner, and the direction of the Z-axis precision electric ball screw slide table 8 is the Z-axis direction of the guide needle positioner.
另外，精密电动蜗轮蜗杆旋转台Ⅰ9以Y轴方向为零值，读数为α，即导针于XOY平面的投影与X轴的角度；精密电动蜗轮蜗杆旋转台Ⅱ10，以XOY平面为零值，读数为β，即导针与XOY平面的夹角。In addition, the precision electric worm gear and worm rotary table I9 has a zero value in the Y-axis direction, and the reading is α, that is, the angle between the projection of the guide needle on the XOY plane and the X-axis; The reading is β, which is the angle between the guide pin and the XOY plane.
本系统设定可更换套筒12的轴心与套筒固定支架11的轴心的交点为导针定位点。若以各轴均处于零位时的导针定位点为原点构建三维坐标系，并记录该点为(x,y,z)。可更换套筒12的轴心与Z轴滑台丝杆34轴心的距离为L，X轴精密电动滚珠丝杠滑台Ⅰ5及X轴精密电动滚珠丝杠滑台Ⅱ6的位移为x'，Y轴精密电动滚珠丝杠滑台7的位移为y',Z轴精密电动滚珠丝杠滑台8的位移为z'。设定：x'＝x-L·cosα，y'＝y-L·sinα，z'＝z，则可实现以导针定位点为球心从空间中任一点指向任意方向。In this system, the intersection of the axis of the replaceable sleeve 12 and the axis of the sleeve fixing bracket 11 is set as the guide needle positioning point. If the positioning point of the guide needle when each axis is at the zero position is used as the origin to construct a three-dimensional coordinate system, and the point is recorded as (x, y, z). The distance between the axis of the replaceable sleeve 12 and the axis of the Z-axis slide screw 34 is L, the displacement of the X-axis precision electric ball screw slide I5 and the X-axis precision electric ball screw slide II6 is x', The displacement of the Y-axis precision electric ball screw slide table 7 is y', and the displacement of the Z-axis precision electric ball screw slide table 8 is z'. Setting: x'=x-L·cosα, y'=y-L·sinα, z'=z, then the positioning point of the guide needle can be used as the center of the sphere to point to any direction from any point in space.
当将导针定位器置于患侧手术床上时，C型臂三维电子罗盘2零位的x轴y轴方向与导针定位器的X轴Y轴方向一致，也就是说当其放置于Y轴滑台底座27(于本具体实施例中是借助设于Y轴滑台底座27侧边或底边的Y轴卡槽定位)时，即以XOY平面为零位平面，以Y轴方向为航向角零值。使用过程中，则是将C型臂三维电子罗盘2的底部粘贴于C型臂放射端顶部的C型臂三维电子罗盘卡槽，其Z轴即为C型臂3的中心投照线方向，其长短轴分别为C型臂三维电子罗盘2的X轴和Y轴。并且为减少误差，使用C型臂透视时均应使目标位置呈现于图像中心，即位于中心投照线上。When the guide needle positioner is placed on the affected side operating bed, the x-axis and y-axis directions of the zero position of the C-arm three-dimensional electronic compass 2 are consistent with the X-axis and Y-axis directions of the guide needle positioner, that is to say, when it is placed on the Y-axis When the axis slide base 27 (in this specific embodiment, it is positioned by means of the Y-axis slot provided on the side or bottom of the Y-axis slide base 27), the XOY plane is the zero plane, and the Y-axis direction is Heading angle zero value. During use, the bottom of the C-arm 3D electronic compass 2 is pasted to the C-arm 3D electronic compass slot on the top of the C-arm radiating end, and its Z axis is the direction of the center projection line of the C-arm 3. The long and short axes are respectively the X axis and the Y axis of the C-arm three-dimensional electronic compass 2 . And in order to reduce the error, when using the C-arm perspective, the target position should be presented in the center of the image, that is, on the center projection line.
