Active surgical guide based on spatial positioning technology

Abstract

The present invention discloses a movable surgical guide based on spatial positioning technology, which includes a computer software system. A positioning and navigation device is fixedly installed at the back end of the computer software system through a cable. First, the surgical path is designed through the computer software system, and then under the data acquisition and monitoring of the positioning and navigation device, the adjustment actions of the movable surgical guide are used to adjust the angle regulator and the surgical instrument guiding holes on the X, Y, and Z axes of the spatial position. Through the angle adjustment action of the angle regulator, the real spatial position of the surgical instrument driven by the surgical instrument guiding hole is completely coincident with the surgical path in the image coordinate system in the computer software system. At the same time, it can be adjusted at any time according to the on-site situation, which is conducive to quickly and conveniently performing positioning adjustment actions and ensuring the accuracy of positioning data.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and specifically to a movable surgical guide based on spatial positioning technology. Background Art

[0002] Existing surgical guides are currently divided into two types. One is that after designing the surgical path in advance based on medical images, the computer system automatically generates the guide data fixed to the surgical area through algorithms, and then generates a physical guide through rapid prototyping technology, such as 3D printing. During the operation, the doctor fixes the guide on the surgical area and executes the surgical path through the guide. The other is the solution of a navigation device plus a robotic arm. Through the pre-planned surgical path, the surgical path is located through the navigation device. The robotic arm with a positioning device automatically moves the end of the robotic arm to near the surgical path according to the positioning information of the navigation device, and the guiding position, angle of the guiding device at the end of the robotic arm are consistent with the surgical path. At this time, the doctor can execute the surgical path through the guiding function of the guiding device.

[0003] Main disadvantages of the existing technology: The positioning accuracy of the guide processed in the existing technology is difficult to quickly verify, and it is easy to have a large error after precise positioning due to design errors. And once the existing guide is printed, it is difficult to modify the surgical path during the operation. If modification is needed, the guide needs to be reprinted, which affects the progress of the operation.

[0004] In addition: In order to ensure stable fixation in the existing technology, it is necessary to increase the fixation area, which will inevitably cause an increase in the coverage area, resulting in occlusion of the surgical area. When the doctor has difficulty verifying the accuracy of the guide, the surgical risk caused by the accuracy error increases.

[0005] Finally: At the same time, most of the existing technologies use medical robotic arms with high costs. Due to the relatively poor accuracy and reliability of the robotic arm during long-term use compared to the reliability of the physical connection device, and the high maintenance cost, the price of the complete set of equipment is very high and it is difficult to popularize. Summary of the Invention

[0006] Therefore, in order to solve the above deficiencies, the present invention provides a movable surgical guide based on spatial positioning technology here.

[0007] The present invention is implemented as follows. An active surgical guide based on spatial positioning technology is constructed. The device includes a computer software system. A positioning and navigation device is fixedly installed at the backend of the computer software system through a cable. An adjustable active guide device is provided below the positioning and navigation device. A treatment object is provided in the middle of the front end of the adjustable active guide device. The adjustable active guide device includes a standard frame. An active surgical guide is arranged at the top of the standard frame. A standard frame positioning device for positioning is fixedly installed at the front end of the standard frame. An active surgical guide positioning device and a surgical instrument are arranged at the front end of the active surgical guide. If, after the soft tissue is incised during the operation, it is found that there is a problem with the preoperative image judgment and the surgical plan needs to be modified again, the operation path design can be redone in the computer software system, and then the subsequent operations can be continued.

[0008] Preferably, the active surgical guide includes a first position adjuster, a second position adjuster, and a third position adjuster. The active surgical guide can drive the surgical instrument to adjust in the X, Y, and Z axis directions in space.

[0009] Preferably, an angle adjuster for angle adjustment is rotatably arranged on the third position adjuster. A surgical instrument guiding hole for limiting is provided on the cross bar of the angle adjuster.

[0010] Preferably, the first position adjuster, the second position adjuster, and the third position adjuster are each composed of a single group or multiple groups of mounting plates and adjusting screws.

[0011] Preferably, the active surgical guide positioning device is inserted and installed at the front end of the cross bar of the surgical instrument guiding hole.

[0012] Preferably, the surgical instrument is slidably installed on the inner wall of the barrel of the surgical instrument guiding hole.

[0013] Preferably, the standard frame positioning device and the active surgical guide positioning device are specifically composed of a mounting rack and a reflective member for optical positioning.

[0014] Preferably, the angle adjustment range of the angle adjuster is in the shape of a hemisphere.

[0015] Preferably, the reflective member can be specifically one of a reflective sphere or a reflective patch.

[0016] Preferably, fixing rods for assisting in fixing the treatment object are inserted into the tops of the two groups of standard frames at the top of the bottom plate of the active surgical guide.

