Bone tunnel preparation device and preparation method thereof

Abstract

The invention relates to the technical field of medical instruments, and discloses a bone tunnel preparation device and a preparation method thereof.The bone tunnel preparation device comprises a fixing mechanism, a driving mechanism and a drill bit; one end of the fixing mechanism is connected with the treatment bed, and the other end is connected with the driving mechanism which is detachably connected with the drill bit; a tip part and a connecting part are arranged on the drill bit, the tip part is arranged at the drilling end of the drill bit, a twist blade is arranged at the drilling end of the drill bit, the diameter of the twist blade is larger than that of the tip part, and the connecting part is arranged away from the tip part and extends into the driving mechanism so that the driving mechanism can drive the drill bit and the tip part to rotate through the connecting part. The tip part is firstly drilled into a tibia or a femur, and then the twist blade starts to be drilled into the tibia or the femur under the fixation of the tip part, so that the twist blade is more stable during feeding, the technical problem that in the prior art, the punching center deviates from a planned bone tunnel, and consequently an operation fails is solved, and the technical effects that punching is more accurate, and the success probability of the operation is high are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a bone tunnel preparation device and a preparation method thereof. Background Art

[0002] During anterior cruciate ligament reconstruction surgery, holes need to be drilled on the tibia and femur respectively, and then artificial ligaments are implanted. Therefore, the accuracy of the holes on the tibia and femur is very critical for anterior cruciate ligament reconstruction surgery.

[0003] In the prior art, the axes of the planned bone channels of the femur and tibia are not perpendicular to the bone surface, and residual tissue and body fluids on the bone surface cause the bone surface to be slippery. When drilling, there is a certain angle between the drill feed direction and the bone surface, causing the drill twist blade to slip on the bone surface, and the drilling center deviates from the planned bone channel, thus causing the operation to fail. Summary of the invention

[0004] The purpose of the present invention is to provide a bone tunnel preparation device and a preparation method thereof, so as to solve the technical problem in the prior art that the drilling center deviates from the planned bone tunnel, thus leading to surgical failure.

[0005] In order to solve the above technical problems, the present invention provides a bone tunnel preparation device, comprising: a fixing mechanism, a driving mechanism and a drill bit;

[0006] One end of the fixing mechanism is connected to the treatment bed, and the other end is connected to the driving mechanism, and the driving mechanism is detachably connected to the drill bit;

[0007] The drill bit is provided with a tip portion and a connecting portion, wherein the tip portion is provided at the drilling end of the drill bit, and the drilling end of the drill bit is provided with a twist blade, wherein the diameter of the twist blade is greater than the diameter of the tip portion, and the connecting portion is provided away from the tip portion, and the connecting portion extends into the driving mechanism so that the driving mechanism drives the drill bit and the tip portion to rotate through the connecting portion.

[0008] In an optional embodiment, the tip portion includes a triangular tip and a connecting column, the axes of the triangular tip, the connecting column and the drill bit are arranged to coincide with each other, the two ends of the connecting column are respectively connected to the drill bit and the triangular tip, and the width of the triangular tip is arranged to decrease in a direction away from the drill bit.

[0009] In an optional embodiment, a tracer is provided on the fixing mechanism, the tracer is connected to the fixing mechanism, and the tracer is communicatively connected to a navigation camera so that the navigation camera can determine the position of the drill bit through the tracer.

[0010] In an optional embodiment, a tibial positioner and a femoral positioner are also included;

[0011] The tibial locator is arranged on the tibia, and the femoral locator is arranged on the femur. The tibial locator and the femoral locator are respectively connected to the navigation camera for communication. The navigation camera determines the positions of the tibia and the femur respectively through the tibial locator and the femoral locator.

[0012] In an optional embodiment, the fixing mechanism includes a mechanical arm and a flange, one end of the mechanical arm is connected to the treatment bed, and the other end is connected to the driving mechanism through the flange;

[0013] The flange is connected to the tracer.

[0014] In an optional embodiment, a groove is provided on the side wall of the flange, and two connecting holes are provided in the groove. The two connecting holes are arranged at intervals along the length direction of the groove, and the tracer is connected to the two connecting holes by bolts.

