A guide robot based on projection principle and a method for placing nails in orthopedic surgery

Abstract

The technical scheme of the present application discloses a guiding robot based on projection principle and a bone surgery nail placing method, which is based on the characteristics of X-ray along a straight line and the principle that the contrast remains unchanged when an object moves along the X-ray radiation direction, determines the nail placing planes of the surgical bone nail in two radiation directions with a 90-degree intersection angle through the first positioning guide nail, the second positioning guide nail and the third positioning guide nail, and determines the unique and optimal nail placing position through the two intersecting planes. The determination of the nail placing position is completed outside the body, and only one projection in the radiation direction needs to be focused on at the same time during positioning, thereby reducing the difficulty of bone nail positioning, shortening the operation time, reducing the surgical wound of the patient and the radiation damage to the patient and the operator caused by fluoroscopy.

Description

Technical Field

[0001] This invention belongs to the field of orthopedic surgical screw placement guides, specifically relating to a guiding robot based on the projection principle and an orthopedic surgical screw placement method. Background Technology

[0002] Screw-guided placement is widely used in internal fixation of fractures, such as internal fixation of femoral neck fractures, sacroiliac screw fixation, internal fixation of anterior and posterior column fractures of the acetabulum, and the location of the entry point for various long tubular intramedullary nails. During screw-guided placement, repeated fluoroscopy is required to confirm the entry point and screw path direction to prevent screw displacement. This increases X-ray exposure for both the patient and the operator, raising the risk of ionizing radiation damage and tumor development. Therefore, to reduce surgical difficulty and improve the accuracy and safety of screw placement, more and more advanced scientific research results are being introduced into the medical field, giving rise to new auxiliary screw placement technologies, such as three-dimensional navigation technology, 3D technology, and orthopedic robotics. These technologies provide new options for auxiliary screw placement. Against this background, how to select and utilize new auxiliary screw placement technologies and master safe, effective, and easy-to-use guiding methods is currently a key research focus.

[0003] (1) Three-dimensional navigation-assisted screw insertion technology

[0004] A three-dimensional navigation system combines navigation technology, computer image processing, and clinical surgery. It uses a computer to process the collected parameters to obtain real-time three-dimensional images of the patient and surgical instruments during the operation. This allows doctors to understand the position of the instruments and their relationship to the patient's anatomical structure at any time, thereby improving the safety of the operation.

[0005] Currently, three-dimensional C-arm navigation technology is widely used in clinical practice to assist in percutaneous screw fixation. Unlike traditional fluoroscopic surgery, three-dimensional fluoroscopy can simultaneously display high-resolution images in the sagittal, coronal, and transverse planes during the operation. The surgeon can clearly observe the positional relationship between the fracture line and the screw in these three planes and place the screw under the guidance of a virtual guide screw. Therefore, the advantages of three-dimensional navigation are that it can provide high-quality intraoperative images, has good operability, reduces surgical difficulty, improves accuracy, and makes the operation faster and less invasive.

[0006] While 3D navigation-guided internal fixation of the sacroiliac joint with screws offers significant advantages, it also presents drawbacks and operational challenges: ① Acquiring images and establishing the navigation system requires substantial time, as the 3D C-arm acquires approximately 100 images by rotating 190°, increasing the number and duration of X-ray fluoroscopy. This may result in a more time-consuming initial phase compared to traditional methods. ② Navigation requires positioning markers, necessitating invasive procedures on the iliac crest. The stability of these markers varies depending on the location, and even slight intraoperative movement can affect surgical accuracy. ③ The machine's scanning range is limited, making bilateral screw fixation difficult and sometimes requiring two scans, increasing intraoperative fluoroscopy and prolonging surgery time. ④ The navigation system is complex to operate, with a long learning curve, requiring training and maintenance by specialized technicians. It also places specific demands on supporting facilities, such as operating room volume, access points, and protective barriers, all of which must be tailored to the characteristics of each machine. Overall, the superiority of intraoperative 3D imaging navigation in sacroiliac joint screw fixation has been proven, but there are still some drawbacks. Surgeons need to have relevant anatomical knowledge and good 3D image analysis skills to use navigation equipment proficiently, shorten operation time, and improve the safety and accuracy of navigation.

