CN102085119A - Navigation equipment for femoral medullary cavity cutting operation by femoral myelocavity file - Google Patents

Navigation equipment for femoral medullary cavity cutting operation by femoral myelocavity file Download PDF

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Publication number
CN102085119A
CN102085119A CN201110054194XA CN201110054194A CN102085119A CN 102085119 A CN102085119 A CN 102085119A CN 201110054194X A CN201110054194X A CN 201110054194XA CN 201110054194 A CN201110054194 A CN 201110054194A CN 102085119 A CN102085119 A CN 102085119A
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China
Prior art keywords
femoral
centrage
pulp cavity
cavity
guide passage
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Granted
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CN201110054194XA
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Chinese (zh)
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CN102085119B (en
Inventor
马如宇
王杰
张永康
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Jiangsu University
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Jiangsu University
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Publication of CN102085119B publication Critical patent/CN102085119B/en
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Abstract

The invention relates to navigation equipment for a femoral medullary cavity cutting operation by a femoral myelocavity file, comprising an acquisition unit (1), a central control unit (2), a display unit (3), a button keyboard (4), a positioning board (5) and a probe (6), wherein the central control unit (2) is respectively connected with the acquisition unit (3), the display unit (3) and the button keyboard (4); the central control unit (2) controls the acquisition unit (1) to sample point position information and work out a cutting guide passage; three sampling points (501, 502, 503) are arranged on the positioning board (5) and form three vertices of a right triangle; two sampling points (1201, 1202) are arranged on the center line of the back end (12) of the probe (6); and two sampling points (1501, 1502) are arranged on the center line of a guide rod (15) of a driver-extractor of the femoral myelocavity file. The equipment can determine the relative position relation between the center line of a femoral medullary cavity and the center line of a femoral myelocavity file cutting guide passage, thereby improving the success rate in implantation of femoral stem prosthesis once.

