227results about How to "Improve surgical precision" patented technology

The invention discloses an ultrasonic ranging and optical positioning coupled noninvasive real-time tracker and belongs to the technical field of medical instruments. The tracker comprises an optical positioning reference frame, an ultrasonic transducer dot matrix device, a data exchange interface and a bandage with an adjustable length, wherein the optical positioning reference frame is fixed onthe ultrasonic transducer dot matrix device through rigid connection; the ultrasonic transducer dot matrix device is fixed at a surgical site by the bandage with the adjustable length; the data exchange interface is led out from the ultrasonic transducer dot matrix device, and sends ultrasonic information acquired by the ultrasonic transducer dot matrix device to a host of a surgical navigation system in real time; the optical positioning reference frame transfers obtained optical positioning information to the host of the surgical navigation system in real time; and the noninvasive real-timetracking of bone tissues is realized by calculating coordinate transformation and position compensation by the host of the surgical navigation system. The tracker improves the accuracy and safety of surgeries, expands the using range of a surgical navigation technology in osteopathic operations, and improves the acceptability of the navigation system among medical staff and patients.

Surgical positioners may include platforms, surgical item positioners and / or surgical references as well as methods for using stabilizer platforms, surgical item positioners and / or surgical references. Stabilizer platforms may include low profile platforms rigidly mounted to portions of an individual's anatomy. Various items may be secured and / or stabilized by the stabilizer platform, including support platforms as well as surgical references. Support platforms may stabilize and assist surgeons in using, navigating, aligning and positioning surgical items. Surgical references may include modular fiducial systems that may be secured to stabilizer platforms, support platforms, surgical items and / or directly to portions of an individual's anatomy.

The invention discloses a master-slave minimally invasive vascular interventional surgery remote operation system and belongs to the technical field of medical equipment. The system comprises a doctor control platform, a master-end control computer, visual feedback detection equipment, a wire and tube guiding manipulator, a slave-end control computer and a slave-end pose adjusting platform. The doctor control platform conducts motion of simulating the medical behavior of guiding a tube and a wire according to operation of a doctor and transmits motion information corresponding to the motion to the master-end control computer; the master-end control computer transmits the received motion information as a motion control command to the slave-end control computer; the slave-end control computer transmits the received motion control command to the wire and tube guiding manipulator; the wire and tube guiding manipulator moves according to the received motion control command and then conducts the medical behavior on a patient. Through the system, intervention can be completed according to operation information of the doctor, haptical information can be fed back to the doctor in real time, and therefore safety and operability of interventional surgery are improved.

The invention relates to an orthopedics-department operating system and a control method thereof. The orthopedics-department operating system comprises medical imaging equipment, a surgery robot workstation and a display device and is characterized in that the medical imaging equipment collects the in-vivo three-dimensional image data and the real-time in-vivo two-dimensional image data of the bone fracture area of a patient; the workstation fuses the in-vivo three-dimensional image data and the real-time in-vivo two-dimensional image data and generates a navigation image, and the display device displays the navigation image. The orthopedics-department operating system and the control method thereof have the advantages that real-time 3D image navigation is provided for a doctor, and the doctor does not need to reconstruct the 3D model of the bone fracture area of the patient by the aid of experience.

The invention discloses a six-freedom-degree puncture operation robot which comprises a bottom plate, an XYZ three-axis moving table, an extending rod unit, an alpha beta angle joint module, a six-dimensional force sensor module and a puncture needle feeding module, wherein the XYZ three-axis moving table is fixed on the bottom plate; one end of the extending rod unit is connected with the XYZ three-axis moving table; and the other end of the extending rod unit is sequentially connected with the alpha beta angle joint module, the three-dimensional force sensor module and the puncture needle feeding module. The six-freedom-degree puncture operation robot can replace a doctor to execute puncture in a radiation environment through being guided by X-ray real-time images; the deviation of a target point is tracked in real time by the doctor; remote operation control is used; a needle feeding angle is timely regulated; the precise puncture on the lung parts is realized; the adverse influencecaused by hand trembling of the doctor is eliminated; the flow processes of stepped needle feeding and repeated checking in a conventional operation are omitted; one-step needle feeding is realized;the operation efficiency and the operation precision are improved; and the occurrence probability of complications of pneumothorax, bleeding and the like are reduced.

