Navigation system for preoperative design and intraoperative monitoring and treatment of chronic osteomyelitis

Abstract

The invention discloses a navigation system for preoperative design and intraoperative monitoring and treatment of chronic osteomyelitis, and relates to the field of medical instruments, the navigation system comprises a vertical arm, a wound surface auxiliary positioning disc is arranged on one side of the top end of the vertical arm, and a camera is arranged in the middle of the wound surface auxiliary positioning disc; the lower surface of the wound surface auxiliary positioning disc is provided with a plurality of wound surface auxiliary positioning lamps, the multiple wound surface auxiliary positioning lamps are evenly arranged around the camera, and each wound surface auxiliary positioning lamp emits a single-color light beam. According to the system, the wound range and debridement key points of a patient can be distinguished, marked and navigated on the basis of the camera, a doctor can perform surgical operation more accurately, the surgical time and trauma are reduced, in addition, multi-degree-of-freedom control operation is achieved through the mechanical manipulator and the clamping assembly, the steel plate clamping and fixing action of bones is achieved, and the working efficiency is improved. The steel plate can be tightly attached to the bone, the operation efficiency can be improved, and the workload of doctors is relieved.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and specifically to a navigation system for preoperative design and intraoperative monitoring and treatment of chronic osteomyelitis. Background Art

[0002] Currently, traditional debridement surgery often faces problems such as insufficient accuracy in lesion localization, limited intraoperative vision, and low operation efficiency. Preoperative planning relying on two-dimensional images (such as CT, MRI) is difficult to intuitively present the three-dimensional spatial relationship of the lesion, and intraoperative repeated confirmation through palpation or fluoroscopy is required, resulting in an average localization error reaching the centimeter level; after the minimally invasive surgical incision is reduced, it is difficult to expose deep lesions, and doctors need to rely on experience to judge tissue layers, increasing the risk of damaging important structures; debridement in complex anatomical regions (such as the skull base, spine) requires frequent adjustment of the instrument angle, with low operation efficiency.

[0003] Surgical navigation technology, as a cutting-edge result of the cross-integration of modern medicine and multiple disciplines, has been widely applied in surgical fields such as neurosurgery, orthopedics, otolaryngology, etc. However, although existing surgical navigation systems can assist doctors and patients in surgery, they have deficiencies in preoperative design and intraoperative monitoring, and there is a risk of surgical operation errors and deviations. Therefore, this application proposes a navigation system for preoperative design and intraoperative monitoring and treatment of chronic osteomyelitis. Summary of the Invention

[0004] Based on this, the purpose of the present invention is to provide a navigation system for preoperative design and intraoperative monitoring and treatment of chronic osteomyelitis to solve the technical problem of the risk of surgical operation errors and deviations in the current debridement surgery process.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A navigation system for preoperative design and intraoperative monitoring and treatment of chronic osteomyelitis, including a vertical arm. On one side of the top of the vertical arm, there is a wound surface auxiliary positioning disk. In the middle position of the wound surface auxiliary positioning disk, there is a camera. On the lower surface of the wound surface auxiliary positioning disk, there are wound surface auxiliary positioning lights. A number of the wound surface auxiliary positioning lights are evenly arranged around the camera. Each of the wound surface auxiliary positioning lights emits a monochromatic light beam; on the vertical arm, there is a support rail, and a mechanical manipulator is assembled on the support rail. The end of the mechanical manipulator is provided with a clamping component capable of performing a clamping action.

[0006] The present invention is further arranged such that a number of the wound surface auxiliary positioning lights are at least divided into two groups. The light colors of multiple groups of the wound surface auxiliary positioning lights are different from each other, and multiple groups of the wound surface auxiliary positioning lights are distributed at intervals.

[0007] The present invention is further configured such that the vertical arm includes an outer shell arm disposed vertically and an inner shell arm movably penetrating through the top end of the outer shell arm. A second pen-type electric push rod is vertically fixed inside the outer shell arm. The bottom end inside the inner shell arm has a receiving cavity capable of accommodating the second pen-type electric push rod. The telescopic end of the second pen-type electric push rod is connected to the top wall inside the receiving cavity.