Description

A kind of navigator that is used for the operation of pulp cavity file cutting femoral cavity
Technical field
The present invention relates to a kind of medical navigator, especially a kind of navigator that is used for hip replacement surgery process pulp cavity file cutting femoral cavity.
Background technology
In human hip replacement operation process, need to adopt pulp cavity file excision near end of thighbone base of nebk ot femur place's part spongy bone so that implant the femoral hip stem prosthese.In the hip replacement surgery that adopts customization type type femoral bone end prosthesis, require femoral hip stem prosthese and the closely connected as much as possible coupling of patient's femoral cavity, therefore, when processing a customization type type femoral bone end prosthesis, can customize out a corresponding pulp cavity file simultaneously, be used to cut the near end of thighbone spongy bone, this pulp cavity file matching area is slightly less than the corresponding matching area of type femoral bone end prosthesis, like this, can reach the closely connected of type femoral bone end prosthesis and patient's pulp cavity by the remaining spongy bone of extruding operation.At present, in the hip replacement surgery process, operative doctor is determined the cutting guide passage of pulp cavity file fully by rule of thumb.In some hip replacement surgeries, because the deviation of pulp cavity file cutting guide passage centrage and patient's femoral cavity centrage causes type femoral bone end prosthesis to implant and puts in place, even causes patient's femur bone splits phenomenon.Can't implant when putting in place when prosthese, need take the X-ray sheet to operative site usually and determine the stuck situation of type femoral bone end prosthesis, this has not only increased operating time greatly, and makes the patient suffer the radiation injury of X-ray once more.Take out the type femoral bone end prosthesis that blocks subsequently, again according to the type femoral bone end prosthesis blocking case, patient's near end of thighbone part spongy bone rasp away again so that implanted femur handle prosthese, this can reduce the matching degree between near end of thighbone pulp cavity and the femoral hip stem prosthese greatly, increase the loosening in early days risk of type femoral bone end prosthesis simultaneously, be unfavorable for the rehabilitation of patient's postoperative.
Summary of the invention
The object of the present invention is to provide a kind of assisting operation doctor to determine pulp cavity file cutting guide passage, guarantee the matching degree of customization type type femoral bone end prosthesis and patient's pulp cavity, improve the cutting navigator of the one-time success rate of femoral hip stem prosthese implantation.
A kind of technical scheme that is used for the navigator of pulp cavity file cutting femoral cavity operation is: comprise collecting unit, central control unit, display unit, button keyboard, location-plate and probe; This central control unit respectively with the collecting unit that is used for sampling point position information, be used to show that the display unit of guide passage links to each other with the button keyboard that is used to control, this central control unit control collecting unit sampling point position information also calculates the cutting guide passage; Described location-plate is provided with three sampled points, leg-of-mutton three summits of sampled point form right angle; The rear end centrage of probe is provided with two sampled points; Pulp cavity file injection-drawing out device center of pilot line is provided with two sampled points.
Collecting unit of the present invention is made up of contact, contact shoe, lever arm, angular transducer and pedestal, and described contact is a spheroid, is fixed on the contact shoe; Adopt revolute pair to be connected respectively between contact shoe and the lever arm, between the lever arm and between lever arm and the pedestal, each revolute pair junction is provided with angular transducer.
9 buttons are arranged on the button keyboard of the present invention, and wherein two buttons are used for respectively sending and refresh femoral cavity centrage and the instruction of pulp cavity file cutting guide passage centrage that shows on the display unit 3, and other seven buttons are respectively applied for the store sample dot position information.
Sampled point on two sampled points on three sampled points on the location-plate of the present invention, the probe and the pulp cavity file injection-drawing out device guide rod all is a hemispherical groove, and this groove diameter is identical with contact diameter.
As a further improvement on the present invention: it is contactless collection positioning equipment that collecting unit adopts laser, infrared ray or ultrasonic equipment.
Beneficial effect of the present invention: determine spatial coordinate system by the groove on collecting unit and the location-plate, determine patient's femoral bone cavitas medullaris centrage by the groove on the probe, thereby determine medullary cavity centrage and pulp cavity file cutting guide passage centrage relative position relation, and by adjusting pulp cavity file cutting guide passage, cutting guide passage centrage is coincided with patient's femoral bone cavitas medullaris centrage as far as possible, improve type femoral bone end prosthesis and once be implanted to power.
Description of drawings
Fig. 1 is the navigator sketch map of pulp cavity file cutting femoral cavity operation;
Fig. 2 is the collecting unit structural representation;
Fig. 3 is the location-plate structural representation;
Fig. 4 is the probe structural representation;
Fig. 5 is probe up-sampling dot center place's cross section structure sketch map;
Fig. 6 is for improving back pulp cavity file injection-drawing out device structural representation;
Fig. 7 is for improving back pulp chamber bur structural representation;
Wherein: 1-collecting unit, 2-central control unit, 3-display unit, 4-button keyboard, 5-location-plate, 6-probe, 7-contact, 8-contact shoe, 9-lever arm, 10-angular transducer, 11-pedestal, 12-rear end; The 13-front end, 14-baffle plate, 15-guide rod, 16-pounder, the outer boom of 17-, 18-on and off switch, 19-pulp chamber bur shell, 20-drill bit.
The specific embodiment
Illustrate below in conjunction with accompanying drawing Dui Zuo Jin of the present invention Yi Walk:
The sketch map of the navigator of a kind of pulp cavity file cutting femoral cavity operation mainly comprises: collecting unit 1, central control unit 2, display unit 3, button keyboard 4 as shown in Figure 1; The collecting unit 1 that is used for sampling point position information links to each other with central control unit 2, central control unit 2 be used to show that the display unit 3 of guide passage links to each other respectively with the button keyboard 4 that is used to control, central control unit 2 control collecting unit 1 sampling point position information also calculate the cutting guide passage.Collecting unit 1 is made up of mechanical arm, as shown in Figure 2, mainly is made up of contact 7, contact shoe 8, lever arm 9, angular transducer 10 and pedestal 11, and wherein contact 7 is a spheroid, is fixed on the contact shoe 8.Between contact shoe 8 and the lever arm 9, adopt revolute pair to be connected between the lever arm 9 and between lever arm 9 and the pedestal 11, all be provided with angular transducer 10 in each revolute pair junction, in order to measure the angle between each transmission vice division chief adjacent members.
Navigator also has the location-plate 5 as adnexa, as shown in Figure 3, three installing holes 504,505 and 506 is arranged on the location-plate 5, with nail location-plate 5 is fixed on patient's femoral greater trochanter place in the operation, and location-plate 5 should be roughly vertical with patient's femur centrage.In addition, location-plate 5 is provided with three sampled points 501,502 and 503, and sampled point is hemispherical groove, and its diameter equals the diameter of contact 7.Can construct local coordinate system by these three sampled points 501,502 and 503, sampled point 501 is a zero, and sampled point 502 is a bit on the local coordinate system X-axis, and sampled point 503 is a bit on the local coordinate system Y-axis, and Z-direction is determined according to the right-hand rule.Because location-plate 5 is fixed on patient's femur, even if change has taken place patient's leg position in the operation, the situation of patient's femoral cavity centrage in this local coordinate system can not change.
Navigator also has the probe 6 as adnexa, as shown in Figure 4, mainly constitute by rear end 12 and front end 13, the rear end 12 of probe 6 and front end 13 adopt thread connection, one groove is arranged on the rear end 12, and groove has two sampled points 1201 and 1202, and sampled point is a hemispherical groove, groove diameter is identical with the diameter of contact 7, and sampled point 1201 and 1202 center cross sectional shapes are as shown in Figure 5.When definite patient's femoral cavity centrage, the front end 13 of probe 6 will be inserted into patient's femoral cavity, by gathering the positional information of sampled point 1201 and 1202, constitute straight line by these 2 again, and this straight line is patient's femoral cavity centrage just.
As shown in Figure 6, pulp cavity file injection-drawing out device is installed in pulp cavity file rear, form by baffle plate 14, guide rod 15 and pounder 16 3 parts, be provided with two sampled points 1501 and 1502 in the guide rod 15, sampled point is a hemispherical groove, sampled point 1501 is identical with 1202 center cross sectional shapes with probe 6 up-sampling points 1201 with 1502 center cross sectional shapes, and groove diameter is also identical with contact 7 diameters.By gathering sampled point 1501 and 1502 positional informationes, constitute straight line by these 2 again, this straight line just is current pulp cavity file cutting guide passage centrage.
Central control unit 2 is accepted respectively to rotate the angle signal that vice division chief's angular transducer 10 transmits from collecting unit 1, handle these angle signals, and calculate the D coordinates value of 7 centers, contact with respect to pedestal 11 centers according to contact shoe 8, lever arm 9 and pedestal 11 each several part sizes, judge current contact sampled point of living in according to operational order.One have seven sampled points in the present embodiment: 3 sampled points on the location- plate 5,2 sampled points on 2 sampled points and the pulp cavity file injection-drawing out device center of pilot line on probe 6 centrages.Central control unit 2 requires the current sampling point positional information according to operational order, and just current sampling point stores corresponding dot position information memory space into respect to the D coordinates value of pedestal 11 centers.When receiving, central control unit 2 refreshes femoral cavity centrage when instruction, central control unit 2 is according to local coordinate system of 3 sampling point position information architectures on the location-plate 5 of storage, again according to 2 sampling point position information on probe 6 centrages of storage, in this local coordinate system, construct a straight line as mimic patient's femur centrage, and mimic patient's femoral cavity centrage is sent to display unit 3 at the situation and the projection information on three coordinate surfaces of local coordinate system of local coordinate system.When central control unit 2 receives when refreshing the instruction of pulp cavity file cutting guide passage centrage, same central control unit 2 is according to local coordinate system of 3 sampling point position information architectures on the location-plate of storage, positional information according to two sampled points 1501 on pulp cavity file injection-drawing out device guide rod 15 centrages of storage and 1502 constructs a straight line as mimic pulp cavity file cutting guide passage centrage in local coordinate system again, and mimic pulp cavity file cutting guide passage centrage is sent to display unit 3 in the situation of local coordinate system and the projection information on three coordinate surfaces of local coordinate system.Display unit 3 is accepted patient's femoral cavity centrage and the pulp cavity file cutting guide passage position of center line information that central control unit 2 transmits, projection situation on local coordinate system and three coordinate surfaces of local coordinate shows with patient's femoral cavity centrage and pulp cavity file cutting guide passage centrage, for the operative doctor reference, adjust pulp cavity file cutting guide passage with the assisting operation doctor, pulp cavity file cutting guide passage centrage is overlapped as far as possible with patient's femoral cavity centrage, improve the one-time success rate that prosthese is implanted.9 buttons are arranged on the button keyboard 4, except that being used for respectively sending, refresh the femoral cavity centrage and the instruction of pulp cavity file cutting guide passage centrage that shows on the display unit 3 by two buttons, the signal that all the other 7 buttons send is passed to central control unit 2, be used for determining current contact 7 present positions respectively, these 7 buttons corresponding respectively three sampled points 501 on the location-plate 5,502 and 503, two sampled points 1201 on probe 6 centrages and 1202, and two sampled points 1501 on pulp cavity file injection-drawing out device guide rod 15 centrages and 1502, central control unit 2 will store current contact centre coordinate value in the corresponding sample point coordinate value memory space into.