The invention provides an atlantoaxial pedicle screw guide and a preparation method therefor. The method is that a hospital PACS (picture archiving and communication system) system obtains atlantoaxial fracture data or CT (computed tomography) scan data of cervical dislocation of a patient; based on the data, and a 3D design and print work platform of digital visualized orthopedics is used for designing and preparing the atlantoaxial pedicle screw guide. The atlantoaxial pedicle screw guide and the preparation method therefor has the advantages of being high in accuracy, easy to operate and low in cost. Furthermore, the atlantoaxial pedicle screw guide and the preparation method therefor is capable of making complex and high-risk atlantoaxial fixation surgery accurate, safe and easy to operate under the accurate guide of the guide, surgery accuracy is greatly improved, and the risk of the surgery is reduced.

The invention provides a visual servo control method of a multi-task surgical robot, and belongs to the technical field of surgical robots. The method comprises the steps of adopting the relative coordinate relation of the front end of the surgical robot and a surgery part as a control basis, extracting a control characteristic from an image acquired by image acquisition equipment, updating relative coordinate information in real time, according to the relative coordinate information, planning a surgery motion path, controlling the motion of a motion mechanism, achieving target surgery operation, and by replacing types of the control characteristic and the front end of the surgical robot, achieving a multi-task function. According to the visual servo control method of the multi-task surgical robot, the installation of additional markers and a calibration process are avoided, moreover, when a work mode based on visual servo is compared with a traditional work mode of the surgical robot,namely, 'planning before surgery and execution during surgery', higher surgery precision can be obtained.

The invention discloses a surgical navigation system, which comprises a space positioning and marking element on a surgical instrument, a tracer on a skeleton structure, a binocular camera and a computer, wherein the tracer is provided with a navigation tracing surface; the space positioning and marking element comprises navigation surfaces; and the binocular camera is connected with the computerand transmits collected information of the tracer and the space positioning and marking element to the computer. Computer programs are separately stored into the computer and a computer-readable storage medium. A surgical navigation method is performed and comprises the steps of generating a three-dimensional model of a skeleton and a three-dimensional model of the surgical instrument and obtaining tracer registration information and calibration information of the space positioning and marking element; receiving real-time information, collected by the binocular camera, of the tracer and the space positioning and marking element; and calculating space position information of the skeleton and the surgical instrument, and carrying out real-time fusion on the space position information and thethree-dimensional models to obtain a dynamic image of a real-time position relationship between the skeleton and the surgical instrument. According to the surgical navigation system, surgical navigation is achieved and intraoperative registration is not needed, so that the surgical process is simplified and the surgical accuracy is improved.

The invention discloses a pose mechanical-adjusting movable platform, and belongs to the technical field of medical facility. The pose mechanical-adjusting movable platform comprises a six-connecting-rod manipulator, a turntable, a lifting mechanism and a base; the lifting mechanism is mounted on the base, and motion and self-locking, in the vertical direction, of peripheral equipment mounted on the movable platform are realized; the six-connecting-rod manipulator is mounted on the lifting mechanism, and translation in a horizontal plane and adjustment and locking for rotation in the vertical direction, of the peripheral equipment, are realized; the turntable is mounted on the six-connecting-rod manipulator, and adjustment and self-locking for the rotation, of the peripheral equipment, around the central line of the turntable are realized; the base is used for supporting an adjusting mechanism comprising the six-connecting-rod manipulator, the turntable and the lifting mechanism, and realizing translation and turning of the adjusting mechanism on the ground. Through the mechanical mechanism, the platform realizes supporting and adjusting functions, improves the precision, stability and safety of an operation, and conveniently realizes fixed connection and separation of a slave terminal system and a hospital bed.