[0008] The present invention is further configured such that a counterweight base is provided at the bottom end of the outer shell arm. Universal wheels are provided at the four corners of the bottom of the counterweight base. The counterweight base is configured as a frustum structure.

[0009] The present invention is further configured such that a connecting plate is horizontally fixed to one side of the wound surface auxiliary positioning disc. A fixing sleeve is fixed to the end of the connecting plate. The fixing sleeve is sleeved on the top end of the inner shell arm, and the fixing sleeve is bolted to the inner shell arm. Reinforcing plates are fixed between the upper surface of the connecting plate and the wound surface auxiliary positioning disc and the side wall of the fixing sleeve. The reinforcing plates are configured as triangular structures.

[0010] The present invention is further configured such that the support rail is horizontally fixed to one side of the outer shell arm. An adjusting arm is movably embedded in the support rail along the length direction. The adjusting arm penetrates through one end of the support rail facing the wound surface auxiliary positioning disc. The mechanical manipulator is assembled on the adjusting arm. A lead screw is rotatably installed inside the support rail. The adjusting arm is in threaded socket fit with the lead screw. A second control motor for driving the lead screw to rotate is installed at the end of the support rail. A guide groove is formed in the side wall of the adjusting arm along the length direction. A convex block is provided on the inner side wall of the support rail, and the convex block is fitted with the guide groove.

[0011] The present invention is further configured such that the mechanical manipulator includes a fixed seat fixed to the adjusting arm, a first control arm horizontally rotatably installed on the fixed seat, a second control arm longitudinally rotatably installed on the first control arm, a third control arm longitudinally rotatably installed on the second control arm, and a fourth control arm longitudinally rotatably installed on the third control arm. First control motors are provided at the rotation axes of the first control arm, the second control arm, the third control arm, and the fourth control arm. Controlling the first control motors can drive the corresponding first control arm, second control arm, third control arm, and fourth control arm to perform horizontal rotation actions and longitudinal rotation actions respectively. The clamping assembly is assembled at the bottom end of the fourth control arm.

[0012] The present invention is further configured such that the clamping assembly includes a connecting head rotatably installed at the bottom end of the fourth control arm and a pair of slide rails horizontally and slidably embedded at the bottom of the connecting head. The pair of slide rails are arranged side by side. Clamping heads are provided at the bottom of both ends of the pair of connecting heads. The pair of clamping heads are symmetrically distributed, and assembly holes are formed in both of the pair of clamping heads. A first pen-type electric push rod for driving the slide rails to translate is assembled on the connecting head.

[0013] The present invention is further configured such that a control box is provided on the side wall of the outer shell arm. A circuit board and a chip are provided inside the control box. Based on the circuit board and the chip, an intelligent control system is provided. The intelligent control system includes:

[0014] An image acquisition module, which captures image information of the patient's wound based on a camera, including the shape, size, and depth details of the wound, provides an accurate data basis for the preoperative debridement assessment and positioning of the patient, supports the multi-angle shooting function, obtains the complete information of the wound from different perspectives, comprehensively understands the situation of the wound, and provides support for formulating a more reasonable debridement plan;

[0015] A data wireless transmission control module, which uses wireless transmission technology, such as GPRS and other wireless data transmission technologies, to transmit the image data collected by the camera to the information management center server in real time. The information management center server has at least one IP address and has a human body electronic diagram. After receiving the image data, the server processes and stores the data using the TCP / IP protocol to provide support for subsequent evaluation and analysis;

[0016] An artificial intelligence evaluation module, which analyzes the collected wound images based on AI technology, automatically evaluates the scope of the wound, including a wound area evaluation system and a wound color evaluation system. Through AI recognition, it records the patient's wound situation and archives it in a timely manner; according to the scope and characteristics of the wound, the system uses artificial intelligence algorithms to determine the key areas of debridement, simulates the debridement process, reconstructs the wound and the surrounding tissues through three-dimensional modeling technology, and marks and displays them based on the human body electronic diagram. Doctors can perform debridement operations in a virtual environment, pre-evaluate the debridement effect, and optimize the surgical plan;