[0015] In an optional embodiment, a positioning column is further provided on the groove, the positioning column is arranged perpendicular to the bottom of the groove, the positioning column is arranged between two of the connecting holes, the positioning column is arranged close to one of the connecting holes, and the positioning column passes through the tracer.

[0016] In an optional embodiment, a probe is also included;

[0017] One end of the probe is provided with the tracer, and the other end of the probe abuts against the tibial end surface and the femoral end surface.

[0018] The present invention also provides a preparation method based on the bone tunnel preparation device, comprising the following steps:

[0019] Planning of tibial and femoral tunnels;

[0020] Control the drill bit to coincide with the tibial or femoral bone tunnel;

[0021] The driving mechanism drives the drill bit to be fed toward the tibial or femoral bone tunnel, so that the tip of the drill bit first drills into the tibia or femur to obtain preliminary positioning, and then the drill bit is continuously fed so that the twisted blade of the drill bit drills into the tibia or femur.

[0022] In an optional embodiment, the method further comprises the following steps:

[0023] After the patient's leg moves, the position after the movement is obtained through the tibial locator and the femoral locator, and the tibial bone tunnel and the femoral bone tunnel are replanned. Then, the robotic arm drives the drill bit to feed along the replanned tibial bone tunnel and the femoral bone tunnel through the driving mechanism.

[0024] The present invention provides a bone tunnel preparation device, comprising: a fixing mechanism, a driving mechanism and a drill bit; one end of the fixing mechanism is connected to a treatment bed, and the other end is connected to the driving mechanism, and the driving mechanism is detachably connected to the drill bit; a tip portion and a connecting portion are provided on the drill bit, the tip portion is provided at the drilling end of the drill bit, a twist blade is provided at the drilling end of the drill bit, the diameter of the twist blade is greater than the diameter of the tip portion, the connecting portion is provided away from the tip portion, and the connecting portion extends into the driving mechanism, so that the driving mechanism drives the drill bit and the tip portion to rotate through the connecting portion, the tip portion first drills into the tibia or femur, and then the twist blade starts to drill into the tibia or femur under the fixation of the tip portion, so that the twist blade is more stable when feeding, and the technical problem that the drilling center deviates from the planned bone tunnel in the prior art, thereby causing the failure of the operation, is solved, and the technical effect of more accurate drilling and a high probability of successful operation is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A top view of the bone tunnel preparation device mentioned in an embodiment of the present invention;

[0026] Figure 2 is a structural schematic diagram of the drill bit mentioned in an embodiment of the present invention;

[0027] Figure 3 It is a structural schematic diagram of the bone channel preparation device mentioned in an embodiment of the present invention;

[0028] Figure 4 It is a structural schematic diagram of the fixing mechanism and the driving mechanism mentioned in the embodiment of the present invention;

[0029] Figure 5 is a schematic structural diagram of the flange mentioned in an embodiment of the present invention;

[0030] Figure 6 for Figure 5 Another perspective structural diagram of;

[0031] Figure 7 Schematic diagram of the structure of the probe mentioned in the embodiment of the present invention;

[0032] Figure 8 It is another structural schematic diagram of the bone channel preparation device mentioned in an embodiment of the present invention.

[0033] In the figure, 1-fixing mechanism; 101-mechanical arm; 102-flange; 2-driving mechanism; 3-drill bit; 4-tip portion; 401-triangular tip; 402-connecting column; 5-connecting portion; 6-tracer; 7-tibial locator; 8-femoral locator; 9-treatment bed; 10-probe; 11-navigation camera. DETAILED DESCRIPTION

[0034] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0035] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] In the related technology, the axes of the planned bone channels of the femur and tibia are not perpendicular to the bone surface, and residual tissue and body fluids on the bone surface make the bone surface slippery. When drilling, there is a certain angle between the drill feed direction and the bone surface, causing the drill twist blade to slip on the bone surface, and the drilling center deviates from the planned bone channel axis, thus causing the operation to fail.