[0007] (2) 3D printing-assisted screw insertion technology

[0008] 3D printing technology, based on digital model files, uses a digital material printer to print adhesive materials layer by layer for rapid prototyping, transforming computer models into physical objects. Some researchers have successfully designed personalized navigation templates using 3D printing and reverse engineering techniques. In their research, Mu Weilu et al. generated a pelvic fracture model through 3D reconstruction, then designed a screw navigation template using reverse engineering, printed the fracture model and guide plate, conducted preoperative trials, and matched the guide plate with bony landmarks during surgery to complete the screw placement process. The study shows that using personalized guide plates for screw placement simplifies surgical procedures and enables rapid and precise screw placement.

[0009] However, the design of the navigation template also has certain drawbacks: First, its indications are limited, and it is only suitable for patients with fractures without displacement or those who can achieve reduction through closed reduction; in addition, the placement of the navigation template requires cutting to expose bony landmarks, which is more invasive than traditional fluoroscopic nail placement. During the operation, it is necessary to dissect the attached soft tissue as much as possible to provide the bone cortex and guide plate to fit together. Excessive dissection may cause damage to nearby blood vessels and nerves, while insufficient dissection may affect the accuracy of the guide plate and lead to nail placement deviation.

[0010] (3) Robot-assisted screw insertion technology

[0011] In recent years, minimally invasive internal fixation combined with computer navigation has been increasingly accepted by orthopedic surgeons. During surgery, surgeons are inevitably limited by their own physiological conditions, and errors and deviations can occur due to fatigue or minute movements, leading to decreased surgical precision. To reduce human error and fully utilize the advantages of navigation equipment, robot-assisted surgical systems have been applied to orthopedic surgery. Orthopedic robot systems use preoperative imaging, real-time intraoperative tracking, and robotic arm assistance for position planning to ensure accurate screw placement, making them suitable for percutaneous screw fixation surgery. Currently, the most widely reported application and research in my country is the domestically developed third-generation Tirobot orthopedic robot system, also known as the "Tianji" orthopedic surgical robot.

[0012] Orthopedic robotic systems, exemplified by Tirobot, offer several key advantages in guided screw placement and fracture fixation: ① Precise Positioning: The robotic system provides accurate spatial positioning with a precision of 0.6–0.8 mm. Through the operation of its robotic arm, screws are accurately, safely, and stably placed into the corresponding anatomical locations, reducing the risk of iatrogenic damage to blood vessels and nerves. ② Real-time Monitoring: Tirobot enables real-time optical tracking during surgery, eliminating the need for repeated fluoroscopy. If the position deviates during the procedure, the system alerts the surgeon for further calibration. ③ Low Radiation: Compared to manual screw placement, robotic navigation significantly reduces the number of intraoperative X-ray fluoroscopy sessions, thereby minimizing ionizing radiation damage to both surgeons and patients. ④ Autonomous Operation: After the surgeon manually plans the screw path, subsequent procedures are automatically completed by the system according to the planned path, guiding the surgeon to complete the surgery efficiently and safely. Furthermore, the robotic system employs a modular, miniaturized, and versatile design, enabling separation of surgical planning and operation, and allowing for remote surgery via the internet.

[0013] However, current orthopedic robotic systems still have certain limitations: First, surgical robots can only solve the problem of precise positioning, while screw path planning still relies on the surgeon's experience and must be done manually, which may introduce subjective errors. Second, good reduction is the foundation of precise positioning; percutaneous sacroiliac joint screw fixation is suitable for patients who can achieve good reduction through closed reduction; however, it cannot be used for patients with large fracture displacement or unsatisfactory reduction. Third, insufficient experience in the initial application of orthopedic robotic navigation and positioning systems may lead to guide screw displacement. Finally, the equipment is expensive, operation is complex, assembly and testing are difficult, professional training is required, and maintenance and upkeep costs are high. These factors limit the clinical promotion and widespread adoption of orthopedic robots.

[0014] Therefore, there is an urgent need for a guide robot and orthopedic screw placement method that is simple to operate, inexpensive, requires minimal equipment, and causes less trauma during screw placement. Summary of the Invention

[0015] To overcome the defects described in the background art above, the present invention provides a guide robot based on the projection principle, used to assist in the implantation of bone screws with X-ray imaging equipment. The robot includes a guide screw placement device and an adjustment mechanism. The adjustment mechanism is used to drive the guide screw placement device to move to any preset position. The long axis of the guide screw placement device extends vertically and is arranged with a primary positioning part and a secondary positioning part from top to bottom.