The work process and the principle of cutting navigator are: in the hip replacement surgery process, when osteotomy is finished, after exposing patient's femoral cavity, location-plate 5 is fixed on patient's femoral greater trochanter place, and the front end 13 of probe 6 stretched in patient's femoral cavity, utilize contact 7 touchings to gather three sampled points 501 of location-plate 5,502 and 503, and two sampled points 1201 on the rear end 12 of probe 6 and 1202 D coordinates value with respect to pedestal 11 centers, by 5 three sampled points 501 of location-plate, 502 and 503 coordinate figures constitute a local coordinate system, construct patient's femoral cavity centrage by sampled point 1201 and 1202, knock femur centrage refresh button on the button keyboard 4, demonstrating patient's femoral cavity centrage projection situation in local coordinate system and in three coordinate surfaces of local coordinate system on the display unit 3.Take out probe 6, in patient's femoral cavity, put into the pulp cavity file that is connecting injection-drawing out device, utilize the contact touching on the collecting unit 1 to gather 5 three sampled points 501 of location-plate, 502 and 503, and two sampled points 1501 on the injection-drawing out device guide rod 15 and 1502 D coordinates value with respect to pedestal 11 centers are (if patient's shank moves, sampled point 501,502 and 503 positional informationes can not gathered), equally by 5 three sampled points 501 of location-plate, 502 and 503 coordinate figures constitute local coordinate system, construct pulp cavity file cutting guide passage centrage by sampled point 1501 and 1502, knock pulp cavity file cutting guide passage centrage refresh button on the button keyboard 4, demonstrating pulp cavity file cutting guide passage centrage projection situation in local coordinate system and in three coordinate surfaces of local coordinate system on the display unit 3.Operative doctor according to the femoral cavity centrage that demonstrates on the display unit 3 and pulp cavity file guide passage centrage local coordinate system and in local coordinate system the projection situation judge, if necessary, adjust pulp cavity file cutting guide passage, again gather 2 up-sampling points 1501 on the injection-drawing out device guide rod 15 and 1502 D coordinates value (if patient's leg position is moved with respect to pedestal 11 centers, also to gather sampled point 501,502 and 503 positional informationes), knock pulp cavity file cutting guide passage centrage refresh button on the button keyboard 4, pulp cavity file cutting guide passage centrage and projection in three coordinate surfaces of local coordinate system on display unit 3 in the update displayed local coordinate system.Overlap as much as possible until femoral cavity centrage that demonstrates and pulp cavity file guide passage centrage, demonstrate on the display unit 3 till the prompting that can cut, at this moment operative doctor just can be relievedly with pulp cavity file cutting patient femur spongiosa osteoplaque.
Further improvement as embodiment, the outer boom 17 of employing at the pulp chamber bur rear substitutes probe 6 and determines patient's femoral cavity centrage, as shown in Figure 7, outer boom 17 is fixed on the pulp chamber bur housing 19, be a half-round bar spare, outer boom centrage and pulp chamber bur central lines, there are two sampled points 1701 and 1702 in outer boom 17 centers, these two sampled points are hemispherical groove, and groove diameter equals upper contact 7 diameters.In hip replacement surgery, after osteotomy is finished, location-plate 5 is fixed on patient's femoral greater trochanter place, at this moment adopt pulp chamber bur that patient's femoral cavity is expanded marrow, after the expansion marrow is finished, directly gather outer boom 17 center sampled points 1701,1702 and location-plate 5 on three sampling point position information, at this moment sampled point 1701 and 1702 line are patient's femoral cavity centrage, so just construct patient's femoral cavity centrage by sampled point 1701 and 1702 positional informationes, sampled point 1701,1702 and location-plate on three sampling point position information gatherings become after, withdraw from pulp chamber bur, the operating procedure of back is identical with embodiment.
As the further improvement of embodiment, collecting unit 1 can adopt equipment such as laser, infrared ray or ultrasound wave as contactless collection positioning equipment, obtains the sampling point position coordinate information by the noncontact mode; The point position signalling that central control unit 2 main acceptance are transmitted from dot position information collecting unit 1, according to the operational order requirement, the point location coordinate information that processing receives, analyze the relative position relation of patient's femoral bone cavitas medullaris centrage and current pulp cavity file cutting guide passage centrage, and patient's femoral bone cavitas medullaris centrage that analyzes and the relative position relation information that current pulp cavity file cuts the guide passage centrage are sent to display device 3; Display device 3 is filed the relative position relation information of cutting the guide passage centrage according to patient's femoral bone cavitas medullaris centrage and current pulp cavity that central control unit 2 sends, adopt the mode of video demonstration or voice suggestion or text prompt, patient's femoral bone cavitas medullaris centrage and current pulp cavity file cutting guide passage centrage relative position relation are embodied, for the operative doctor reference.