[0017] Preferably, the material of the standard frame is steel.

[0018] The present invention has the following advantages: The present invention provides an active surgical guide based on spatial positioning technology through improvement. Compared with the same type of equipment, the following improvements are made:

[0019] For the active surgical guide based on spatial positioning technology of the present invention, the surgical path is first designed through a computer software system, and then under the data acquisition and monitoring of the positioning and navigation device, the adjustment actions of the active surgical guide adjust the spatial positions of the angle regulator and the surgical instrument guiding holes on the X, Y, and Z axes, and through the angle adjustment action of the angle regulator, so that the true spatial position of the surgical instrument driven by the surgical instrument guiding hole coincides completely with the surgical path in the image coordinate system in the computer software system. At the same time, it can be adjusted according to the on-site situation at any time, which is conducive to quickly and conveniently performing positioning adjustment actions, ensuring the accuracy of positioning data, and also being able to see the positioning error of the active surgical guide in the computer software system; then the positioning and navigation device is removed, and no equipment will interfere with the operation space of doctors, assistants, and nurses; at the same time, if intraoperative surgical plan adjustment is required, the system can be realized at any time and help the doctor quickly adjust the positioning position of the surgical guide. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic structural diagram of the usage process of the present invention;

[0021] Figure 2 is a three-dimensional structural schematic diagram of the computer software system, the positioning and navigation device, and the adjustable active guide device of the present invention;

[0022] Figure 3 is a schematic structural diagram of the working process of the positioning and navigation device of the present invention;

[0023] Figure 4 is a three-dimensional structural schematic diagram of the adjustable active guide device of the present invention;

[0024] Figure 5 is a three-dimensional structural schematic diagram of the active surgical guide of the present invention;

[0025] Figure 6 is of the present invention Figure 4 The enlarged structural schematic diagram at A in.

[0026] Wherein: computer software system - 1, positioning and navigation device - 2, adjustable active guide device - 3, treatment object - 4, standard frame - 31, standard frame positioning device - 32, active surgical guide - 33, active surgical guide positioning device - 34, surgical instrument - 35, first position regulator - 331, second position regulator - 332, third position regulator - 333, angle regulator - 334, surgical instrument guiding hole - 335. DETAILED DESCRIPTION OF THE INVENTION

[0027] The following will combine with the attached Figures 1-6 This invention will be described in detail below. The technical solutions in the embodiments of the invention are clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the invention, rather than all embodiments. Based on the embodiments of the invention, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the scope of protection of the invention.

[0028] Please refer to Figures 1 to 6 , the active surgical guide plate based on spatial positioning technology of the present invention includes a computer software system 1. A positioning and navigation device 2 is fixedly installed at the rear end of the computer software system 1 through a cable. An adjustable active guide plate device 3 is provided below the positioning and navigation device 2. The positioning and navigation device 2 is used to collect the spatial coordinate data of the standard frame positioning device 32 and the active surgical guide plate positioning device 34 in the adjustable active guide plate device 3 and transmit the data to the computer software system 1. Among them, the standard frame positioning device 32 positions the spatial position of the treatment object 4, and the active surgical guide plate positioning device 34 positions the relative spatial position of the surgical instrument 35; in the middle of the front end of the adjustable active guide plate device 3, there is a treatment object 4. The positioning and navigation device 2 can be specifically installed and fixed by a rotating frame body of equal height, and the rotation angle range of the rotating frame body is set to 90 degrees to provide a limiting effect for the rotation of the positioning and navigation device 2;

[0029] The adjustable active guide plate device 3 includes a standard frame 31. An active surgical guide plate 33 is arranged on the top of the standard frame 31. A standard frame positioning device 32 for positioning is fixedly installed at the front end of the standard frame 31. The standard frame positioning device 32 provides positioning of the spatial position for the patient. An active surgical guide plate positioning device 34 and a surgical instrument 35 arranged at the front end of the active surgical guide plate 33 are provided at the front end of the active surgical guide plate 33. The surgical instrument 35 specifically refers to a special surgical instrument with scale indication. The position, angle and depth of the surgical instrument 35 are provided through the scale indication on the active surgical guide plate positioning device 34 and the surgical instrument 35; Fixing rods for assisting in fixing the treatment object 4 are inserted into the tops of the two groups of standard frames 31 on the top of the bottom plate of the active surgical guide plate 33;

[0030] The movable surgical guide plate 33 includes a first position adjuster 331 slidably disposed in the top groove of the standard frame 31. A second position adjuster 332 is provided on the top of the first position adjuster 331, and a third position adjuster 333 is provided at the front end of the second position adjuster 332. The first position adjuster 331, the second position adjuster 332, and the third position adjuster 333 respectively provide adjustment effects in the front-back, up-down, and left-right directions for the angle adjuster 334. A rotatably disposed angle adjuster 334 for angle adjustment is provided at the front end of the third position adjuster 333. The purpose of setting the three position adjusters 331, 332, and 333 is to adjust the position of the surgical instrument guiding hole 335 of the movable surgical guide plate 33 to the correct position;