[0016] The initial positioning section is provided with a central hole and a positioning hole arranged at intervals along the long axis of the guide pin device, a first positioning guide pin detachably installed in the central hole, and a second positioning guide pin detachably installed in the positioning hole. The first positioning guide pin and the second positioning guide pin extend horizontally toward the surgeon's side. The guide pin device is rotatably mounted on the adjustment mechanism with the axis of the central hole as the axis of rotation and is guided to rotate in a direction perpendicular to its long axis, and drives the second positioning guide pin to move until the projection of the second positioning guide pin and the first positioning guide pin overlaps on the X-ray imaging device configured in the first radiation direction.

[0017] The secondary positioning unit includes a rotating clamping part, a positioning plane, and a third positioning guide screw. The rotating clamping part is coaxially arranged with the primary positioning unit and is equipped with a surgical bone screw on the same plane as the first and second positioning guide screws. One end of the positioning plane is fixedly connected to the rotating clamping part, and the other end is fixedly installed with the third positioning guide screw. The third positioning guide screw is arranged parallel to the surgical bone screw and is simultaneously driven by the rotating clamping part to move on a plane parallel to the first radiation direction until the projection of both on the X-ray imaging device configured in the second radiation direction reaches the surgical position.

[0018] Furthermore, the guide robot is also equipped with an operation panel, a first drive motor, a second drive motor, and a central processing unit. The first drive motor drives the initial positioning unit, and the second drive motor drives the secondary positioning unit. The operation panel receives operation inputs for operating the robot, and the central processing unit processes the operation input signals and issues control commands to the first drive motor and the second drive motor.

[0019] Furthermore, the adjustment mechanism includes a sliding base, a vertically extending first shaft arm, and a horizontally extending second shaft arm;

[0020] The first shaft arm is fixedly mounted on the sliding base and is provided with a first guide rail along the axial direction. The second shaft arm is telescopically mounted and one end is slidably mounted on the first shaft arm through the first guide rail. The other end is equipped with a guide pin device, which is guided to move in the horizontal and vertical directions.

[0021] The sliding base is equipped with a lifting platform and a rolling device to drive the guide robot set above to move to any preset spatial position.

[0022] Furthermore, the guide robot is also equipped with a third drive motor and a fourth drive motor. The third drive motor is used to drive the second arm to move a preset distance in the vertical direction, and the fourth drive motor is used to drive the second arm to move a preset distance in the horizontal direction.

[0023] Furthermore, the adjustment mechanism also includes a housing fixedly installed above the sliding base. The top of the housing has a first opening for the first shaft arm to pass through, and the shape of the opening is adapted to the radial cross section of the first shaft arm. The top of the housing is also equipped with an X-ray imaging equipment display screen and an operation panel.

[0024] Furthermore, the initial positioning part extends downward coaxially with a retractable first connecting rod, and the secondary positioning part is fixedly installed at the bottom end of the first connecting rod.

[0025] A method for placing surgical bone screws in orthopedic surgery, employing a guided robot, includes initial positioning and secondary positioning of the surgical bone screws. The initial positioning includes the following steps:

[0026] S101: Adjust the radiation direction of the X-ray imaging equipment's radiation source to the first radiation direction, and control the adjustment mechanism to drive the guide positioning device to move to the preset spatial position;

[0027] S102: Install the first positioning guide pin in the axial hole, and control the first positioning guide pin to move to the pin placement position according to the fluoroscopic image of the X-ray imaging equipment configured in the first ray direction;

[0028] S103: Install the second positioning guide pin in the positioning hole, and control the guide pin placement device to rotate about the axis of rotation of the axial hole and in a direction perpendicular to its long axis until the projection of the second positioning guide pin and the first positioning guide pin on the X-ray imaging device overlap. Since the surgical bone nail is located on the plane determined by the first positioning guide pin and the second positioning guide pin, the placement position of the surgical bone nail in one direction is then determined.

[0029] Secondary positioning includes the following steps:

[0030] S201: Adjust the radiation direction of the X-ray imaging equipment to the second radiation direction, which is perpendicular to the first radiation direction;

[0031] S202: Install the surgical bone screw and the third positioning guide screw, and control the rotating clamp to rotate and drive the third positioning guide screw to rotate on a plane parallel to the first radiation direction. According to the fluoroscopic image of the X-ray imaging device configured in the second radiation direction, control the third positioning guide screw to move to the screw placement position.

[0032] S203: Install the surgical bone screw. At this time, the first positioning guide screw, the second positioning guide screw, and the third positioning guide screw jointly determine the placement position of the surgical bone screw in space.