归纳起来，本实用新型骨科无创式定位技术所应用的类型可分为如下三类：To sum up, the types of orthopedic non-invasive positioning technology of the present utility model can be divided into the following three categories:
1、使用实例场景1定位目标点；1. Use instance scene 1 to locate the target point;
目标：将塌陷的骨折块定位到导针定位器坐标系中；Objective: To locate the collapsed fracture fragment in the coordinate system of the guide wire locator;
该类型是如胫骨平台塌陷骨折、胫骨远端pillon骨折等需要瞄准的块状骨折。其特征是目标为一个点，以胫骨平台塌陷骨折为例。患肢消毒后通过专利号为201310614751.8，发明名称为的一种治疗四肢长管状骨骨折的快速复位器对患肢进行牵引，将导针定位器置于患侧手术床上并于可更换套筒12插入导针。This type is a mass fracture that requires targeting, such as tibial plateau collapse fractures, distal tibial pillon fractures, etc. It is characterized by the target being a point, as in the case of a collapsed fracture of the tibial plateau. After the affected limb is sterilized, the affected limb is distracted by a quick reducer for the treatment of long tubular bone fractures of the limbs with the patent number of 201310614751.8 and the name of the invention. Insert the guide pin.
通过使用C型臂3从任意角度照射X光，在其取得合适X光照射位置时，定义该位置为放射源1，通过C型臂三维电子罗盘2手动记录的俯仰角即其x'轴与XOY平面的夹角α'1，横滚角即其y'轴与XOY平面的夹角β'1，以及航向角即其x'轴方向于XOY平面的垂直投影与X轴方向的夹角γ'1。可算出C型臂3的中心投照线与导针定位器XYZ正半轴夹角的余弦值，分别为By using the C-arm 3 to irradiate X-rays from any angle, when a suitable X-ray irradiation position is obtained, the position is defined as the radiation source 1, and the pitch angle manually recorded by the C-arm three-dimensional electronic compass 2 is its x' axis and The included angle α'1 of the XOY plane, the roll angle is the angle β'1 between the y' axis and the XOY plane, and the heading angle is the angle γ between the vertical projection of the x' axis on the XOY plane and the X axis direction '1 . The cosine value of the angle between the center projection line of the C-shaped arm 3 and the positive half-axis XYZ of the guide needle positioner can be calculated, respectively:
计算过程如下：The calculation process is as follows:
1)建立坐初始标系，如图12所示，以点O为原点建立一个空间直角坐标系xyz(即C型臂三维电子罗盘2的俯仰角及横滚角为零时的坐标轴)及两个三维直角坐标轴XYz(即导针定位器的坐标轴)和x'y'z'(即C型臂三维电子罗盘2的坐标轴)。已知C型臂三维电子罗盘2的俯仰角为∠x'Ox即α'1，横滚角为∠A'OB'即β'1，航向角为∠IOG即γ'1。求z'正半轴与XYZ正半轴夹角的余弦值，即1) Establish an initial coordinate system, as shown in Figure 12, with point O as the origin to establish a space Cartesian coordinate system xyz (that is, the coordinate axis when the pitch angle and roll angle of the C-arm three-dimensional electronic compass 2 are zero) and Two three-dimensional Cartesian coordinate axes XYz (that is, the coordinate axes of the guide needle positioner) and x'y'z' (that is, the coordinate axes of the C-arm three-dimensional electronic compass 2). It is known that the pitch angle of the C-arm three-dimensional electronic compass 2 is ∠x'Ox, which is α'1 , the roll angle is ∠A'OB', which is β'1 , and the heading angle is ∠IOG, which is γ'1 . Find the cosine of the angle between the z' positive semi-axis and the XYZ positive semi-axis, that is
∠BAO＝∠AOD＝∠x'Ox＝α'1，设AB的单位长度为a，则BO＝atanα'1，∠BAO=∠AOD=∠x'Ox=α'1 , let the unit length of AB be a, then BO=atanα'1 ,
设∠EOG＝σ，∠HOE＝ε，则Suppose ∠EOG=σ, ∠HOE=ε, then
则but
cosφ＝cos∠HOY＝-cos(σ-γ)·cosε，cosφ=cos∠HOY=-cos(σ-γ)·cosε,
代入σ，ε可得Substitute into σ and ε to get
2)步骤1：通过遥控器调整(控制相应的同步电机旋转)导针定位点位置，并调整导针角度α及β使导针于X光图像上指向目标位置(即C型臂中心投照线上)，点击确认记录导针定位点坐标(x1,y1,z1)及可更换套筒方向α1、β1；2) Step 1: Use the remote control to adjust (control the rotation of the corresponding synchronous motor) the position of the guide needle positioning point, and adjust the guide needle angles α and β so that the guide needle points to the target position on the X-ray image (ie, the center of the C-arm is projected. online), click to confirm and record the coordinates of the guide needle positioning point (x1 , y1 , z1 ) and the directions of the replaceable sleeve α1 , β1 ;
步骤2:然后，改变导针定位点位置并使导针于X光图像上再次指向目标位置，点击确认记录导针定位点坐标(x2,y2,z2)及可更换套筒方向α2、β2。通过处理器运算即可得出目标点与放射源1的直线方程(详见下文)。Step 2: Then, change the position of the guide needle positioning point and make the guide needle point to the target position again on the X-ray image, click to confirm and record the guide needle positioning point coordinates (x2 , y2 , z2 ) and the direction of the replaceable sleeve α2 , β2 . The straight line equation between the target point and the radioactive source 1 can be obtained by the processor operation (see below for details).