[0017] A robotic arm assistance module, which uses a robotic manipulator as an auxiliary device. In orthopedic surgery, doctors scan the 3D human body information of the patient into the computer through fluoroscopy or scanning. After the system automatically matches and completes, doctors can select a suitable path; after confirming the surgical path, the robotic manipulator accurately moves to the designated position through camera navigation and the multi-degree-of-freedom motion control technology of the robotic manipulator, with an accuracy error at the sub-millimeter level, and synchronizes to the surgical tool that will enter the patient's body to achieve the fixation of the bone plate.

[0018] In summary, the present invention mainly has the following beneficial effects:

[0019] Through the setting of the camera, the present invention can clearly capture the image information of the patient's wound, including details such as the shape, size, and depth of the wound, providing an accurate data basis for subsequent evaluation and positioning. The multi-angle shooting function of the camera can obtain the complete information of the wound from different perspectives, enabling a more comprehensive understanding of the wound situation, providing support for formulating a more reasonable debridement plan. After obtaining the patient's wound image information through the camera, in the background, doctors can conduct a comprehensive examination of the patient's wound before surgery, determine the specific location of the wound, evaluate the scope of the wound, and clarify the key points of debridement. After determining the wound scope and clarifying the key points of debridement, different colored light beams can be emitted by controlling multiple groups of wound auxiliary positioning lights and projected onto the patient's wound to distinguish and mark the wound scope and the key points of debridement, enabling doctors to perform surgical operations more precisely, reducing the operation time and trauma.

[0020] Through the setting of the mechanical manipulator and the clamping component, the present invention controls the mechanical manipulator to accurately move the clamping component to the specified position and synchronize it with the surgical tool that will enter the patient's body, realizing the clamping and fixing action of the bone plate, ensuring that the plate can closely fit the bone and providing a stable fixing effect. This close fit and stable fixation help to promote the healing of fractures and reduce the occurrence of complications. Among them, by controlling the first manipulation motor, the corresponding first manipulation arm, second manipulation arm, third manipulation arm, and fourth manipulation arm can be driven to perform horizontal rotation actions and vertical rotation actions respectively. Coupled with the horizontal movement adjustment of the adjustment arm, the multi-degree-of-freedom adjustment control helps to improve the surgical efficiency, shorten the operation time, simplify the surgical operation process, and reduce the workload of doctors.

[0021] Through the setting of the control box, the present invention can simulate the debridement process and plan formulation using artificial intelligence algorithms, allowing doctors to evaluate the debridement effect in advance, optimize the surgical plan, reduce the surgical risk, and improve the accuracy and effect of the surgery. In addition, the intelligent control can realize remote medical treatment. The data wireless transmission control function enables doctors to evaluate the patient's wound and guide the surgery remotely, providing technical support for remote medical treatment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is the overall structural schematic diagram of the present invention;

[0023] Figure 2 is the structural schematic diagram of the wound auxiliary positioning disc of the present invention;

[0024] Figure 3 is the structural schematic diagram of the bottom view of the wound auxiliary positioning disc of the present invention;

[0025] Figure 4 is the structural schematic diagram of the mechanical manipulator of the present invention;

[0026] Figure 5 Structural schematic diagram of the clamping component of the present invention;

[0027] Figure 6 Structural schematic diagram of the supporting rail of the present invention;

[0028] Figure 7 Internal structural schematic diagram of the outer shell arm of the present invention.