[0031] A surgical instrument guiding hole 335 for limiting is provided on the front cross bar of the angle adjuster 334. The angle adjustment range of the angle adjuster 334 is a hemisphere. The angle adjuster 334 is used to adjust the angle of the surgical instrument guiding hole 335 and the movable surgical guide plate positioning device 34 as a whole. The purpose of the angle adjuster 334 is to adjust the angle of the surgical instrument guiding hole 335 of the movable surgical guide plate 33 to the correct position; The first position adjuster 331, the second position adjuster 332, and the third position adjuster 333 are each composed of a single group or multiple groups of mounting plates and adjusting screws to improve the adjustment effects of the first position adjuster 331, the second position adjuster 332, and the third position adjuster 333;

[0032] The movable surgical guide plate positioning device 34 is inserted and installed at the front end of the cross bar of the surgical instrument guiding hole 335. The surgical instrument guiding hole 335 provides an adjustment and steering effect for the movable surgical guide plate positioning device 34. The surgical instrument 35 is slidably installed on the inner barrel wall of the surgical instrument guiding hole 335. The surgical instrument guiding hole 335 provides a sliding limit effect for the surgical instrument 35. The standard frame positioning device 32 and the movable surgical guide plate positioning device 34 are specifically composed of a mounting frame and a reflective member for optical positioning. The reflective member can be specifically one of a reflective sphere or a reflective patch to improve the adjustment and positioning effects of the standard frame positioning device 32 and the movable surgical guide plate positioning device 34.

[0033] The present invention provides an improved movable surgical guide plate based on spatial positioning technology, and its working principle is as follows;

[0034] First, when using this device, first place this device in the working area, and then connect the device to an external power source to provide the power required for the operation of this device;

[0035] Second, before the operation, medical staff first design the preoperative surgical path in the computer software system 1. The surgical path includes a line segment composed of a surgical starting point and a surgical ending point. Then, the medical staff can fix the standard frame 31 on the hospital bed or the operating platform according to the actual on-site situation, and fix the patient's surgical area on the standard frame 31. After the fixation is completed, the standard frame 31 and the patient's surgical area cannot move relative to each other during the operation. If there is movement, it is necessary to re-register and adjust the position and angle before continuing the operation. While various fixation methods can be adopted, it will not affect or interfere with the normal work of the doctor. At this time, the position of the patient can be located through the standard frame positioning device 32, and a suitable surgical instrument 35 is selected to be inserted into the internal of the surgical instrument guiding hole 335, or when the position and angle of the surgical instrument guiding hole 335 are adjusted and its spatial coordinates are completely coincident with the surgical path in the image coordinate system in the computer software system 1, the surgical instrument 35 is inserted into the internal of the surgical instrument guiding hole 335. Then, rotational forces are respectively applied to the first position adjuster 331, the second position adjuster 332, and the third position adjuster 333, so as to be reset to the initial position through the adjustment actions of the first position adjuster 331, the second position adjuster 332, and the third position adjuster 333. This initial position is the position set when the system leaves the factory;

[0036] Thirdly, at this time, the positioning navigation device 2 can monitor the spatial positions of the standard frame positioning device 32 and the movable surgical guide positioning device 34 in the adjustable movable guide device 3. At the same time, since the movable surgical guide positioning device 34 and the surgical instrument guiding hole 335 are components customized and matched for this system, the relative coordinate relationship between the two is known. Then, enter the computer software system 1 to perform the registration of the image coordinate system and the real patient coordinate system. At this time, the first position regulator 331 drives the second position regulator 332, the third position regulator 333 and the surgical instrument guiding hole 335 to perform adjustment actions in the front-back direction. Then, the second position regulator 332 provides adjustment actions in the up-down direction for the third position regulator 333 and the surgical instrument guiding hole 335. The third position regulator 333 drives the angle regulator 334 and the surgical instrument guiding hole 335 to perform adjustment actions in the left-right direction. Finally, the angle regulator 334 adjusts the angle between the surgical instrument guiding hole 335 and the surgical instrument 35, so that the real spatial positions of the surgical instrument guiding hole 335 and the surgical instrument 35 completely coincide with the surgical path in the image coordinate system of the computer software system 1. During the above adjustment process, the position and angle deviations of the surgical instrument guiding hole 335 (including the surgical instrument 35) can be updated in real time in the computer software system 1. The updated deviation values can help the doctor complete the adjustment of the position and angle. Thus, the adjustment of the surgical instrument guiding hole 335 is completed, and the doctor can use the surgical instrument 35 to perform surgical operations at the position and angle defined by the surgical instrument guiding hole 335;