步骤3：改变C型臂3的角度并再次照射X光，当取得合适位置时定义该位置为放射源2，并通过C型臂三维电子罗盘2手动记录C型臂三维电子罗盘2的俯仰角α'2，横滚角β'2，以及航向角γ'2。可算出C型臂3的中心投照线与导针定位器XYZ正半轴夹角的余弦值，分别为Step 3: Change the angle of the C-arm 3 and irradiate the X-ray again. When a suitable position is obtained, define the position as the radiation source 2, and manually record the pitch angle of the C-arm 3D electronic compass 2 through the C-arm 3D electronic compass 2 α'2 , roll angle β'2 , and heading angle γ'2 . The cosine value of the angle between the center projection line of the C-shaped arm 3 and the positive half-axis XYZ of the guide needle positioner can be calculated, respectively:
其推导过程同Its derivation process is the same as
步骤4：通过遥控器调整导针定位点位置，并调整导针角度α和β使导针于X光图像上指向目标位置，点击确认记录导针定位点坐标(x3,y3,z3)及可更换套筒方向α3、β3。通过处理器运算即可得出目标点的坐标(x4,y4,z4)。Step 4: Adjust the position of the guide needle positioning point through the remote control, and adjust the guide needle angles α and β to make the guide needle point to the target position on the X-ray image, click to confirm and record the guide needle positioning point coordinates (x3 , y3 , z3 ) and replaceable sleeve directions α3 , β3 . The coordinates of the target point (x4 , y4 , z4 ) can be obtained through processor operation.
计算过程如下：The calculation process is as follows:
如图13所示，以导针定位器各轴均处于零位时的导针定位点为原点即点O，以X轴精密电动滚珠丝杠滑台Ⅰ5的方向为X轴方向，Y轴精密电动滚珠丝杠滑台7方向为Y轴方向，Z轴精密电动滚珠丝杠滑台8方向为Z轴方向。建立空间直角坐标系。在空间中存在任意一点A(导针定位点)，已知点A的坐标为(x1,y1,z1)，点D为目标点，点M为直线B′D上任意一点，连结AM，直线AM与x,y,z正半轴的角度分别为δ1,η1,μ1，根据α1、β1可得出cosδ1＝cosα1·cosβ1，cosη1＝sinα1·cosβ1，cosμ1＝sinβ1。已知点G(导针定位点)的坐标为(x2,y2,z2)，点H为直线B′D上任意一点，连结GH，直线GH与x,y,z正半轴的角度分别为δ2,η2,μ2，根据α2、β2可得出cosδ2＝cosα2·cosβ2，cosη2＝sinα2·cosβ2，cosμ2＝sinβ2。放射源1即点B′分别对点G和点H作中心投影，在投影面xoy分别投射成点I和点M′；一个光源点B′分别对点A和点M作中心投影，在投影面xoy分别投射成点A′和点M′；线段AM′与线段IM′相交于点M′；连结投影线B′I,B′M′，形成一个平面B′IM′；连结投影线B′A′,B′M′，形成一个平面B′A′M′，投影线B′M′与x,y,z正半轴的角度分别为在平面B′IM′中，作过点G且平行于线段IM′的线段GH0，交投影线B′M′于点H0。在平面B′A′M′中，作过点A且平行于线段A′M′的线段AM0，交投影线B′M′于点M0。空间中存在任意一条直线EF，已知点E(导针定位点)的坐标为(x3,y3,z3)，且已知直线EF与x,y,z正半轴的角度分别为δ3,η3,μ3，根据α3、β3可得出cosδ3＝cosα3·cosβ3，cosη3＝sinα3·cosβ3，cosμ3＝sinβ3。放射源2即点B向线段EF作中心投影，连结BE,BF，形成一个平面BEF，且已知直线BD与x,y,z正半轴的角度分别为求证：直线B′M′与平面BEF的交点D的坐标。证明：若线段AM不平行于线段A′M′，则线段AM与线段A′M′的延长线，交于点N。如图14所示，则平面MNM′与平面xoy相交于直线NM′。在平面MNM′中，已知直线AM与x,y,z正半轴的角度分别为δ1,η1,μ1，则直线AM方向矢量的单位矢量为已知直线B′M′与x,y,z正半轴的角度分别为则直线B′M′方向矢量的单位矢量为直线AM和直线B′M′都在平面MNM′上，直线AM和直线B′M′相交，则通过点A(x1,y1,z1)且与平面MNM′的方位矢量平行的平面MNM′就被唯一地确定了。