[0029] In the figure: 1, vertical arm; 2, counterweight base; 3, universal wheel; 4, outer shell arm; 5, inner shell arm; 6, control box; 7, supporting rail; 8, mechanical manipulator; 9, wound surface auxiliary positioning disc; 10, fixing sleeve; 11, connecting plate; 12, reinforcing plate; 13, camera; 14, wound surface auxiliary positioning lamp; 15, fixing seat; 16, first operating arm; 17, second operating arm; 18, third operating arm; 19, fourth operating arm; 20, clamping component; 21, first operating motor; 22, connecting head; 23, slide rail; 24, chuck; 25, first pen-shaped electric push rod; 26, assembly hole; 27, adjusting arm; 28, lead screw; 29, second operating motor; 30, guide groove; 31, convex block; 32, second pen-shaped electric push rod; 33, accommodating cavity. Specific embodiments

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0031] A navigation system for preoperative design and intraoperative monitoring and treatment of chronic osteomyelitis, as Figure 1-7As shown in the figure, it includes a vertical arm 1. On one side of the top of the vertical arm 1, there is a wound auxiliary positioning disk 9. In the middle position of the wound auxiliary positioning disk 9, there is a camera 13. On the lower surface of the wound auxiliary positioning disk 9, there are wound auxiliary positioning lights 14. A number of wound auxiliary positioning lights 14 are evenly arranged around the camera 13. Each wound auxiliary positioning light 14 emits a monochromatic light beam. Among them, a number of wound auxiliary positioning lights 14 are at least divided into two groups. The light colors among multiple groups of wound auxiliary positioning lights 14 are different, and multiple groups of wound auxiliary positioning lights 14 are spaced apart. The camera 13 uses a high-resolution camera, which can clearly capture the image information of the patient's wound, including details such as the shape, size, and depth of the wound, providing an accurate data basis for subsequent evaluation and positioning. In addition, the camera 13 supports the multi-angle shooting function to obtain the complete information of the wound from different perspectives, avoiding evaluation deviation caused by a single perspective. Through multi-angle shooting, the situation of the wound can be understood more comprehensively, providing support for formulating a more reasonable debridement plan. After obtaining the patient's wound image information through the camera 13, in the background, the doctor can conduct a comprehensive examination of the patient's wound before the operation to determine the specific location of the wound. In addition to determining the wound location, the doctor can also evaluate the scope of the wound according to the patient's wound image information, including the length, width, and depth of the wound, which helps the doctor judge the difficulty of debridement and the amount of necrotic tissue and foreign bodies that need to be removed. Based on the determined wound scope, the doctor can formulate a debridement plan to clarify the key points of debridement, including determining which tissues need to be removed, which tissues need to be retained, and how to handle the pollution and foreign bodies around the wound. After determining the wound scope and clarifying the key points of debridement, different color light beams can be emitted by controlling multiple groups of wound auxiliary positioning lights 14 and projected onto the patient's wound to distinguish and mark the wound scope and the key points of debridement. The doctor can perform the surgical operation more accurately, reducing the operation time and trauma. In addition, during the surgical debridement process, the camera 13 can perform intraoperative monitoring in real time to ensure that the operation is error-free.

[0032] In a further embodiment, the vertical arm 1 includes a vertically arranged outer shell arm 4 and an inner shell arm 5 movably inserted through the top end of the outer shell arm 4. A second pen-type electric push rod 32 is vertically fixed inside the outer shell arm 4. At the bottom end inside the inner shell arm 5, there is a receiving cavity 33 capable of accommodating the second pen-type electric push rod 32. The telescopic end of the second pen-type electric push rod 32 is connected to the top wall inside the receiving cavity 33. One side of the wound surface auxiliary positioning disc 9 is horizontally fixed with a connecting plate 11. The end of the connecting plate 11 is fixed with a fixing sleeve 10. The fixing sleeve 10 is sleeved on the top end of the inner shell arm 5, and the fixing sleeve 10 is bolted to the inner shell arm 5. Between the upper surface of the connecting plate 11 and the wound surface auxiliary positioning disc 9 and the side wall of the fixing sleeve 10, a reinforcing plate 12 is fixed. The reinforcing plate 12 is arranged in a triangular structure. Through this structural design, starting the second pen-type electric push rod 32 can push the inner shell arm 5 to rise and fall, thereby adjusting the height of the wound surface auxiliary positioning disc 9. At the bottom end of the outer shell arm 4, a counterweight base 2 is provided. At the four corners of the bottom of the counterweight base 2, universal wheels 3 are provided. The counterweight base 2 is arranged in a frustum structure, which is used to stably support the vertical arm 1 and is convenient for moving in cooperation with the universal wheels 3.