[0037] In view of this, if Figure 1-Figure 8 As shown, some embodiments of the present invention provide a bone channel preparation device, including: a fixing mechanism 1, a driving mechanism 2 and a drill bit 3; one end of the fixing mechanism 1 is connected to the treatment bed 9, and the other end is connected to the driving mechanism 2, and the driving mechanism 2 and the drill bit 3 are detachably connected; the drill bit 3 is provided with a tip portion 4 and a connecting portion 5, the tip portion 4 is arranged at the drilling end of the drill bit 3, and the drilling end of the drill bit 3 is provided with a twist blade, the diameter of the twist blade is larger than the diameter of the tip portion 4, the connecting portion 5 is arranged away from the tip portion 4, and the connecting portion 5 extends into the driving mechanism 2, so that the driving mechanism 2 drives the drill bit 3 and the tip portion 4 to rotate through the connecting portion 5.

[0038] In the above embodiment, the drill bit 3 is made of metal, the drill bit 3 is cylindrical, a connecting portion 5 is provided at one end of the drill bit 3, the connecting portion 5 is in the shape of a rectangular parallelepiped, the connecting portion 5 is arranged at the center of the drill bit 3, the connecting portion 5 can be integrally formed with the drill bit 3, the length of the connecting portion 5 is consistent with the diameter of the drill bit 3, the two ends of the connecting portion 5 are respectively flush with the surface of the drill bit 3, a cavity is provided on one side of the driving mechanism 2, the connecting portion 5 extends into the cavity of the driving mechanism 2, so that the connecting portion 5 is clamped with the cavity of the driving mechanism 2, and the driving mechanism 2 can drive the drill bit 3 through the connecting portion 5 to make the drill bit 3 open The drill bit 3 starts to rotate, and further, a twist blade is provided on the side of the drill bit 3 away from the connecting portion 5. The twist blade is extended along the length direction of the drill bit 3, and the twist blade directly extends to the drilling end of the drill bit 3, and a tip portion 4 is provided on the drilling end. The diameter of the tip portion 4 is smaller than the diameter of the twist blade. That is to say, during the drilling process of the drill bit 3, the tip portion 4 must contact the femur or tibia before the twist blade, and a positioning point is first drilled through the tip portion 4, so that the tip portion 4 is drilled into the tibia or femur, so that the subsequent twist blade can be fixed by the tip portion 4 during drilling, thereby avoiding slipping caused by direct drilling of the twist blade.

[0039] The fixing mechanism 1 can be fixed on the treatment bed 9 or on the ground. The fixing mechanism 1 can fix the driving mechanism 2 and the drill bit 3 to prevent the driving mechanism 2 and the drill bit 3 from shaking during drilling. At the same time, the fixing mechanism 1 can move with the driving mechanism 2 and the drill bit 3. When the drill bit 3 needs to be fed, the fixing mechanism 1 can move with the driving mechanism 2 and the drill bit 3 along a preset path to complete the drilling of the bone channel.

[0040] Optionally, the driving mechanism 2 may be configured as a handle with a motor inside, and the driving mechanism 2 drives the connecting portion 5 to rotate via the motor, thereby realizing the rotation of the drill bit 3 .

[0041] Some embodiments of the present invention provide a bone tunnel preparation device, comprising: a fixing mechanism 1, a driving mechanism 2 and a drill bit 3; the drill bit 3 is provided with a tip portion 4 and a connecting portion 5, and the drilling end of the drill bit 3 is provided with a twist blade, the driving mechanism 2 drives the drill bit 3 and the tip portion 4 to rotate through the connecting portion 5, the tip portion 4 first drills into the tibia or femur, and then the twist blade starts to drill into the tibia or femur under the fixation of the tip portion 4, so that the twist blade is more stable during feeding, which solves the technical problem in the prior art that the drilling center deviates from the planned bone tunnel, thereby causing the failure of the operation, and achieves the technical effect of more precise drilling and a high probability of successful surgery.