[0033] Furthermore, the X-ray imaging equipment is a C-arm machine, with the first radiation direction being the direction of X-ray propagation when the C-arm machine frame is placed vertically, and the second radiation direction being the direction of X-ray propagation when the C-arm machine frame is placed horizontally.

[0034] Furthermore, in step S103, the guide pin placement device is configured to be driven by the first drive motor, and in step S202, the rotating clamping part is configured to be driven by the second drive motor. The guide robot receives the operation input from the doctor and controls the first drive motor and the second drive motor to execute motor on / off commands.

[0035] Furthermore, in step S202, when the third positioning guide pin needs to be finely adjusted to be moved to the pin placement position, the first connecting rod, which is configured between the initial positioning part and the secondary positioning part and is telescopically set, is adjusted accordingly. The length of the first connecting rod is manually adjusted by the fine-tuning knob or by the motor.

[0036] This invention discloses a guided robot and orthopedic surgical screw placement method based on the projection principle. It utilizes the linear radiation characteristic of X-rays and the principle that the imaging remains unchanged when an object moves along the X-ray radiation direction. By using a first, second, and third positioning guide screw, the placement planes of the surgical bone screw are determined in two radiation directions at a 90-degree angle. The unique and optimal screw placement position is then determined by these two intersecting planes. The screw placement position is determined externally, and only the projection in one radiation direction needs to be considered at any given moment during positioning. This reduces the difficulty of bone screw placement, shortens surgical time, and minimizes radiation exposure to the patient and surgeon. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0038] Figure 1 A schematic diagram of traditional contrast imaging equipment;

[0039] Figure 2 This is a schematic diagram of a guide robot based on the projection principle.

[0040] Figure 3 A schematic diagram of the guiding needle placement device;

[0041] Figure 4 A flowchart illustrating the procedure for inserting needles in orthopedic surgery.

[0042] Explanation of key component symbols:

[0043] 1: Guide pin device; 11: Initial positioning part; 111: Shaft hole; 112: Positioning hole; 113: First positioning guide pin; 114: Second positioning guide pin; 12: Secondary positioning part; 121: Rotary clamping part; 122: Positioning plane; 123: Third positioning guide pin;

[0044] 2: Adjustment mechanism; 21: Sliding base; 22: First shaft arm; 23: Second shaft arm;

[0045] 3: Surgical bone screw; 4: Operation panel; 5: First drive motor; 6: Second drive motor; 7: Display screen; 8: First connecting rod. Detailed Implementation

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] Before discussing the exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. A process can be terminated when its operation is completed, but it may also have additional steps not included in the figures. A process can correspond to a method, function, procedure, subroutine, subroutine, etc.

[0048] The specific structural and functional details disclosed herein are merely representative and are intended to describe exemplary embodiments of the invention. However, the invention can be embodied in many alternative forms and should not be construed as being limited solely to the embodiments set forth herein.

[0049] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments. Unless the context clearly indicates otherwise, the singular forms “a” and “an” as used herein are also intended to include the plural. It should also be understood that the terms “comprising” and / or “including” as used herein specify the presence of the stated features, integers, steps, operations, units, and / or components, without excluding the presence or addition of one or more other features, integers, steps, operations, units, components, and / or combinations thereof.

[0050] Although modern orthopedic surgery requires surgeons to use auxiliary screw placement equipment to determine the direction and entry point of the bone screw as much as possible before internal fixation of fractures, in order to avoid wound enlargement due to intraoperative adjustments, in reality, auxiliary screw placement techniques, including three-dimensional navigation technology, 3D printing technology, and orthopedic robot technology, are difficult to promote and apply in primary hospitals due to the high cost of the equipment, the difficulty of operation, and the excessive reliance on the surgeon's experience.

[0051] To address the aforementioned technical problems, the present invention provides an auxiliary screw placement solution that is low-cost, simple to operate, requires minimal equipment, is easy to promote clinically, and has high screw placement accuracy. This solution not only provides a guiding robot to assist surgeons in determining the path of the bone screw before surgery, but also provides a method to assist surgeons in quickly and accurately placing the bone screw into the bone before and during surgery by using the projection of the positioning guide screw.

[0052] The "bone nail" or "nail" mentioned in this invention can be a Kirschner wire nail, a screw, or other rod-shaped fixation device used in internal fixation surgery for fractures.