The embodiment of the invention provides a total knee arthroplasty preoperative planning method and device, and the method comprises the steps: obtaining a knee joint X-ray film image, and determining the real size of the knee joint X-ray film image; inputting the knee joint X-ray film image into a neural network identification model for identification, and determining key points and key axes; determining femur size parameters and tibia size parameters based on the key points and the key axes; determining types and models of a thighbone prosthesis and a tibia prosthesis based on the thighbone size parameter and the tibia size parameter; and based on the key axis, the type and the model of the femoral prosthesis and the type and the model of the tibia prosthesis, determining placement positions and placement angles corresponding to the femoral prosthesis and the tibia prosthesis. Therefore, according to the embodiment of the invention, the cost can be saved, the randomness of manual measurement is avoided, and an important reference function is provided for calculation of various parameters and placement of the prosthesis, so that the dependence on a surgeon is reduced.

The invention discloses a method for virtually building an anterior cruciate ligament on femur and tibia tunnels. The method comprises the following steps of firstly, carrying out straightening part nuclear magnetic resonance scanning and flexed part CT (computerized tomography) scanning on two keen joints of a patient with damaged anterior cruciate ligament, then importing the scanning data of the two keen joints into medical image reconstruction software to carry out three-dimensional reconstruction, then importing the three-dimensional data into reverse project software to further finish and beautify, then sorting and calculating various types of data of the femur, the tibia and the anterior cruciate ligament by using a computer, and virtually forming the entrance and exit of the anterior cruciate ligament on the femur and the tibia, and marking points on the surfaces of the femur and the tibia. The method is suitable for realizing the ACL (anterior cruciate ligament) accurate positioning and implanting of individuals, and is an effective new path for improving the ACL restoration and reconstruction therapeutic effects, and a junior surgeon can carry out pre-operation planning, operation simulation and exercising, operation teaching, and instruction of practical operation and post-operation rehabilitation through the information in the virtual environment.

The invention discloses a cooperative interaction control system for a craniotomy robot. The cooperative interaction control system comprises a motion limiting module, a doctor-robot interaction module, a robot-patient interaction module and a solver. The motion limiting module is used for tracking the position of the robot in real time and is compared with a limited area, so that the robot is limited within a certain area for movement. The doctor-robot interaction module is used for completing real-time speed control over the robot by doctors. In the skull milling process, the robot-patient interaction module is used for keeping a certain contact force between the tail end of a milling cutter and the bottom face of a skull and further keeping a certain drilling force in the skull drilling process. The solver is used for completing inverse kinematics resolving of the robot and further used for inputting and outputting robot motion and joint motion speeds separately so as to drive the robot to move. According to the cooperative interaction control system, the advantages that the flexibility of the doctors is high and the precision of the robot is high are integrated, operation efficiency and quality can be improved while operation safety is improved, and the craniotomy fatigue degree of the doctors is lowered.

The invention relates to a four-freedom-degree series-parallel minimally invasive surgery manipulator, and aims at providing a manipulator which has the advantages of being compact in structure, small in size and reliable in work. According to the technical scheme, the four-freedom-degree series-parallel minimally invasive surgery manipulator is characterized by comprising a surgery module rotatably positioned on a movable platform, a base located under the movable platform and two branch mechanisms which are connected between the movable platform and the base in parallel to drive the surgery module to move.

