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Ligament stiffness robot in-situ measuring system and method during anterior cruciate ligament reconstruction surgery

An anterior cruciate ligament and measurement system technology, applied in surgical robots, surgical navigation systems, instruments, etc., can solve the problems of inaccurate detection, low detection accuracy, and low repeatability

Active Publication Date: 2019-11-19
SHANGHAI UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problems of low detection accuracy, low repeatability and inability to detect accurately during and after the existing reconstructive surgery, and to provide a robotic in-situ measurement system and method for ligament stiffness during anterior cruciate ligament reconstruction, which can pass In-situ intelligent detection of anterior cruciate ligament through arthroscopic tunnel

Method used

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  • Ligament stiffness robot in-situ measuring system and method during anterior cruciate ligament reconstruction surgery
  • Ligament stiffness robot in-situ measuring system and method during anterior cruciate ligament reconstruction surgery
  • Ligament stiffness robot in-situ measuring system and method during anterior cruciate ligament reconstruction surgery

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Experimental program
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Embodiment 1

[0055] Embodiment one: see figure 1 , Figure 3 ~ Figure 8 , the robotic in-situ measurement system for ligament stiffness in anterior cruciate ligament reconstruction, comprising: preoperative MRI images, a PC, a robot, an anterior cruciate ligament stiffness measurement device and a knee joint, the anterior cruciate ligament stiffness measurement device is installed at the end of the robot , and PC, robot and anterior cruciate ligament stiffness on-site measuring device are connected by bus to communicate; the patient's knee joint is scanned continuously before operation to obtain MRI images, and the anterior cruciate ligament in the knee joint is analyzed through the analysis of MRI images Position information, input the obtained position information into the PC, make the robot reach the measurement position with the anterior cruciate ligament stiffness measurement device, and then extend into the knee joint through the anterior cruciate ligament stiffness measurement devic...

Embodiment 2

[0056] Embodiment 2: This embodiment is basically the same as Embodiment 1, and the special features are as follows:

[0057] 1) The anterior cruciate ligament stiffness measurement device is a series measurement mechanism composed of a linear motion mechanism, a force measurement mechanism and a rotation mechanism connected in sequence. It includes the arc-shaped hand-held end, the upper split of the guide housing, the lower split of the guide housing, and the interior of the housing contains a linear servo motor, a half-coupling, a screw with a half-coupling, bearing A, and a guide nut with evenly distributed grooves. Seat, tension and pressure sensor, guide motor compartment end cover, guide motor compartment, coupling, medical probe hook, bearing seat, probe hook coupling upper split, probe hook coupling lower split, bearing B, probe hook Rear mount and rotary servo motor. As mentioned above, the measuring mechanism is located between the linear motion mechanism and the r...

Embodiment 3

[0063] Embodiment 3: In this anterior cruciate ligament reconstruction operation, the ligament stiffness robot in-situ measurement system performs measurement system and method, and its specific operation steps are as follows:

[0064] 1) Preoperatively scan the patient's knee joint, and import the MRI tomographic image data of the knee joint stored in accordance with the DICOM standard into the medical image processing software through the software input port on the computer, and estimate the length, width and thickness of the reconstructed ligament according to the image;

[0065] See figure 1 , a robotic in-situ measurement system for ligament stiffness during anterior cruciate ligament reconstruction, comprising: a preoperative MRI image 20, a PC 21, a robot 22, an anterior cruciate ligament stiffness measurement device 23, and a knee joint 24, characterized in that: The anterior cruciate ligament stiffness measurement device 23 is installed at the end of the robot 22, and...

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Abstract

The invention discloses a ligament stiffness robot in-situ measuring system and method during an anterior cruciate ligament reconstruction surgery. The ligament stiffness robot in-situ measuring system includes a universal six-freedom-degree mechanical arm and an anterior cruciate ligament stiffness measuring device, and on the basis of transformation of space coordinates, the anterior cruciate ligament stiffness measuring device at the tail end of a robot interacts with a reconstructed anterior cruciate ligament in a leg of a patient in real time and laterally measures the stiffness of the reconstructed anterior cruciate ligament. In the past, ligament stiffness measurement is manually conducted by a doctor, and thus certain uncertainties exist. The ligament stiffness robot in-situ measuring system simplifies measurement difficulties for the doctor during the anterior cruciate ligament reconstruction surgery and assists the doctor in surgery operation, human interference factors are reduced, the surgery quality is improved, and implementation and popularization of precision medicine are facilitated.

Description

technical field [0001] The invention relates to an in-situ measuring system and method of a ligament stiffness robot during anterior cruciate ligament reconstruction, which is used for measuring the stiffness of ligaments during anterior cruciate ligament reconstruction, and belongs to the technical field of auxiliary medical operations. Background technique [0002] The human knee joint is the largest joint with a relatively complex structure, and it is located between the two longest bones in the body. These characteristics make them particularly vulnerable to damage during exercise. According to statistics, the injury rate of the knee joint accounts for 10% of the total body movement. The proportion of sexual injury is larger. The anterior cruciate ligament is the most important structure to maintain the stability of the knee joint. It has a unique structure in anatomy. In recent years, the number of anterior cruciate ligament reconstruction operations has increased year ...

Claims

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Application Information

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IPC IPC(8): A61B34/10A61B34/20A61B34/30A61B90/00G16H30/20G16H40/60
CPCA61B34/10A61B34/20A61B34/30A61B90/06G16H40/60G16H30/20A61B2034/107A61B2034/108A61B2034/2065A61B2090/064
Inventor 崔泽陈增昊钱东海倪高峰黄赛帅杨洪鑫朱丹杰
Owner SHANGHAI UNIV
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