[0053] Traditional methods of using imaging equipment for guided screw placement require repeated fluoroscopy to confirm the screw insertion point and screw path direction during the screw placement process, in order to prevent screw misalignment. This is because the X-rays emitted by the X-ray imaging equipment typically propagate in a divergent direction (e.g., ...). Figure 1 As shown, vertical or horizontal movement of the bone screw will cause changes in its anteroposterior or lateral projection image, which requires the physician to perform fluoroscopy again to improve the accuracy of the bone screw positioning.

[0054] The guiding robot and orthopedic surgical screw placement method provided by the present invention are based on the characteristics of X-rays radiating in a straight line and the principle that the imaging remains unchanged when an object moves along the X-ray radiation direction. It can determine the placement plane of the surgical bone screw in two radiation directions at a 90-degree angle by using the positioning guide screw, and determine a unique and optimal placement position by using the two intersecting planes. This placement position has the optimal entry point and placement path. The above process of using the positioning guide screw to assist in determining the surgical bone screw is completed outside the body.

[0055] Specifically, during intraoperative positioning, the first, second, and third positioning guide screws should be placed on the side of the body closest to the light source. At this time, the surgeon can observe the fluoroscopic images of the positioning guide screws and the bone, and simulate the optimal insertion point and placement path of the surgical bone screws outside the body based on the fluoroscopic images. Furthermore, during the operation, the surgeon only needs to focus on the projection of the surgical bone screw in one radial direction at any given time. This helps to reduce the difficulty of bone screw positioning, shorten the operation time, reduce the surgical wound on the patient, and reduce radiation damage to the patient and the surgeon caused by fluoroscopy.

[0056] The application environment of this invention is not limited to X-ray imaging equipment; in fact, any X-ray imaging equipment that meets the linear radiation characteristics is applicable.

[0057] The following describes specific embodiments and appendices. Figure 2-4 This invention relates to a projection-based guide robot and a method for screw placement in orthopedic surgery using the guide robot.

[0058] Embodiment 1 of the present invention:

[0059] This invention provides a guiding robot based on the projection principle, such as... Figure 2-3 As shown, a method for assisting in the placement of bone screws with X-ray imaging equipment includes a guide screw placement device 1 and an adjustment mechanism 2. The adjustment mechanism 2 drives the guide screw placement device 1 to move to any preset position. The long axis of the guide screw placement device 1 extends vertically and is sequentially arranged from top to bottom with a primary positioning part 11 and a secondary positioning part 12. The primary positioning part 11 and the secondary positioning part 12 are used to determine the placement plane of the surgical bone screw 3 on two X-ray imaging devices configured with different radiation directions. In this embodiment, the primary positioning operation is completed under X-rays configured with a vertical radiation direction, and the resulting imaging image is a "positive film". The secondary positioning operation is completed under X-rays configured with a horizontal radiation direction, and the resulting image is a "side film". It should be noted that in other embodiments, the radiation direction is not limited to horizontal or vertical, as long as the two radiation directions are perpendicular.

[0060] Specifically, the initial positioning part 11 is provided with a central hole 111 and a positioning hole 112 arranged at intervals along the long axis of the guide pin device 1, a first positioning guide pin 113 detachably installed in the central hole 111 and a second positioning guide pin 114 detachably installed in the positioning hole 112, and the first positioning guide pin 113 and the second positioning guide pin 114 are horizontally extended toward the surgeon's side.

[0061] When determining the first placement plane, the guiding placement device is moved in space using the adjustment mechanism 2 until the orthogonal fluoroscopic image of the first positioning guide pin 113 moves to the optimal placement position of the target bone. Since the guiding placement device 1 is rotatably mounted on the adjustment mechanism 2 with the axis of rotation of the central hole 111 as the axis of rotation, the first positioning guide pin 113 corresponding to the central hole 111 is always in the optimal placement position during this process. The second positioning guide pin 114 is driven to move left and right by the guiding placement device 1. When the X-ray fluoroscopic images of the first positioning guide pin 113 and the second positioning guide pin 114 overlap, the first positioning guide pin 113 and the second positioning guide pin 114 together determine a first placement plane parallel to the first radiation direction. When the surgical bone nail 3 moves up and down or rotates on this plane, its fluoroscopic image does not change, so that when positioning the side fluoroscopic nail path, the doctor only needs to focus on the side fluoroscopic image of the surgical bone nail 3.