The invention relates to a novel series-parallel mechanical hand for a minimally invasive operation and aims to provide the mechanical hand, which has the characteristics of compact structure, higher flexibility and high safety. According to the technical scheme, the novel series-parallel mechanical hand for the minimally invasive operation is characterized by comprising an annular base, an operation module and three branch mechanisms, wherein the operation module is positioned on the base, and downwards penetrates through the base; the three branch mechanisms are connected in parallel between the base and the operation module, and are used for driving the operation module to move; each branch mechanism comprises a first rotation pair, a first connecting rod, a second rotation pair, a second connecting rod, a third rotation pair, a third connecting rod, a fourth rotation pair, a fourth connecting rod and a fifth rotation pair, which are sequentially connected between the operation module and the base; the axial lines of the second and third rotation pairs of each branch mechanism are parallel to each other, and are perpendicular to those of the first and fifth rotation pairs.

The invention relates to a laser scalpel, and particularly relates to a laser scalpel with continuously adjustable out-of-focus distance for laser operations and laser cosmetic surgeries. The laser scalpel comprises a scalpel body and an adjusting lens barrel, wherein the adjusting lens barrel can be embedded into the cavity of the scalpel body in an axially sliding way and is internally provided with a focusing lens; an out-of-focus adjusting rotary barrel is sleeved on the scalpel body and is adjustably connected with the adjusting lens barrel. By virtue of the adjusting lens barrel and the out-of-focus adjusting rotary barrel, the continuous adjustability of laser focus, diameter and energy density is achieved, and the problem that the laser scalpel needs to be replaced on occasions with different requirements is solved.

The invention relates to the field of medical science, and particularly relates to an anterior cruciate ligament stopping location and ligament tunnel location device combining with preoperative 3D planning information. The device comprises hardware such as a C-type arm X-ray machine, a gama correction calibration board, an image capturing card, a positioning robot, a path positioning rack, a position trailing platform, and a computer as well as software such as a 3D planning module and a 2D positioning and navigation module which are stored in the computer. The 3D planning module makes use of preoperative 3D image data of knee joints of a patient, assists a doctor in finishing personalized surgical planning, and projecting a 3D environmental message to a 2D navigation message along a specific projection direction. The 2D positioning and navigation module makes use of a 2D medical image in surgical space collected by the hardware as well as location information of various trailing objects and combines the 2D navigation message to construct a navigation environment to control the hardware such as the positioning robot and the path positioning rack to finish an accurate operation path positioning. The anterior cruciate ligament stopping location and ligament tunnel location device can assist the doctor in finishing the precise and personalized operation of anterior cruciate ligament stopping location and ligament tunnel location, thus lowering operative difficulties and enhancing operative treatment efficacy.

The invention discloses a multispectral stereoscopic vision endoscope device and an image fusion method, and belongs to the field of medical devices. The multispectral stereoscopic vision endoscope device comprises a light source part, a camera part, an image processing part and a display part. The image fusion method comprises the steps that 1, images are acquired by an endoscope image acquisition unit; 2, Gaussian pyramids and Laplacian pyramids are built separately; 3, all layers except the top layers of the Laplacian pyramids of the near infrared image and the green image are processed andfused; 4, near infrared pyramid top-layer images are subjected to target area segmentation; 5, top-layer green images and the top-layer near infrared images are processed and fused; 6, bottom-layer green images are reconstructed according to the Laplacian pyramids obtained after fusion; 7, the reconstructed green images are combined with other channels to obtain final fusion images; and 8, the two fusion images are processed through an anaglyph shifting method to generate a stereoscopic image pair. According to the method, real three-dimensional structure information is obtained.

The invention provides a method for tracking movement of surgical bed, a system for tracking the movement of the surgical bed and a medium. The method for tracking the movement of the surgical bed ischaracterized by adopting the following parts: a surgical bed, a medical robot, a computer, an optical sensor, a surgical bed marker, a robot marker, and data lines; the surgical bed marker is attached on the surgical bed; the robot marker is attached to the medical robot; and the data lines connects the optical sensor and the computer, as well as the computer and the medical robot. The method fortracking the movement of the surgical bed specifically comprises the following steps: step 1, capturing poses of the surgical bed marker and the robot marker by the optical sensor, and carrying out calibration; step 2, calibrating relative poses of the medical robot and the robot marker; and step 3, obtaining displacement information of the surgical bed marker when the surgical bed is moving, andtracking the displacement information of the surgical bed marker by the medical robot. The method for tracking the movement of the surgical bed is relatively low in cost, high in accuracy and small in delay, so that remote wireless tracking of target objects is realized.