[0033] Furthermore, a support rail 7 is provided on the vertical arm 1. A mechanical manipulator 8 is assembled on the support rail 7. At the end of the mechanical manipulator 8, a clamping assembly 20 capable of performing a clamping action is provided. By controlling the mechanical manipulator 8, the clamping assembly 20 can accurately move to a specified position and be synchronized with the surgical tool to be inserted into the patient's body, realizing the fixation of the bone plate. The support rail 7 is horizontally fixed on one side of the outer shell arm 4. An adjusting arm 27 is movably embedded along the length direction on the support rail 7. One end of the adjusting arm 27 that penetrates the support rail 7 faces the wound surface auxiliary positioning disc 9. The mechanical manipulator 8 is assembled on the adjusting arm 27. A lead screw 28 is rotatably installed inside the support rail 7. The adjusting arm 27 is in threaded socket fit with the lead screw 28. A second control motor 29 for driving the lead screw 28 to rotate is installed at the end of the support rail 7. A guide groove 30 is opened along the length direction on the side wall of the adjusting arm 27. A convex block 31 is provided on the inner side wall of the support rail 7. The convex block 31 is engaged with the guide groove 30. By starting the second control motor 29 to drive the lead screw 28 to rotate, and using the threaded fit between the lead screw 28 and the adjusting arm 27, the adjusting arm 27 can be driven to move horizontally along the support rail 7 to adjust the horizontal position of the mechanical manipulator 8.

[0034] In a further embodiment, the robotic manipulator 8 includes a fixed seat 15 fixed on the adjusting arm 27, a first manipulator arm 16 horizontally rotatably mounted on the fixed seat 15, a second manipulator arm 17 longitudinally rotatably mounted on the first manipulator arm 16, a third manipulator arm 18 longitudinally rotatably mounted on the second manipulator arm 17, and a fourth manipulator arm 19 longitudinally rotatably mounted on the third manipulator arm 18. First manipulator motors 21 are provided at the rotation axes of the first manipulator arm 16, the second manipulator arm 17, the third manipulator arm 18, and the fourth manipulator arm 19. Controlling the first manipulator motors 21 can drive the corresponding first manipulator arm 16, second manipulator arm 17, third manipulator arm 18, and fourth manipulator arm 19 to perform horizontal rotation actions and longitudinal rotation actions respectively. The clamping assembly 20 is assembled at the bottom end of the fourth manipulator arm 19. The clamping assembly 20 includes a connecting head 22 rotatably mounted at the bottom end of the fourth manipulator arm 19 and a pair of sliding rails 23 horizontally slidably fitted at the bottom of the connecting head 22. The pair of sliding rails 23 are arranged side by side. Clamping heads 24 are provided at the bottoms of the pair of connecting heads 22. The pair of clamping heads 24 are symmetrically distributed, and assembly holes 26 are formed in the pair of clamping heads 24. A first pen-type electric push rod 25 for driving the sliding rails 23 to translate is assembled on the connecting head 22. Through this structural method, the assembly holes 26 on the pair of clamping heads 24 can be used to assemble the surgical tools to be inserted into the patient's body. Driving the sliding rails 23 to translate by the first pen-type electric push rod 25 can drive the pair of clamping heads 24 to drive the surgical tools to approach or separate, realizing the clamping and fixing action of the bone plate, so as to ensure that the bone plate can closely fit the bone and provide a stable fixing effect. This close fit and stable fixation help to promote the healing of fractures and reduce the occurrence of complications. Among them, by controlling the first manipulator motors 21, the corresponding first manipulator arm 16, second manipulator arm 17, third manipulator arm 18, and fourth manipulator arm 19 can be driven to perform horizontal rotation actions and longitudinal rotation actions respectively. Coupled with the horizontal movement adjustment of the adjusting arm 27, the high degree of automation also helps to improve the surgical efficiency, shorten the surgical time, simplify the surgical operation process at the same time, and reduce the doctor's workload.