[0062] The secondary positioning unit 12 includes a rotating clamping unit 121, a positioning plane 122, and a third positioning guide screw 123. The rotating clamping unit 121 is coaxially arranged with the primary positioning unit 11 and is equipped with a surgical bone screw 3. The surgical bone screw 3, the first positioning guide screw 113, and the second positioning guide screw 114 are located on the same plane. One end of the positioning plane 122 is fixedly connected to the rotating clamping unit 121, and the other end extends horizontally and is fixedly installed with the third positioning guide screw 123, which is arranged parallel to the surgical bone screw 3. The third positioning guide screw 123 and the surgical bone screw 3 can be moved by the rotating clamping unit 121 in a direction parallel to the first radial direction until the lateral fluoroscopic image of the third positioning guide screw 123 moves to the optimal screw placement position of the target bone. At this time, the surgical bone screw 3 is installed and the screw placement action is performed with reference to the fluoroscopic image of the third positioning guide screw 123.

[0063] In this embodiment of the invention, the surgical bone nail 3 is a Kirschner wire. To assist the surgeon in accurately inserting the surgical bone nail, the first positioning guide nail 113, the second positioning guide nail 114 and the third positioning guide nail 123 are Kirschner wires of the same specifications as the surgical bone nail 3.

[0064] To optimize the structure, the adjustment mechanism 2 in this embodiment of the invention includes: a sliding base 21, a vertically extending first shaft arm 22, and a horizontally extending second shaft arm 23.

[0065] In one embodiment, the first arm 22 is fixedly mounted on the sliding base 21 and has a first guide rail along the axial direction. The second arm 23 is telescopically mounted, with one end slidably mounted on the first arm 22 via the first guide rail, and the other end is equipped with a guide pin placement device 1, which is guided to move in the horizontal and vertical directions. In other embodiments, the configuration may be as follows: the first arm 22 is fixedly mounted on the sliding base 21 and has a first guide rail along the axial direction; the guide pin placement device 1 is mounted on the side of the second arm 23 near the surgeon; the second arm 23 is slidably mounted on the first arm 22 via the first guide rail, and the guide pin placement device 1 is guided to move in the vertical direction; the second arm 23 is provided with a second guide rail extending along the axial direction and is slidably mounted on the first arm 22 via the second guide rail; the guide pin placement device 1 is guided to move in the horizontal direction. The surgeon can manually or electrically adjust the first arm 22 and the second arm 23 to control the horizontal and vertical movement of the pin placement device.

[0066] The sliding base 21 is equipped with a lifting platform and a rolling device to drive the guide robot to any preset spatial position.

[0067] The sliding base 21 is used to move the guide robot significantly and place it initially. The first axis arm 22 and the second axis arm 23 are used to fine-tune the guide pin placement device 1. The doctor can adjust the guide pin placement device 1 to the ideal placement position by coordinating the operation of the sliding base 21, the first axis arm 22, and the second axis arm 23.

[0068] Considering the different surgical space requirements of different bones in actual surgery, the primary positioning part 11 extends downward coaxially with a retractable first connecting rod 8, and the secondary positioning part 12 is fixedly installed at the bottom end of the first connecting rod 8, allowing the surgeon to independently adjust the distance between the primary positioning part 11 and the secondary positioning part 12 according to the needs of the surgery. In other embodiments, the positioning plane 122 fixedly installed in the rotating clamping part 121 is retractable, and / or the positioning plane 122 is rotatably installed in the rotating clamping part 121, allowing the surgeon to adjust the relative position of the third positioning guide screw and the surgical bone screw by rotating the positioning plane, thereby effectively avoiding the third positioning guide screw being blocked by the bone and ensuring that the third positioning guide screw can provide a reference for the insertion of the surgical bone screw.

[0069] Embodiment 2 of the present invention:

[0070] The embodiments of the present invention are based on Embodiment 1, such as... Figure 2-3 As shown, an intelligent electronically controlled guided robot is provided to assist doctors in performing orthopedic surgery. The guided robot is equipped with an operation panel 4, a first drive motor 5, a second drive motor 6, and a central processing unit.

[0071] The first drive motor 5 is positioned corresponding to the initial positioning part 11 and is used to drive the guide pin placement device 1 to rotate around the axis of the central hole 111. The first pin placement plane in the first radial direction is determined by the first positioning guide pin 113 and the second positioning guide pin 114. The second drive motor 6 is positioned corresponding to the secondary positioning part 12 and is used to drive the rotating clamping part 121 to rotate and drive the third positioning guide pin 123 and the surgical bone to move parallel to the first radial direction. The operation panel 4 receives operation input for operating the robot. The central processing unit processes the operation input signal and sends control commands to the first drive motor 5 and the second drive motor 6 to assist the doctor in adjusting the position of the surgical bone pin.