所以由平面的点位式方程得：As shown in Figure 13, take the guide needle positioning point when each axis of the guide needle positioner is in the zero position as the origin, namely point O, take the direction of the X-axis precision electric ball screw slide table I5 as the X-axis direction, and the Y-axis precision The direction of the electric ball screw slide table 7 is the Y-axis direction, and the Z-axis precision electric ball screw slide table 8 direction is the Z-axis direction. Establish a space Cartesian coordinate system. There is any point A (guide needle positioning point) in the space, the coordinates of the known point A are (x1 , y1 , z1 ), the point D is the target point, and the point M is any point on the straight line B'D. AM, the angles between the straight line AM and the positive semi-axes of x, y, z are δ1 , η1 , μ1 , respectively. According to α1 and β1 , it can be obtained that cosδ1 =cosα1 ·cosβ1 , cosη1 =sinα1 · cosβ1 , cosμ1 =sinβ1 . The coordinates of the known point G (guide needle positioning point) are (x2 , y2 , z2 ), the point H is any point on the straight line B'D, connecting GH, the straight line GH and the positive semi-axes of x, y, z The angles are δ2 , η2 , μ2 respectively. According to α2 and β2 , it can be obtained that cosδ2 =cosα2 ·cosβ2 , cosη2 =sinα2 ·cosβ2 , and cosμ2 =sinβ2 . Radiation source 1, that is, point B', makes a central projection to point G and point H, respectively, and projects point I and point M' on the projection surface xoy; a light source point B' makes a central projection to point A and point M, respectively, on the projection surface xoy. The plane xoy is projected into point A' and point M'respectively; the line segment AM' and the line segment IM' intersect at point M'; the projection lines B'I, B'M' are connected to form a plane B'IM'; the projection line B is connected 'A', B'M', forming a plane B'A'M', the angles of the projection line B'M' and the positive semi-axes of x, y, z are In the plane B'IM', a line segment GH0 passing through the point G and parallel to the line segment IM' intersects the projected line B'M' at the point H0 . In the plane B'A'M', draw a line segment AM0 passing through the point A and parallel to the line segment A'M', and intersecting the projected line B'M' at the point M0 . There is any straight line EF in the space, the coordinates of the known point E (guide needle positioning point) are (x3 , y3 , z3 ), and the angles between the known straight line EF and the positive semi-axes of x, y, and z are respectively δ3 , η3 , μ3 , according to α3 and β3 , cosδ3 =cosα3 ·cosβ3 , cosη3 =sinα3 ·cosβ3 , and cosμ3 =sinβ3 . Radiation source 2, that is, point B, is projected to the line segment EF, connecting BE and BF to form a plane BEF, and the angles between the known straight line BD and the positive semi-axes of x, y, and z are Prove: The coordinates of the intersection point D of the straight line B'M' and the plane BEF. Prove: If the line segment AM is not parallel to the line segment A'M', then the extension line of the line segment AM and the line segment A'M' intersects at the point N. As shown in Fig. 14, the plane MNM' and