Claims (5)

1. a navigator that is used for the operation of pulp cavity file cutting femoral cavity comprises collecting unit (1), central control unit (2), display unit (3), button keyboard (4), location-plate (5) and probe (6); It is characterized in that: described central control unit (2) respectively with the collecting unit that is used for sampling point position information (1), be used to show that the display unit (3) of guide passage links to each other with the button keyboard that is used to control (4), this central control unit (2) control collecting unit (1) sampling point position information also calculates the cutting guide passage; Described location-plate (5) is provided with three sampled points (501,502,503), leg-of-mutton three summits of sampled point form right angle; Rear end (12) centrage of described probe (6) is provided with two sampled points (1201,1202); Pulp cavity file injection-drawing out device guide rod (15) centrage is provided with two sampled points (1501,1502).
2. a kind of navigator that is used for the operation of pulp cavity file cutting femoral cavity according to claim 1, it is characterized in that: described collecting unit (1) is made up of contact (7), contact shoe (8), lever arm (9), angular transducer (10) and pedestal (11), described contact (7) is a spheroid, is fixed on the contact shoe (8); Adopt revolute pair to be connected respectively between contact shoe (8) and the lever arm (9), between the lever arm (9) and between lever arm (9) and the pedestal (11), each revolute pair junction is provided with angular transducer (10).
3. a kind of navigator that is used for the operation of pulp cavity file cutting femoral cavity according to claim 1, it is characterized in that: 9 buttons are arranged on the button keyboard (4), wherein two buttons are used for respectively sending and refresh femoral cavity centrage and the instruction of pulp cavity file cutting guide passage centrage that shows on the display unit 3, and other seven buttons are respectively applied for the store sample dot position information.
4. according to claim 1,2 or 3 described a kind of navigator that are used for the operation of pulp cavity file cutting femoral cavity, it is characterized in that: the sampled point (1501,1502) on three sampled points (501,502,503) on the described location-plate (5), two sampled points (1201,1202) on the probe and the pulp cavity file injection-drawing out device guide rod (15) all is a hemispherical groove, and this groove diameter is identical with contact (7) diameter.
5. according to claim 1,2 or 3 described a kind of navigator that are used for the operation of pulp cavity file cutting femoral cavity, it is characterized in that: it is contactless collection positioning equipment that described collecting unit (1) adopts laser, infrared ray or ultrasonic equipment.
CN201110054194XA 2011-03-08 2011-03-08 Navigation equipment for femoral medullary cavity cutting operation by femoral myelocavity file Expired - Fee Related CN102085119B (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103300905A (en) * 2013-06-21 2013-09-18 江苏大学 Distal and proximal positioning combined probe for selecting cutting guide of marrow cavity file
CN106214213A (en) * 2016-08-29 2016-12-14 胡军 A kind of ultrasonic femoral myelocavity file being applicable to Wicresoft's artificial full hip-joint replacement
US10588645B1 (en) 2019-02-14 2020-03-17 Beijing Smtp Technology Co., Ltd. Robot-assisted ultrasonic osteotome powered system