The invention discloses a six-degree-of-freedom acupuncture robot for internal use of a magnetic resonance imager. The six-degree-of-freedom acupuncture robot comprises a Cartesian module, a swing module and an acupuncture module; the swing module is fixed onto the Cartesian module, the acupuncture module is fixed onto the swing module, the Cartesian module is used for controlling the motion of the swing module in X direction, Y direction and Z direction, and the X direction, the Y direction and the Z direction are perpendicular to one another; the swing module is used for controlling the acupuncture module to swing horizontally; the acupuncture module is used for controlling the pitching motion and the needle movement of the acupuncture module. Various forms of non-magnetic ultrasonic motor drive is adopted, prostate puncture with the desired position and posture can be realized, and based on the characteristics of power off and self-locking of an ultrasonic motor, adding of an extralocking device to keep the position is not needed; the overall system of the six-degree-of-freedom acupuncture robot is simple and compact and easy to miniaturize.

The invention discloses an apparatus for repairing ligament or tendon defect, wherein the apparatus comprises a fastening screw front section and a fastening screw rear section which is detachably connected to the fastening screw front section; a self-tapped outer screw thread which can be tapped into bone is formed in the fastening screw front section; an outer screw thread which is continuously butted with the self-tapped outer screw thread of the fastening screw front section is formed in the outer surface of the fastening screw rear section; the outer surface of the fastening screw rear section is made from a material which can be healed with bone. The apparatus disclosed by the invention, by virtue of sectional and detachable design as well as pressurizing design, can achieve various functions through different structures, shapes and materials of the fastening screw front section and the fastening screw rear section, and can realize functional complementation of the fastening screw front section structure and the fastening screw rear section structure, so that physical fixation and biological healing fixation are combined to continuously keep an effective fixation strength; and the apparatus can be used for effectively regulating the tension of reconstructed ligaments or tendons, improving surgical precision, enabling a surgical object to freely move and act even in early stage, enhancing the curative effect of surgery and significantly reducing the difficulty of a ligament or tendon reconstruction surgery.

The invention discloses a 3D printing method and device for a three-dimensional model of a skeleton. The method comprises: obtaining target data, wherein the target data are related data obtained by conducting CT scanning or MRI scanning on the skeletal lesion part of a patient; establishing a three-dimensional model of the skeleton according to the target data; and printing the three-dimensionalmodel of the bone by using a 3D printer. Through the method and the device, the problem that a doctor can only acquire two-dimensional plane data of a patient in the orthopedics department, so that the illness state of the patient cannot be acquired in a three-dimensional and visual manner in related technologies is solved.

The invention relates to the field of dental implants, in particular to a three-dimensional printed titanium mesh implant with an osteogenic induction coating. The three-dimensional printed titanium mesh implant with the osteogenic induction coating can achieve optimal osteogenic induction according to an optimal repair effect after reconstruction of the alveolar bone through an accurately printedcontour of a titanium mesh body. The unpredictability of the shape after the alveolar bone ossifies is avoided, an optimal shape is guided to be formed after the alveolar bone ossifies, and latter tooth implantation is facilitated. Pre-bending of the titanium mesh body before implantation is overcome, it can be achieved that the edge of the titanium mesh body accurately fits the shape of remaining bone mass. A three-dimensional printing technology can accurately print the titanium mesh body with good fitting performance according to the bone shape of the position, in contact with the titaniummesh body, around a bone defect, and the bent titanium mesh body does not need to be adjusted during an operation at all; and the fitting performance of the titanium mesh body with the alveolar boneis far more precise than manual bending.