the plane xoy intersect on the straight line NM'. In the plane MNM′, it is known that the angles of the straight line AM and the positive semi-axes of x, y, z are δ1 , η1 , μ1 respectively, then the unit vector of the direction vector of the straight line AM is It is known that the angles between the straight line B'M' and the positive semi-axes of x, y, and z are Then the unit vector of the direction vector of the straight line B'M' is The straight line AM and the straight line B'M' are both on the plane MNM', the straight line AM and the straight line B'M' intersect, then the azimuth vector passing through the point A(x1 , y1 , z1 ) and the plane MNM' The parallel plane MNM' is uniquely determined. So from the point equation of the plane we get:
解这个行列式，得出平面MNM′的一般方程式：Solving this determinant yields the general equation for the plane MNM':
若线段AM0平行于线段A′M′，如图15所示：If the line segment AM0 is parallel to the line segment A'M', as shown in Figure 15:
则平面B′A′M′与平面xoy相交于直线A′M′。已知直线AM0在平面B′A′M′中，且直线AM0与x,y,z正半轴的角度分别为δ1,η1,μ1，则直线AM0方向矢量的单位矢量为已知直线B′M′与x,y,z正半轴的角度分别为则直线B′M′方向矢量的单位矢量为直线AM0和直线B′M′都在平面B′A′M′上，直线AM0和直线B′M′相交于点M0，则通过点A(x1,y1,z1)且与平面B′A′M′的方位矢量平行的平面B′A′M′就被唯一地确定了。所以由平面的点位式方程得：Then the plane B'A'M' and the plane xoy intersect on the straight line A'M'. It is known that the straight line AM0 is in the plane B'A'M', and the angles of the straight line AM0 and the positive semi-axes of x, y, z are δ1 , η1 , μ1 respectively, then the unit vector of the direction vector of the straight line AM0 for It is known that the angles between the straight line B'M' and the positive semi-axes of x, y and z are Then the unit vector of the direction vector of the straight line B'M' is The straight line AM0 and the straight line B'M' are both on the plane B'A'M', the straight line AM0 and the straight line B'M' intersect at the point M0 , then through the point A (x1 , y1 , z1 ) and Bearing vector with plane B'A'M' The parallel planes B'A'M' are uniquely determined. So from the point equation of the plane we get:
解这个行列式，得出平面B′A′M′的一般方程式：Solving this determinant yields the general equation for the plane B'A'M':
所以，线段AM不平行于或者平行于线段A′M′，平面B′A′M′的一般方程式相同。 Therefore, the line segment AM is not parallel or parallel to the line segment A'M', and the general equation of the plane B'A'M' is the same.
平面xoy的一般方程式：z＝0。General equation for plane xoy: z=0.
平面B′A′M′与平面xoy的一般方程式联立得出直线A′M′的方程式：The general equation of the plane B'A'M' and the plane xoy can be combined to obtain the equation of the straight line A'M':
同理可得，平面B′IM′的点位式方程：In the same way, the point position equation of the plane B'IM' can be obtained:
解这个行列式，得出平面B′IM′的一般方程式：Solving this determinant yields the general equation for the plane B'IM':
平面xoy的一般方程式：z＝0。 General equation for plane xoy: z=0.