[0072] In addition, the guide robot is also equipped with a third drive motor and a fourth drive motor. The third drive motor is used to drive the second shaft arm 23 to move a preset distance in the vertical direction, and the fourth drive motor is used to drive the second shaft arm 23 to move a preset distance in the horizontal direction, so as to assist the doctor in adjusting the spatial position of the guide pin placement device 1 as a whole.

[0073] To optimize the structure, the adjustment mechanism 2 also includes a housing fixedly installed above the sliding base 21. The top of the housing has a first opening for the first shaft arm 22 to pass through, and the shape of the first shaft arm 22 is adapted to the radial cross section of the first shaft arm 22. The top of the housing is also equipped with a display screen 7 for displaying X-ray images and an operation panel 4.

[0074] Embodiment 3 of the present invention:

[0075] Based on Embodiments 1 and 2, this invention provides a method for screw placement in orthopedic surgery, such as... Figure 2-4 As shown, the screw placement method includes initial positioning and secondary positioning of the surgical bone screw 3. The initial positioning includes the following steps:

[0076] S101: Adjust the radiation direction of the X-ray imaging equipment to the first radiation direction, and control the adjustment mechanism 2 to drive the guide positioning device to move to the preset spatial position;

[0077] S102: Install the first positioning guide pin 113 in the axial hole 111, and control the first positioning guide pin 113 to move to the pin placement position according to the fluoroscopic image of the X-ray imaging device configured in the first ray direction;

[0078] S103: After determining the spatial position of the first positioning guide pin 113, install the second positioning guide pin 114 in the positioning hole 112, and control the guide pin placement device 1 to rotate around the axis of the central hole 111 until the second positioning guide pin 114 overlaps with the fluoroscopic image of the first positioning guide pin 113 on the X-ray imaging device. Since the surgical bone nail 3 is located on the plane determined by the first positioning guide pin 113 and the second positioning guide pin 114, the placement position of the surgical bone nail 3 in one direction is immediately determined. The rotation or translation of the surgical bone nail 3 on the first placement plane will not affect its fluoroscopic image on the X-ray imaging device in the first radiation direction. This allows the physician to focus only on the fluoroscopic image in the second radiation direction during the following secondary positioning process, which is beneficial for accurately locating the insertion point of the surgical bone nail 3 and the optimal insertion path.

[0079] Secondary positioning includes the following steps:

[0080] S201: Adjust the radiation direction of the X-ray imaging equipment to the second radiation direction, which is perpendicular to the first radiation direction;

[0081] S202: Install the third positioning guide pin 123, and control the rotating clamping part 121 to rotate and drive the third positioning guide pin 123 to rotate on a plane parallel to the first radiation direction. According to the fluoroscopic image of the X-ray imaging device configured in the second radiation direction, control the third positioning guide pin 123 to move to the pin placement position. At this time, the second pin placement plane of the surgical bone nail 3 in the second radiation direction is determined.

[0082] S203: Install the surgical bone screw 3 and insert it into the bone. The optimal placement position of the surgical bone screw 3 in space is determined by the first positioning guide screw 113, the second positioning guide screw 114, and the third positioning guide screw 123.

[0083] In this embodiment of the invention, the X-ray angiography equipment is a C-arm machine. The first radiation direction is the X-ray propagation direction when the C-arm machine frame is placed vertically, and the second radiation direction is the X-ray propagation direction when the C-arm machine frame is placed horizontally. Of course, the X-ray angiography equipment is not limited to a C-arm machine; unidirectional X-ray angiography equipment can be used in primary hospitals. The orthopedic surgical screw placement scheme of this embodiment has low equipment requirements and is simple to operate, which is conducive to its promotion and popularization in primary hospitals.

[0084] To assist the surgeon in accurately and quickly inserting the surgical bone screw 3, the guide screw placement device 1 is configured to be driven by the first drive motor 5 in step S103, and the rotating clamping part 121 is configured to be driven by the second drive motor 6 in step S202. The guide robot receives the surgeon's operation input and controls the first drive motor 5 and the second drive motor 6 to execute motor on / off commands.