[0035] In a further embodiment, a control box 6 is provided on the side wall of the outer shell arm 4. A circuit board and a chip are provided in the control box 6. Based on the circuit board and the chip, an intelligent control system is provided. The intelligent control system includes:

[0036] An image acquisition module, which captures the image information of the patient's wound based on the camera 13, including the shape, size, and depth details of the wound, provides an accurate data basis for the preoperative debridement evaluation and positioning of the patient, supports the multi-angle shooting function, obtains the complete information of the wound from different perspectives, comprehensively understands the situation of the wound, and provides support for formulating a more reasonable debridement plan;

[0037] The data wireless transmission control module uses wireless transmission technology and utilizes wireless data transmission technologies such as GPRS to transmit the image data collected by the camera 13 to the information management center server in real time. The information management center server has at least one IP address and has a human body electronic diagram. After receiving the image data, the server uses the TCP / IP protocol for data processing and storage to provide support for subsequent evaluation and analysis;

[0038] The artificial intelligence evaluation module, based on AI technology, analyzes the collected wound images, automatically evaluates the scope of the wound, including the wound area evaluation system and the wound color evaluation system. Through AI recognition, it records the patient's wound conditions and archives them in a timely manner; according to the scope and characteristics of the wound, the system uses artificial intelligence algorithms to determine the key areas for debridement. The system simulates the debridement process, reconstructs the wound and the surrounding tissues through 3D modeling technology, and marks and displays them based on the human body electronic diagram. Doctors can perform debridement operations in a virtual environment, evaluate the debridement effect in advance, and optimize the surgical plan;

[0039] The robotic arm assistance module uses the robotic manipulator 8 as an auxiliary device. In orthopedic surgery, doctors scan the 3D human body information of the patient into the computer through fluoroscopy or scanning. After the system automatically matches, doctors can select an appropriate path; after confirming the surgical path, the robotic manipulator 8 accurately moves to the designated position through the navigation of the camera 13 and the multi-degree-of-freedom motion control technology of the robotic manipulator 8, with an accuracy error at the sub-millimeter level, and synchronizes to the surgical tool that will enter the patient's body to achieve the fixation of the bone plate.

[0040] In the present invention, the camera 13 is a high-resolution camera, which can clearly capture the image information of the patient's wound, including details such as the shape, size, and depth of the wound, providing an accurate data basis for subsequent evaluation and positioning. The multi-angle shooting function of the camera 13 can obtain the complete information of the wound from different perspectives, enabling a more comprehensive understanding of the wound condition and providing support for formulating a more reasonable debridement plan. After obtaining the image information of the patient's wound through the camera 13, in the background, the doctor can conduct a comprehensive examination of the patient's wound before the operation, determine the specific location of the wound, evaluate the scope of the wound, and clarify the key points of debridement. After determining the wound scope and clarifying the key points of debridement, different colored light beams can be emitted by controlling multiple groups of wound auxiliary positioning lights 14 and projected onto the patient's wound to distinguish and mark the wound scope and the key points of debridement, enabling the doctor to perform the surgical operation more precisely, reducing the operation time and trauma. Through the settings of the mechanical manipulator 8 and the clamping assembly 20, the mechanical manipulator 8 is controlled to move the clamping assembly 20 accurately to the designated position and synchronize it with the surgical tool to be inserted into the patient's body, realizing the clamping and fixing action of the bone plate, ensuring that the plate can closely fit the bone and providing a stable fixing effect. This close fit and stable fixation contribute to promoting the healing of fractures and reducing the occurrence of complications. Among them, by controlling the first manipulation motor 21, the corresponding first manipulation arm 16, second manipulation arm 17, third manipulation arm 18, and fourth manipulation arm 19 can be driven to perform horizontal rotation and vertical rotation actions respectively. Coupled with the horizontal movement adjustment of the adjustment arm 27, the multi-degree-of-freedom adjustment control helps improve the surgical efficiency, shorten the operation time, simplify the surgical operation process, and reduce the doctor's workload. Through the setting of the control box 6, the artificial intelligence algorithm can simulate the debridement process and plan formulation, allowing the doctor to evaluate the debridement effect in advance, optimize the surgical plan, reduce the surgical risk, and improve the precision and effect of the operation. In addition, the intelligent control can realize remote medical treatment, and the data wireless transmission control function enables the doctor to evaluate the patient's wound and guide the operation remotely, providing technical support for remote medical treatment.