[0042] In an optional embodiment, the tip portion 4 includes a triangular tip 401 and a connecting column 402, the axes of the triangular tip 401, the connecting column 402 and the drill bit 3 are arranged to coincide with each other, the two ends of the connecting column 402 are respectively connected to the drill bit 3 and the triangular tip 401, and the width of the triangular tip 401 is arranged to decrease in the direction away from the drill bit 3.

[0043] In the above embodiment, the triangular tip 401 is in the shape of a triangular pyramid, and the shapes of the three faces of the triangular tip 401 are consistent, that is, the triangular tip 401 is in the shape of an isosceles triangular pyramid, and the bottom of the triangular tip 401 is connected to the connecting column 402, and the bottom of the triangular tip 401 and the connecting column 402 are arranged to be smoothly transitioned, and the connecting column 402 is cylindrical, and one end of the connecting column 402 is connected to the drilling end of the drill bit 3, and the other end is connected to the triangular tip 401, and the axes of the connecting column 402, the triangular tip 401 and the drill bit 3 are arranged to coincide with each other, so that when the drill bit 3 rotates, When drilling a hole in the tibia or femur, the triangular tip 401 first contacts the femur or tibia, and then the triangular tip 401 drills the hole first, and the triangular tip 401 and the connecting column 402 extend into the tibia or femur. Then, after excavating a certain distance, the twisted blade of the drill bit 3 contacts the tibia or femur. At this time, the triangular tip 401 and the connecting column 402 have been drilled into the hole, and the drill bit 3 and the twisted blade will not jump, so as to avoid the drill bit 3 slipping during drilling and causing inaccurate drilling.

[0044] In an optional embodiment, a tracer 6 is provided on the fixing mechanism 1 , and the tracer 6 is connected to the fixing mechanism 1 . The tracer 6 is communicatively connected to the navigation camera 11 , so that the navigation camera 11 can determine the position of the drill bit 3 through the tracer 6 .

[0045] In the above embodiment, the tracer 6 may include a reflective ball and a bracket, a plurality of reflective balls are arranged on the bracket, the plurality of reflective balls are fixedly connected to the bracket, the plurality of reflective balls are facing the navigation camera 11, and when the tracer 6 is connected to the fixing mechanism 1, the tracer 6 and the driving mechanism 2 are relatively stationary, that is, when the fixing mechanism 1 moves or rotates with the driving mechanism 2 and the drill bit 3, the tracer 6 moves with the driving mechanism 2, and in the shooting field of the navigation camera 11, the navigation camera 11 can establish a coordinate system through the distance and position between the plurality of reflective balls, and thereby can judge the position and angle of the driving mechanism 2 by shooting the tracer 6 through the navigation camera 11, thereby judging the position and angle of the drill bit 3.

[0046] In an optional embodiment, a tibial locator 7 and a femoral locator 8 are also included; the tibial locator 7 is arranged on the tibia, and the femoral locator 8 is arranged on the femur. The tibial locator 7 and the femoral locator 8 are respectively communicated with the navigation camera 11, and the navigation camera 11 determines the positions of the tibia and the femur through the tibial locator 7 and the femoral locator 8, respectively.

[0047] In the above embodiment, the structure and usage of the tibial locator 7 and the femoral locator 8 are consistent. Taking the tibial locator 7 as an example, the tibial locator 7 includes two bone needles, a guide, a clamp and a locator. The two bone needles are fixed on the tibia by punching. The fixing method can be a thread. The two bone needles are parallel to each other and have a certain distance. The two bone needles are connected at 10 cm from the end surface of the tibia. Two sleeves are provided on the guide. The guide is inserted into the two bone needles through the two sleeves, and the front end of the guide abuts against the patient's tibia. After the guide is abutted, the clamp is put onto the two bone needles and abutted against the end of the guide away from the tibia, and then the clamp is locked on the two bone needles to fix the two bone needles and the guide. Then, a locator is connected to the clamp. The locator can be composed of a bracket and a plurality of reflective balls. The bracket is connected to the clamp, and then a plurality of reflective balls are fixed on the bracket. The distance between two adjacent reflective balls is not equal, so that the navigation camera 11 can determine the position of the tibia by illuminating the plurality of reflective balls.