The invention discloses a method for obtaining a central axial line of an anterior cruciate ligament based on a linear fitting algorithm. The method comprises the steps of: first establishing a complete three-dimensional solid digital model of two knee joints of an STL (standard template library) format, leading in finite element analysis software for calculation to obtain a cross section of the ACL (anterior cruciate ligament) and the coordinates of the center of the cross section, fitting to obtain a center curve of the anterior cruciate ligament, solving the equation, calculating the coordinates of the center of a femur and tibia attachment point, and calculating the specific value of a planar angle by using a trigonometric function and the coordinates of the geometric center of a femur and tibia attachment surface. Accurate positioning of femur and tibia tunnels of the ACL can be realized. Preoperative planning, surgical simulation exercise, surgery teaching, guidance of actual surgical operations, post-operative rehabilitation and the like can be performed by adopting information of a virtual environment. The surgical accuracy can be improved, the approximately normal functions of the ACL can be reestablished, and the method is an effective new path for repair and reestablishment of the efficacy of the ACL.

The invention discloses a positioning registration system and method for surgical navigation. The system includes a processor, a fixed positioning device and a mobile positioning device; the fixed positioning device is used for being fixed on a surgical object and obtaining position information of a fixed point; the processor is used for selecting a preset area and collecting position informationof multiple feature points in a three-dimensional analog image of the surgical object; the mobile positioning device is used for obtaining position information of multiple positioning points in a designated area; the processor is also used for calculating a fitting matrix of the multiple feature points and the multiple positioning points according to an iterative closet point algorithm and fittingthe fixed point into the three-dimensional analog image. According to the system and the method, through a scanning device, the three-dimensional analog image of the surgical object is obtained, andthe fixed point of the fixed positioning device and the positioning points of the mobile positioning device are mapped into the three-dimensional analog image to help doctors in observing surgical sites.

The invention discloses an upper jaw Le Fort I type osteotomy operation guide plate and a design method thereof; the operation guide plate is used for fixing 4 titanium plates on the front wall of the upper jaw so as to rectify cranio-jaw-facial deformity; the guide plate comprises a guide plate body and guide holes; the guide plate body comprises a left structure and a right structure mutually separated; the left and right structures are respectively used for operation of the left upper jaw and right upper jaw; the outer surface of each structure is provided with an osteotomy line and a plurality of guide holes; the osteotomy line is provided with a plurality of osteotomy line mark holes penetrating the structure; a positioning hole is arranged on each guide hole and the structure; one ends, close to the nose cavity, of the two structures are respectively provided with a piriform aperture edge limit composition; a spina nasalis anterior limit composition is arranged below the piriform aperture edge limit composition; the inner surface of the structure is provided with a water guide slot. The invention also provides a method designing the upper jaw Le Fort I type osteotomy operation guide plate.

The invention belongs to the technical field of puncture biopsy and particularly relates to a method for performing single-needle or multi-needle puncture biopsy through laser guide. The method comprises steps as follows: S1, an image of pathological tissue of a patient is obtained through scanning; S2, information of the pathological tissue is determined according to the scanned image information, and a target sampling area is determined; S3, an image of the determined target sampling area is imported into a processing system for modelling, and a target area model with a 3D coordinate systemis obtained; S4, the target area model is imported into a 3D treatment plan system of a computer for dimension development, and a puncture biopsy route and a puncture depth are determined; S5, 3D dataobtained through development are imported into a laser emitting device, and the laser emitting device is adjusted to emit laser rays along the puncture biopsy route; S6, puncture biopsy needles on the puncture biopsy device are adjusted and inserted into the marked positions on a body surface of the patient to take out the pathological tissue. Through laser guide, the method is high in accuracy,short in the whole process cycle and high in flexibility.