Citations (5)

* Cited by examiner, † Cited by third party
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US4672957A (en) * 1983-10-04 1987-06-16 South African Inventions Development Corporation Surgical device
US5910143A (en) * 1994-12-16 1999-06-08 Exactech, Inc. Intramedullary alignment guide tool
WO2001043650A1 (en) * 1999-12-13 2001-06-21 Dedienne Sante Assembly for positioning a femoral stem of a hip prosthesis on a femur
FR2854563A1 (en) * 2003-05-05 2004-11-12 Fournitures Hospitalieres Ind Femoral cutting guide for executing preliminary resection, has transversal channel serving as housing for central medullar rod and provided in axial window defined in space that separates branches elongated from base
CN201389080Y (en) * 2009-02-25 2010-01-27 清华大学 General calibration module of surgical navigation machine

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4672957A (en) * 1983-10-04 1987-06-16 South African Inventions Development Corporation Surgical device
US5910143A (en) * 1994-12-16 1999-06-08 Exactech, Inc. Intramedullary alignment guide tool
WO2001043650A1 (en) * 1999-12-13 2001-06-21 Dedienne Sante Assembly for positioning a femoral stem of a hip prosthesis on a femur
FR2854563A1 (en) * 2003-05-05 2004-11-12 Fournitures Hospitalieres Ind Femoral cutting guide for executing preliminary resection, has transversal channel serving as housing for central medullar rod and provided in axial window defined in space that separates branches elongated from base
CN201389080Y (en) * 2009-02-25 2010-01-27 清华大学 General calibration module of surgical navigation machine

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103300905A (en) * 2013-06-21 2013-09-18 江苏大学 Distal and proximal positioning combined probe for selecting cutting guide of marrow cavity file
CN106214213A (en) * 2016-08-29 2016-12-14 胡军 A kind of ultrasonic femoral myelocavity file being applicable to Wicresoft's artificial full hip-joint replacement
US10588645B1 (en) 2019-02-14 2020-03-17 Beijing Smtp Technology Co., Ltd. Robot-assisted ultrasonic osteotome powered system
WO2020164219A1 (en) * 2019-02-14 2020-08-20 北京水木天蓬医疗技术有限公司 Robot-assisted ultrasonic osteotome powered system

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