[0085] When the third positioning guide pin 123 needs to be finely adjusted to move it to the optimal pin placement position, the first connecting rod 8, which is telescopically configured between the primary positioning part 11 and the secondary positioning part 12, is adjusted accordingly. The length of the first connecting rod 8 is manually adjusted by the fine-tuning knob or by the motor to meet the different requirements of different bones for surgical operation space in actual surgery.

[0086] When the third positioning guide screw 123 is obstructed by bone, the surgeon can adjust the length of the positioning plane 122 or adjust the placement of the third positioning guide screw 123 outside the body by rotating the positioning plane 122, thereby ensuring that the third positioning guide screw can provide a reference for the placement of the surgical bone screw.

[0087] The foregoing has provided a detailed description of a projection-based guiding robot and orthopedic surgical screw placement method. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas and methods of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A guiding robot based on the principle of projection, used to assist the implantation of an intramedullary nail in cooperation with an X-ray imaging device, comprising a guiding nail implantation device and an adjusting mechanism, the adjusting mechanism being used to drive the guiding nail implantation device to move to an arbitrary preset position, characterized in that, The guide nail device long axis extends in the vertical direction and is sequentially provided with a primary positioning part and a secondary positioning part from top to bottom; The primary positioning part is provided with an axis hole and a positioning hole arranged at intervals along the guide nail device long axis direction, a first positioning guide nail detachably installed in the axis hole, and a second positioning guide nail detachably installed in the positioning hole, the first positioning guide nail and the second positioning guide nail horizontally extend to the side of the operator, the guide nail device is rotatably installed in the adjusting mechanism with the axis hole axis direction as the rotation axis, and is used to drive the second positioning guide nail to move until the second positioning guide nail and the first positioning guide nail overlap in the X-ray perspective image arranged in the first radiation direction; The secondary positioning part is provided with a rotating clamping part, a positioning plane, and a third positioning guide nail, the rotating clamping part is coaxially arranged with the primary positioning part and is provided with a surgical bone nail, the surgical bone nail is in the same plane as the first positioning guide nail and the second positioning guide nail, one end of the positioning plane is fixedly connected with the rotating clamping part, the other end horizontally extends and is fixedly installed with the third positioning guide nail, the third positioning guide nail is arranged in parallel with the surgical bone nail and is driven by the rotating clamping part to rotate in a direction parallel to the first radiation direction until the two reach the surgical position in the X-ray perspective image arranged in the second radiation direction.

2. A guided robot based on the principle of projection as claimed in claim 1, characterized in that, The guide robot is also provided with an operation panel, a first driving motor, a second driving motor, and a central processing unit, the first driving motor corresponds to drive the primary positioning part, the second driving motor corresponds to drive the secondary positioning part, the operation panel receives an operation input for operating the robot, the central processing unit is used to process the operation input signal and send a control instruction to the first driving motor and the second driving motor; and wherein the first radiation direction and the second radiation direction form a 90-degree intersection angle.

3. A guided robot based on the principle of projection as claimed in claim 2, characterized in that, The adjusting mechanism includes a sliding base, a first shaft arm arranged vertically, and a second shaft arm arranged horizontally; The first shaft arm is fixedly installed on the sliding base and is provided with a first guide rail in the axial direction, the second shaft arm is telescopically arranged and one end is slidably installed on the first shaft arm through the first guide rail, the other end is installed with the guide nail device, and the guide nail device is guided to move in the horizontal and vertical directions; The sliding base is provided with a lifting platform and a rolling device to drive the guide robot to move to any preset spatial position.

4. A guided robot based on the principle of projection as claimed in claim 3, characterized in that, The guide robot is also provided with a third driving motor and a fourth driving motor, the third driving motor is used to drive the second shaft arm to displace a preset distance in the vertical direction, and the fourth driving motor is used to drive the second shaft arm to displace a preset distance in the horizontal direction.

5. A guided robot based on the principle of projection as claimed in claim 4, characterized in that, The sliding base further includes a housing arranged above it, the housing top is provided with an opening for penetrating the first shaft arm and the shape is adapted to the radial cross section of the first shaft arm, and the housing top is also installed with the operation panel and a display screen for displaying the X-ray perspective image.

6. The guided robot based on the projection principle according to claim 1, characterized in that, The primary positioning part coaxially extends downwardly with a telescopic first connecting rod, and the secondary positioning part is fixedly installed at the bottom end of the first connecting rod.

Images