The invention discloses a bone drilling device for a medical operation of a nervous system. The bone drilling device is characterized by comprising a front-end positioning jacket assembly, a middle fixing jacket assembly, a second-section drilling assembly and a first-section drilling assembly, wherein the front-end positioning jacket assembly is connected to the outer side of the front end of themiddle fixing jacket assembly in a sleeving manner; the second-section drilling assembly is nested in the middle fixing jacket assembly and rotationally connected with the middle fixing jacket assembly; the first-section drilling assembly is nested in the second-section drilling assembly and rotationally connected with the second-section drilling assembly; the front-end positioning jacket assembly comprises a front-end positioning disc (5), a positioning sleeve (6) and positioning columns (7), the positioning sleeve (6) and the front-end positioning disc (5) are fixedly connected, the positioning columns (7) penetrate the front-end positioning disc (5), a plurality of reinforced fixing sleeves (8) are arranged on the front-end positioning disc (5), and the positioning columns (7) are nested in the reinforced fixing sleeves (8) and in threaded connection with the reinforced fixing sleeves (8). The bone drilling device in the technical scheme is high in drilling precision, and a betteroperation effect can be guaranteed.

The invention relates to the technical field of medical instruments, in particular to a surgical instrument clamping device for an orthopedic surgical robot, which comprises a connecting frame for quickly detaching and connecting a mechanical arm of the surgical robot, the connecting frame is provided with a shaft sleeve assembly, a movable clamping sleeve and an elastic locking part, the shaft sleeve assembly is used for being sleeved with a surgical instrument in a matched mode, the movable clamping sleeve is in coaxial butt joint with the shaft sleeve assembly, the elastic locking part is in transmission connection with the movable clamping sleeve, and the movable clamping sleeve is driven by the elastic acting force of the elastic locking part to clamp the surgical instrument sleeved with the shaft sleeve assembly. And the clamping of the surgical instrument by the movable clamping sleeve is released by operating the elastic locking part. According to the surgical instrument clamping device for the orthopedic surgical robot, stable connection between a mechanical arm of the surgical robot and an orthopedic surgical instrument can be achieved, the surgical precision is improved, connection is easy and convenient, and the surgical time efficiency can be guaranteed and improved.

The invention relates to a titanium mesh manufacturing method for the alveolar bone defect, which comprises the steps of 1, synthesizing 3D model data of the dentition and jaw according to dentition data and jaw data; 2, generating three-dimensional data of a titanium mesh covering a bone defect structure according to the bone defect structure; 3, generating a positioning wing, and generating dataof the positioning wind connecting a natural tooth adjacent to the bone defect position and the titanium mesh according to the three-dimensional data of the titanium mesh and the 3D model data; 4, determining positioning holes used for fixing the titanium mesh on the jaw according to the three-dimensional data of the titanium mesh; and 5, printing the titanium mesh. The position matching betweenthe titanium mesh and the adjacent natural tooth is realized due to the setting of the positioning wing, the installation location of the titanium mesh can be positioned according to the positioning wing when the titanium mesh is installed so as to enable the titanium mesh to be accurately fixed at the predetermined location.

The invention discloses a folding and variable-stiffness instrument arm used for a natural orifice surgery and an application method thereof. The instrument arm is a surgical support tool with variable size and variable stiffness and comprises a braided tube structure and a sealing film. The sealing film wraps the inside, the outside and the end part of the braided tube structure to form an annual and enclosed inner cavity, in which the braided tube structure is wrapped. An air bag or a driving wire helps increase the diameter of the instrument arm. Gas in the sealing film is extracted. Therefore, a braided tube can be in the rigid and large-diameter state, which provides a bigger channel for subsequent surgical tools. The subsequent surgical tools are prevented from stabling tissue and support is provided for ensuring precision. Gas is allowed to enter the sealing film and the sealing film restores to be in the flexible state. The self-elasticity of the braided tube structure is utilized for returning to the small-diameter state. Therefore, the instrument arm can easily stretch into and get away from a body cavity, helps avoid stabbing and reduces discomfort of a human body.