[0041] Although the embodiments of the present invention have been shown and described, the specific embodiments are only explanations of the present invention and not limitations thereof. The specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. After reading this specification, those skilled in the art can make modifications, substitutions, and variations that do not contribute creatively to the embodiments according to their needs, but as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. A navigation system for preoperative design and intraoperative monitoring and treatment of chronic osteomyelitis, including a vertical arm (1), characterized in that: On one side of the top of the vertical arm (1), a wound auxiliary positioning disc (9) is provided. In the middle position of the wound auxiliary positioning disc (9), a camera (13) is provided. On the lower surface of the wound auxiliary positioning disc (9), a wound auxiliary positioning lamp (14) is provided. A plurality of the wound auxiliary positioning lamps (14) are evenly arranged around the camera (13). Each of the wound auxiliary positioning lamps (14) emits a monochromatic light beam. A support rail (7) is provided on the vertical arm (1). A mechanical manipulator (8) is assembled on the support rail (7). The end of the mechanical manipulator (8) is provided with a clamping assembly (20) capable of performing a clamping action.

2. The navigation system for preoperative design and intraoperative monitoring and treatment of chronic osteomyelitis according to claim 1, characterized in that: The plurality of wound auxiliary positioning lamps (14) are at least divided into two groups. The light colors of the multiple groups of wound auxiliary positioning lamps (14) are different from each other, and the multiple groups of wound auxiliary positioning lamps (14) are spaced apart.

3. A navigation system for preoperative design and intraoperative monitoring and treatment of chronic osteomyelitis according to claim 1, characterized in that: The vertical arm (1) includes a vertically arranged outer shell arm (4) and an inner shell arm (5) movably penetrating through the top of the outer shell arm (4). A second pen-type electric push rod (32) is vertically fixed inside the outer shell arm (4). At the bottom end inside the inner shell arm (5), there is a receiving cavity (33) capable of accommodating the second pen-type electric push rod (32). The telescopic end of the second pen-type electric push rod (32) is connected to the inner top wall of the receiving cavity (33).

4. A navigation system for preoperative design and intraoperative monitoring and treatment of chronic osteomyelitis according to claim 3, characterized in that: A counterweight base (2) is provided at the bottom end of the outer shell arm (4). Universal wheels (3) are provided at the four corners of the bottom of the counterweight base (2). The counterweight base (2) is set as a frustum structure.

5. A navigation system for preoperative design and intraoperative monitoring and treatment of chronic osteomyelitis according to claim 3, characterized in that: On one side of the wound auxiliary positioning disc (9), a connecting plate (11) is horizontally fixed. At the end of the connecting plate (11), a fixing sleeve (10) is fixed. The fixing sleeve (10) is sleeved on the top of the inner shell arm (5), and the fixing sleeve (10) is bolted to the inner shell arm (5). Reinforcing plates (12) are fixed between the upper surfaces of the connecting plate (11) and the wound auxiliary positioning disc (9) and the side wall of the fixing sleeve (10). The reinforcing plates (12) are set as triangular structures.

6. A navigation system for preoperative design and intraoperative monitoring and treatment of chronic osteomyelitis according to claim 3, characterized in that: The support rail (7) is horizontally fixed on one side of the outer shell arm (4). An adjusting arm (27) is movably embedded along the length direction on the support rail (7). The end of the adjusting arm (27) passing through the support rail (7) faces the wound auxiliary positioning disc (9). The mechanical manipulator (8) is assembled on the adjusting arm (27). A lead screw (28) is rotatably installed inside the support rail (7). The adjusting arm (27) is in threaded socket fit with the lead screw (28). A second control motor (29) for driving the lead screw (28) to rotate is installed at the end of the support rail (7). A guide groove (30) is opened along the length direction on the side wall of the adjusting arm (27). A convex block (31) is provided on the inner side wall of the support rail (7), and the convex block (31) is fitted with the guide groove (30).