[0048] In an optional embodiment, the fixing mechanism 1 includes a mechanical arm 101 and a flange 102 , one end of the mechanical arm 101 is connected to the treatment bed 9 , and the other end is connected to the driving mechanism 2 via the flange 102 ; the flange 102 is connected to the tracer 6 .

[0049] In the above embodiment, the flange 102 is cylindrical, one end of the flange 102 is provided with four positioning posts, and the other end is provided with six limiting posts. One end of the flange 102 is inserted into the driving mechanism 2 through the four limiting posts to be positioned with the driving mechanism 2, and then connected to the driving mechanism 2 through bolts, so that the flange 102 is firmly connected to the driving mechanism 2 and the connection is more precise. The six limiting holes on the flange 102 can be sleeved on the columns of the movable end of the mechanical arm 101, so that the flange 102 is more accurately connected to the end face of the mechanical arm 101. Furthermore, a groove is provided on the side of the flange 102, and the bottom of the groove is a plane. The groove is recessed along the axial direction close to the flange 102, and a positioning column and two connecting holes are arranged at the bottom of the groove. The positioning column is arranged between the two connecting holes and close to one of the connecting holes. The tracer 6 is connected to the two connecting holes in the groove by two bolts, and a positioning hole for the positioning column in the groove is arranged on the tracer 6. The positioning column deviating from the midpoint plays a fool-proof role to avoid the tracer 6 from being connected to the wrong position. The robot arm 101 can adopt a multi-axis robot. The robot arm 101 can drive the driving mechanism 2 to move along a preset path through the flange 102 to complete the drilling of the femur or tibia.

[0050] In an optional embodiment, a probe 10 is further included; a tracer 9 is provided at one end of the probe 10, and the other end of the probe 10 abuts against the tibial end surface and the femoral end surface.

[0051] In the above embodiment, the probe 10 can be made of metal, and one end of the probe 10 is connected to a tracer 9. The navigation camera 11 illuminates the tracer 9 on the probe 10 to determine the position where the other end of the probe 10 abuts, thereby drawing a three-dimensional model of the end surfaces of the tibia and femur. Furthermore, the end of the probe 10 abutting the femur and tibia can be set to a pointed end, or it can be set to a spherical shape, or it can be set to a hook shape or other shapes that are convenient for abutting the end surfaces of the tibia and femur, so that the end surfaces of the tibia and femur can be better drawn.

[0052] Some embodiments of the present invention also provide a preparation method based on a bone tunnel preparation device, comprising the following steps: fixing the patient's leg on a treatment bed 9, connecting a tibial positioner 7 to the tibia, connecting a femoral positioner 8 to the femur, and then preliminarily determining the positions of the tibia and femur through a navigation camera 11, and then extending a probe 10 with a tracer 6 into the knee joint and abutting against the end surfaces of the tibia and femur, and determining the end surfaces of the tibia and femur through the tracer 6 on the probe 10, and then drawing images of the tibia and femur, and fitting the drawn images with previous MRI or tomography images to obtain new images, and planning the scalp scan based on the images of the tibia and femur. tibial canal and femoral canal; then, the drill bit 3 is driven to move by controlling the mechanical arm 101 through the flange 102 and the driving mechanism 2, so that the axis of the drill bit 3 coincides with the tibial canal or the femoral canal; the drill bit 3 is driven to rotate by the driving mechanism 2, and the drill bit 3 is driven to feed in the direction of the tibial canal or the femoral canal by the mechanical arm 101, so that the triangular tip 401 of the drill bit 3 first drills into the tibia or femur, until the connecting column 402 also drills into the tibia or femur, so as to obtain preliminary positioning, and then the drill bit 3 is continued to be fed, so that the twisted blade of the drill bit 3 drills into the tibia or femur. At this time, the triangular tip 401 and the connecting column 402 are fixed, so that the drill bit 3 can be prevented from slipping, and the drilling can be more accurate.