[0037] Fourthly, after the adjustment of the movable surgical guide is completed, the positioning error of the movable surgical guide 33 can be seen in the computer software system 1. This positioning error is the inherent error of the navigation system in identifying the two positioning devices, rather than the final error of the movable surgical guide 33. Then, move the positioning navigation device 2 away. The doctor performs the operation under the restriction of the movable surgical guide 33. The operation is very simple, and no equipment will interfere with the operation space of the doctor, assistant and nurse. If it is found that the position and angle of the movable surgical guide 33 are inaccurate due to reasons such as loose fixation, pull back the positioning navigation device 2. After re-registration, the position and angle of the movable surgical guide 33 can be adjusted again to make the positioning accurate. If it is found during the operation that the surgical plan needs to be adjusted, it can be adjusted at any time. After the adjustment is completed, according to the spatial positioning of the positioning navigation device 2, just adjust the position and angle of the movable surgical guide 33, which is very flexible and convenient.

[0038] The present invention provides an active surgical guide based on spatial positioning technology through improvement. First, the surgical path is designed by a computer software system 1, and then, under the action of spatial coordinate data acquisition and monitoring of a standard frame positioning device 32 and an active surgical guide positioning device 34 in a positioning navigation device 2, the adjustment action of the active surgical guide 33 adjusts the spatial positions of an angle adjuster 334 and a surgical instrument guiding hole 335 on the X, Y, and Z axes. Through the angle adjustment action of the angle adjuster 334, the real spatial position of the surgical instrument 35 driven by the surgical instrument guiding hole 335 is completely coincident with the surgical path in the image coordinate system in the computer software system 1. At the same time, it can be adjusted at any time according to the on-site situation, which is beneficial to quickly and conveniently perform the positioning adjustment action, ensures the accuracy of the positioning data, and can also see the system positioning error of the two positioning devices in the computer software system 1. Then, the positioning navigation device 2 is removed, and no equipment will interfere with the operation space of doctors, assistants, and nurses.

[0039] The above shows and describes the basic principles, main features, and advantages of the present invention. Moreover, the standard parts used in the present invention can all be purchased from the market. The special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets, and welding that are mature in the prior art. The machines, parts, and equipment all adopt conventional models in the prior art. Coupled with the circuit connection adopting the conventional connection method in the prior art, details are not described herein again.

[0040] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An active surgical guide based on spatial positioning technology, characterized in that: Comprising a computer software system (1), a positioning and navigation device (2) is fixedly installed at the rear end of the computer software system (1) through a cable, an adjustable movable guide plate device (3) is provided below the positioning and navigation device (2), and a treatment object (4) is provided in the middle of the front end of the adjustable movable guide plate device (3); The adjustable movable guide plate device (3) includes a standard frame (31), a movable surgical guide plate (33) is arranged at the top of the standard frame (31), a standard frame positioning device (32) for positioning is fixedly installed at the front end of the standard frame (31), a movable surgical guide plate positioning device (34) and a surgical instrument (35) arranged at the front end of the movable surgical guide plate (33) are provided at the front end of the movable surgical guide plate (33); The movable surgical guide plate (33) includes a first position adjuster (331), a second position adjuster (332) and a third position adjuster (333), and the movable surgical guide plate (33) can drive the surgical instrument (35) to adjust in the X, Y, and Z axis directions in space; an angle adjuster (334) for angle adjustment is rotatably arranged on the third position adjuster (333), and a surgical instrument guide hole (335) for limiting is provided on the angle adjuster (334); the first position adjuster (331), the second position adjuster (332) and the third position adjuster (333) are all composed of a single group or multiple groups of mounting plates and adjusting screws.

2. The active surgical guide based on the spatial positioning technology according to claim 1, wherein: The movable surgical guide plate positioning device (34) is inserted and installed at the front end of the cross bar of the surgical instrument guide hole (335); the surgical instrument (35) is slidably installed on the inner wall of the inner cylinder of the surgical instrument guide hole (335), and the movement of the surgical instrument (35) on the inner wall of the inner cylinder of the surgical instrument guide hole (335) is limited to the axial direction of the inner cylinder wall and moves back and forth; the standard frame positioning device (32) and the movable surgical guide plate positioning device (34) are specifically composed of a mounting frame and a reflective part for optical positioning; the angle adjustment range of the angle adjuster (334) is a hemisphere; the reflective part can specifically be one of a reflective sphere or a reflective patch; fixing rods for assisting in fixing the treatment object (4) are inserted into the tops of the two groups of standard frames (31) at the top of the bottom plate of the movable surgical guide plate (33).

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