7. A navigation system for preoperative design and intraoperative monitoring and treatment of chronic osteomyelitis according to claim 6, characterized in that: The mechanical manipulator (8) includes a fixed seat (15) fixed on the adjusting arm (27), a first manipulator arm (16) horizontally rotatably mounted on the fixed seat (15), a second manipulator arm (17) longitudinally rotatably mounted on the first manipulator arm (16), a third manipulator arm (18) longitudinally rotatably mounted on the second manipulator arm (17), and a fourth manipulator arm (19) longitudinally rotatably mounted on the third manipulator arm (18). First manipulator motors (21) are provided at the rotation axes of the first manipulator arm (16), the second manipulator arm (17), the third manipulator arm (18), and the fourth manipulator arm (19). Controlling the first manipulator motors (21) can drive the corresponding first manipulator arm (16), second manipulator arm (17), third manipulator arm (18), and fourth manipulator arm (19) to perform horizontal rotation actions and longitudinal rotation actions respectively. The clamping assembly (20) is assembled at the bottom end of the fourth manipulator arm (19).

8. A navigation system for preoperative design and intraoperative monitoring and treatment of chronic osteomyelitis according to claim 7, characterized in that: The clamping assembly (20) includes a connecting head (22) rotatably mounted at the bottom end of the fourth manipulator arm (19) and a pair of slide rails (23) horizontally slidably fitted at the bottom of the connecting head (22). The pair of slide rails (23) are arranged side by side. Clamping heads (24) are provided at the bottoms of the pair of connecting heads (22). The pair of clamping heads (24) are symmetrically distributed, and assembly holes (26) are provided on the pair of clamping heads (24). A first pen-type electric push rod (25) for driving the slide rails (23) to translate is assembled on the connecting head (22).

9. A navigation system for preoperative design and intraoperative monitoring and treatment of chronic osteomyelitis according to claim 3, characterized in that: A control box (6) is provided on the side wall of the outer shell arm (4). A circuit board and a chip are provided in the control box (6). Based on the circuit board and the chip, an intelligent control system is provided. The intelligent control system includes: An image acquisition module that captures image information of the patient's wound based on the camera (13), including the shape, size, and depth details of the wound, provides an accurate data basis for the patient's preoperative debridement assessment and positioning, supports the multi-angle shooting function, obtains the complete information of the wound from different perspectives, comprehensively understands the situation of the wound, and provides support for formulating a more reasonable debridement plan; A data wireless transmission control module that uses wireless transmission technology, utilizes wireless data transmission technologies such as GPRS, and transmits the image data collected by the camera (13) to the information management center server in real time. The information management center server has at least one IP address and has a human body electronic diagram. After receiving the image data, the server processes and stores the data using the TCP / IP protocol to provide support for subsequent evaluation and analysis; The artificial intelligence evaluation module, based on AI technology, analyzes the collected wound images, automatically evaluates the scope of the wound, including the wound area evaluation system and the wound color evaluation system, identifies through AI, records the patient's wound conditions and archives them in a timely manner; according to the scope and characteristics of the wound, the system uses artificial intelligence algorithms to determine the key areas for debridement, simulates the debridement process, reconstructs the wound and the surrounding tissues through 3D modeling technology, and marks and displays them based on the human body electronic diagram, enabling doctors to perform debridement operations in a virtual environment, pre-evaluate the debridement effect, and optimize the surgical plan; The robotic arm assistance module uses a robotic manipulator (8) as an auxiliary device. In orthopedic surgery, doctors scan the patient's 3D human body information into the computer through fluoroscopy or scanning. After the system automatically matches, doctors can select an appropriate path; after confirming the surgical path, the robotic manipulator (8) accurately moves to the designated position through the navigation of the camera (13) and the multi-degree-of-freedom motion control technology of the robotic manipulator (8), with an accuracy error at the sub-millimeter level, and synchronizes to the surgical tool that will enter the patient's body to achieve the fixation of the bone plate.

Images