[0053] In an optional embodiment, the following steps are also included: after the patient's leg moves, the position after movement is obtained by using the tibial locator 7 and the femoral locator 8, and the previous positions of the tibial locator 7 and the femoral locator 8 are compared with the new image obtained previously, and the previous new image is moved and fitted according to the position of the tibial locator 7 and the femoral locator 8 after movement to obtain the image after movement, and the tibial and femoral bone tunnels are replanned according to the image after movement, and then the robotic arm 101 drives the drill bit 3 to feed along the replanned tibial and femoral bone tunnels through the driving mechanism 2.

[0054] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A bone tunnel preparation device, characterized in that: include: Fixing mechanism, driving mechanism and drill bit; One end of the fixing mechanism is connected to the treatment bed, and the other end is connected to the driving mechanism, and the driving mechanism is detachably connected to the drill bit; The drill bit is provided with a tip portion and a connecting portion, wherein the tip portion is provided at the drilling end of the drill bit, and the drilling end of the drill bit is provided with a twist blade, wherein the diameter of the twist blade is greater than the diameter of the tip portion, and the connecting portion is provided away from the tip portion, and the connecting portion extends into the driving mechanism so that the driving mechanism drives the drill bit and the tip portion to rotate through the connecting portion.

2. The bone channel preparation device according to claim 1, characterized in that: The tip portion includes a triangular tip and a connecting column, the axes of the triangular tip, the connecting column and the drill bit are arranged to coincide with each other, the two ends of the connecting column are respectively connected to the drill bit and the triangular tip, and the width of the triangular tip is arranged to decrease in a direction away from the drill bit.

3. The bone channel preparation device according to claim 1, characterized in that: The fixing mechanism is provided with a tracer, the tracer is connected to the fixing mechanism, and the tracer is communicatively connected to a navigation camera, so that the navigation camera can determine the position of the drill bit through the tracer.

4. The bone channel preparation device according to claim 3, characterized in that: Also included are a tibial locator and a femoral locator; The tibial locator is arranged on the tibia, and the femoral locator is arranged on the femur. The tibial locator and the femoral locator are respectively connected to the navigation camera for communication. The navigation camera determines the positions of the tibia and the femur respectively through the tibial locator and the femoral locator.

5. The bone channel preparation device according to claim 3, characterized in that: The fixing mechanism comprises a mechanical arm and a flange, one end of the mechanical arm is connected to the treatment bed, and the other end is connected to the driving mechanism through the flange; The flange is connected to the tracer.

6. The bone channel preparation device according to claim 5, characterized in that: A groove is arranged on the side wall of the flange, and two connecting holes are arranged in the groove. The two connecting holes are arranged at intervals along the length direction of the groove, and the tracer is connected to the two connecting holes by bolts.

7. The bone tunnel preparation device according to claim 6, characterized in that: A positioning column is also provided on the groove, the positioning column is arranged perpendicular to the bottom of the groove, the positioning column is arranged between two of the connecting holes, the positioning column is arranged close to one of the connecting holes, and the positioning column passes through the tracer.

8. The bone tunnel preparation device according to claim 3, characterized in that: Also included are probes; One end of the probe is provided with the tracer, and the other end of the probe abuts against the tibial end surface and the femoral end surface.

9. A method for preparing a bone tunnel preparation device according to any one of claims 1 to 8, characterized in that: The following steps are involved: Planning of tibial and femoral tunnels; Control the drill bit to coincide with the tibial or femoral bone tunnel; The driving mechanism drives the drill bit to be fed toward the tibial or femoral bone tunnel, so that the tip of the drill bit first drills into the tibia or femur to obtain preliminary positioning, and then the drill bit is continuously fed so that the twisted blade of the drill bit drills into the tibia or femur.

10. The preparation method according to claim 9, characterized in that: The following steps are also included: After the patient's leg moves, the position after the movement is obtained through the tibial locator and the femoral locator, and the tibial bone tunnel and the femoral bone tunnel are replanned. Then, the robotic arm drives the drill bit to feed along the replanned tibial bone tunnel and the femoral bone tunnel through the driving mechanism.

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