平面B′IM′与平面xoy的一般方程式联立得出直线IM′的方程式：Simultaneously with the general equations of the plane xoy and the plane B'IM', the equation of the straight line IM' is obtained:
在平面xoy中，直线A′M′与直线IM′相交于点M′，则方程联立:In the plane xoy, the straight line A'M' and the straight line IM' intersect at the point M', then the equations are simultaneous:
解得:Solutions have to:
其中，in,
所以在空间直角坐标系，点M′的坐标为:So in the space Cartesian coordinate system, the coordinates of the point M' are:
在直线B′M′上，已知直线B′M′方向矢量的单位矢量为和直线B′M′上的点M′的坐标，则直线B′M′的参数方程为(即目标点与放射源的直线方程)On the straight line B'M', the unit vector of the direction vector of the known straight line B'M' is and the coordinates of the point M' on the straight line B'M', then the parametric equation of the straight line B'M' is (that is, the straight line equation between the target point and the radioactive source)
设2个参数：Set 2 parameters:
已知直线EF与x,y,z正半轴的角度分别为δ3,η3,μ3，则直线EF方向矢量的单位矢量为已知直线BD与x,y,z正半轴的角度分别为则直线BD方向矢量的单位矢量为直线EF和直线BD都在平面BEF上，直线EF与直线BD相交，则通过点E(x3,y3,z3)且与平面BEF的方位矢量平行的平面BEF就被唯一地确定了。所以由平面的点位式方程得：It is known that the angles between the straight line EF and the positive semi-axes of x, y and z are δ3 , η3 , μ3 respectively, then the unit vector of the direction vector of the straight line EF is It is known that the angles between the straight line BD and the positive semi-axes of x, y and z are Then the unit vector of the direction vector of the straight line BD is The straight line EF and the straight line BD are both on the plane BEF, and the straight line EF intersects the straight line BD, then the azimuth vector passing through the point E(x3 , y3 , z3 ) and the plane BEF The parallel plane BEF is uniquely determined. So from the point equation of the plane we get:
解这个行列式，得出平面BEF的一般方程式：Solving this determinant yields the general equation for the plane BEF:
最后，由直线B′M′的参数方程为 Finally, the parametric equation of the straight line B'M' is
和平面BEF的一般方程式： and the general equation for the plane BEF:
求点D的坐标就是求直线B′M′与平面BEF的交点。这两个方程联立，解得：To find the coordinates of point D is to find the intersection of the straight line B'M' and the plane BEF. These two equations are solved simultaneously to get:
所以点D即目标点的坐标为:So the coordinates of point D, the target point, are:
即：which is:
定位后：After positioning:
通过调整导针定位点坐标(x,y,z)，使可更换套筒12达到理想位置。By adjusting the coordinates (x, y, z) of the positioning point of the guide needle, the replaceable sleeve 12 can reach the desired position.
设定set up
则使调整过程中可更换套筒12时时瞄准目标点，在对目标点的定位中可采用激光测距仪照射进针点即可确定手术路径。In the adjustment process, the replaceable sleeve 12 can always aim at the target point, and in the positioning of the target point, the laser rangefinder can be used to irradiate the needle insertion point to determine the operation path.
2、使用实例场景2：定位狭窄的骨性通道，2. Use Case Scenario 2: Locating a narrow bony channel,
主要适用于骶髂螺钉、髋臼前柱骨折螺钉内固定、椎弓根钉及髓内钉远端锁定钉等具有明确且狭窄的骨性通道或金属通道(也就是说使用的其目标是：线状目标通道)。It is mainly used for sacroiliac screws, internal fixation of acetabular anterior column fracture screws, pedicle screws and distal locking nails of intramedullary nails with clear and narrow bony channels or metal channels (that is to say, the goals of use are: linear target channel).
以骶髂螺钉为例。采用本实用新型的骨科无创式三维定位方法时，可于患侧固定挡手板并将导针定位器置于患侧术床及挡手板上。使用C型臂3从骶1椎弓根轴位(即骨性通道的轴位)照射X光，此时骶髂螺钉的骨性通道呈圆形，通过C型臂三维电子罗盘2记录C型臂三维电子罗盘2的俯仰角α'，横滚角β'，以及航向角γ'。可算出C型臂3的中心投照线与导针定位器XYZ正半轴夹角的余弦值，分别为Take the sacroiliac screw as an example. When the orthopaedic non-invasive three-dimensional positioning method of the utility model is adopted, the baffle hand plate can be fixed on the affected side, and the guide needle locator can be placed on the affected side operating bed and the hand baffle plate. Use the C-arm 3 to irradiate X-rays from the axis of the sacral 1 pedicle (that is, the axial view of the bony channel), at this time, the bony channel of the sacroiliac screw is circular, and record the C-type through the C-arm 3D electronic compass 2 The pitch angle α', the roll angle β', and the heading angle γ' of the arm three-dimensional electronic compass 2. The cosine value of the angle between the center projection line of the C-shaped arm 3 and the positive half-axis XYZ of the guide needle positioner can be calculated, respectively:
通过遥控器调整导针定位点位置，并调整导针角度α及β使导针于X光图像上指向目标位置(即C型臂中心投照线上)，点击确认记录导针定位点坐标(x1,y1,z1)及可更换套筒方向α1、β1；改变导针定位点位置并使导针再次指向目标位置，点击确认记录导针定位点坐标(x2,y2,z2)及可更换套筒方向α2、β2。通过处理器运算即可得出椎弓根骨性通道的轴线的直线方程为：Use the remote control to adjust the position of the guide needle positioning point, and adjust the guide needle angles α and β to make the guide needle point to the target position on the X-ray image (ie, the center projection line of the C-arm), click Confirm to record the guide needle positioning point coordinates ( x1 , y1 , z1 ) and replaceable sleeve directions α1 , β1 ; change the position of the guide needle positioning point and make the guide needle point to the target position again, click Confirm to record the guide needle positioning point coordinates (x2 , y2 , z2 ) and replaceable sleeve directions α2 , β2 . The linear equation of the axis of the pedicle bony channel can be obtained by the processor operation as:
其中in
cosδ1＝cosα1·cosβ1 cosδ2＝cosα2·cosβ2cosδ1 =cosα1 ·cosβ1 cosδ2 =cosα2 ·cosβ2
cosη1＝sinα1·cosβ1，cosη2＝sinα2·cosβ2cosη1 =sinα1 ·cosβ1 , cosη2 =sinα2 ·cosβ2
cosμ1＝sinβ1 cosμ2＝sinβ2cosμ1 =sinβ1 cosμ2 =sinβ2
推导方法同实例场景1The derivation method is the same as the example scenario 1
得到该直线方程后，于处理系统中，设定β＝90°-θ。则使可更换套筒12的轴线与椎弓根骨性通道的轴线重合。调整t值，使可更换套筒12沿椎弓根骨性通道的轴线移动至体表即可。After obtaining the straight line equation, in the processing system, set β=90°-θ. The axis of the replaceable sleeve 12 is then made to coincide with the axis of the bony channel of the pedicle. The t value is adjusted so that the replaceable sleeve 12 can be moved to the body surface along the axis of the pedicle bony channel.
使用实例场景3：定位较粗的骨性通道(目标：是定位通道的两个端点)；Use Case Scenario 3: Locate the thicker bony channel (target: is to locate the two endpoints of the channel);
可以股骨颈骨折为例，已知螺钉预期位置的远端及近端，而需要设定手术路径。Taking a femoral neck fracture as an example, the distal and proximal ends of the expected screw positions are known, and the surgical path needs to be set.
此时可采用本实用新型的系统及方法，通过重复采用实例场景1的使用方法分别测定出螺钉预期位置的远端及近端的坐标从而得到手术路径。At this time, the system and method of the present invention can be used, and the operation path can be obtained by repeatedly measuring the coordinates of the distal end and the proximal end of the expected position of the screw by repeatedly using the use method of the example scenario 1.
为了实现定位及操作的精确化，如图16所示，在本实用新型的另一具体实施例中，可在上述实施例的结构加入激光测距组件，并请参阅图17-19，本实用新型在该具体实施例中，借助该激光测距组件，在对目标点的定位中采用激光测距仪照射进针点，自动使可更换套筒的轴线与该直线重合，且可更换套筒头端沿该直线移动至进针点即贴近体表，即确定手术路径。In order to achieve precise positioning and operation, as shown in FIG. 16 , in another specific embodiment of the present invention, a laser ranging component can be added to the structure of the above-mentioned embodiment, and please refer to FIGS. 17-19 . In this specific embodiment, with the aid of the laser distance measuring assembly, a laser distance meter is used to irradiate the needle entry point in the positioning of the target point, so that the axis of the replaceable sleeve is automatically coincident with the straight line, and the replaceable sleeve is The head end moves along the straight line to the needle insertion point, that is, it is close to the body surface, and the surgical path is determined.
本具体实施例中，该系统用于照射进针点的激光测距仪包括：定位器球形云台底座181，定位器球形云台182，定位器球形云台球形卡槽183，定位器球形云台锁定杆184，激光测距三维电子罗盘185，球形云台测距模块186。其中，球形云台激光测距组件的球形云台底座固定于Z轴精密电动滚珠丝杠滑台上端，其可通过球形云台使激光测距模块指向任意方向，并通过激光测距三维电子罗盘获取其空间方向，激光测距模块内装有镭射光源，在获取定位点坐标后，照射至体表理想进针点后测取距离，并记录激光测距三维电子罗盘空间方向，借此可得出进针点的空间坐标，从而得到两点所在直线，并自动使可更换套筒的轴线与该直线重合，且可更换套筒头端沿该直线移动至进针点即贴近体表，即获得手术路径。In this specific embodiment, the laser rangefinder used by the system for illuminating the needle entry point includes: the base 181 of the spherical head of the positioner, the spherical head 182 of the positioner, the spherical slot 183 of the ball of the positioner, the spherical cloud of the positioner The stage locking lever 184 , the three-dimensional electronic compass 185 for laser ranging, and the spherical pan/tilt ranging module 186 . Among them, the spherical pan-tilt base of the spherical pan-tilt laser ranging assembly is fixed on the upper end of the Z-axis precision electric ball screw slide table, which can make the laser ranging module point in any direction through the spherical pan-tilt, and use the laser ranging three-dimensional electronic compass To obtain its spatial direction, the laser ranging module is equipped with a laser light source. After obtaining the coordinates of the positioning point, it is irradiated to the ideal needle entry point on the body surface to measure the distance, and the three-dimensional electronic compass spatial direction of the laser ranging is recorded. The space coordinates of the needle entry point, so as to obtain the straight line where the two points are located, and automatically make the axis of the replaceable sleeve coincide with the straight line, and the head end of the replaceable sleeve moves along the straight line to the needle entry point, that is, it is close to the body surface. surgical path.
以上实施例仅用以说明本实用新型的技术方案而非对其限制，尽管参照上述实施例对本实用新型进行了详细的说明，所属领域的普通技术人员应当理解，依然可以对本实用新型的具体实施方式进行修改或者等同替换，而未脱离本实用新型精神和范围的任何修改或者等同替换，其均应涵盖在本实用新型的权利要求范围当中。The above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that the specific implementation of the present invention is still possible. Any modification or equivalent replacement without departing from the spirit and scope of the present invention shall be included in the scope of the claims of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820281886.5UCN209018975U (en) | 2018-02-28 | 2018-02-28 | Orthopaedics non-invasive guide pin three-dimensional localization guidance system |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820281886.5UCN209018975U (en) | 2018-02-28 | 2018-02-28 | Orthopaedics non-invasive guide pin three-dimensional localization guidance system |
| Publication Number | Publication Date |
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| CN209018975Utrue CN209018975U (en) | 2019-06-25 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820281886.5UActiveCN209018975U (en) | 2018-02-28 | 2018-02-28 | Orthopaedics non-invasive guide pin three-dimensional localization guidance system |
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| CN (1) | CN209018975U (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108403219A (en)* | 2018-02-28 | 2018-08-17 | 河北医科大学第三医院 | Orthopaedics non-invasive guide pin three-dimensional localization guidance method and guidance system |
| CN110946754A (en)* | 2020-01-07 | 2020-04-03 | 湖南中医药大学 | A needle insertion device for precise acupoint selection using X-rays |
| CN112244977A (en)* | 2020-10-22 | 2021-01-22 | 刘磊 | Auxiliary device for aiming of intramedullary ultrasonic locking nail for orthopedics department |
| CN112545630A (en)* | 2020-11-11 | 2021-03-26 | 重庆市中医骨科医院 | Tibial intramedullary nail needle insertion point positioning device |
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108403219A (en)* | 2018-02-28 | 2018-08-17 | 河北医科大学第三医院 | Orthopaedics non-invasive guide pin three-dimensional localization guidance method and guidance system |
| CN108403219B (en)* | 2018-02-28 | 2024-06-14 | 河北医科大学第三医院 | Three-dimensional positioning and guiding method and guiding system for noninvasive guide needle of orthopedics department |
| CN110946754A (en)* | 2020-01-07 | 2020-04-03 | 湖南中医药大学 | A needle insertion device for precise acupoint selection using X-rays |
| CN110946754B (en)* | 2020-01-07 | 2022-04-15 | 湖南中医药大学 | Needle inserting device for accurately locating acupuncture point by utilizing X-ray |
| CN112244977A (en)* | 2020-10-22 | 2021-01-22 | 刘磊 | Auxiliary device for aiming of intramedullary ultrasonic locking nail for orthopedics department |
| CN112244977B (en)* | 2020-10-22 | 2022-03-15 | 刘磊 | Auxiliary device for aiming of intramedullary ultrasonic locking nail for orthopedics department |
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| GR01 | Patent grant | ||
| GR01 | Patent grant |