Surgical tool navigation device and navigation drill

Abstract

The application discloses a surgical tool navigation device and a navigation drill. The surgical tool navigation device comprises at least one base fixing assembly connected with a surgical tool, a tracking assembly detachably connected with the base fixing assembly, and a tracking end of a surgical navigation system capable of tracking and positioning the position and posture of the tracking assembly in real time. The tracking assembly comprises a connecting support detachably connected with the base fixing assembly, a first fixing support and a second fixing support arranged on the two sides of the connecting support and forming an acute angle close to the side of the connecting support, and a plurality of marking points distributed on the first fixing support and the second fixing support and located outside the periphery of the connecting support. The surgical tool navigation device can link the conventional surgical tool with a surgical navigation robot / system, realize the navigation of the conventional surgical tool, track the relative position of the surgical tool and the bone in real time during the operation, guide the operation of the doctor, improve the safety of the operation, and reduce the radiation exposure of the doctor.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of medical devices, and more particularly to a surgical tool navigation device and a navigation drill. BACKGROUND

[0002] In a trauma surgery, a surgeon needs to place a holding needle and use a surgical tool such as a top rod to hold and reset a bone block, and after the reset is completed, a power tool is used to place a screw to fix the reset bone. The traditional reset and fixation accuracy mainly depends on the experience of the surgeon, and needs to be repeatedly perspective during the operation. In recent years, a surgical navigation robot / system can navigate the position of a bone block and a mechanical arm in real time, but the traditional surgical tool still needs to be used to assist the surgical operation, and this process still needs to rely on perspective and experience, and there is a lack of a device for connecting and cooperating the traditional surgical tool with the surgical navigation robot / system. SUMMARY

[0003] The present application aims to solve the problem that the existing technology still needs to use a traditional surgical tool to assist the surgical operation, and this process still needs to rely on perspective and experience, and there is a lack of a device for connecting and cooperating the traditional surgical tool with the surgical navigation robot / system.

[0004] To achieve the above-mentioned purpose, the present application provides a surgical tool navigation device, comprising:

[0005] A surgical tool navigation device, characterized in that it comprises:

[0006] At least one base fixing assembly connected with a surgical tool;

[0007] A tracking assembly detachably connected with the base fixing assembly, and a tracking end of a surgical navigation system can track the position and posture of the tracking assembly in real time;

[0008] The tracking assembly comprises:

[0009] A connecting bracket detachably connected with the base fixing assembly;

[0010] A first fixing bracket and a second fixing bracket are respectively arranged on both sides of the connecting bracket and form a sharp angle close to the connecting bracket side;

[0011] A plurality of marking points are distributed on the first fixing bracket and the second fixing bracket and located outside the outer periphery of the connecting bracket.

[0012] Optionally, any capture angle of the tracking end captures at least three marking points.

[0013] Optionally, the first fixed support and the second fixed support are respectively radial, and a plurality of the marking points are respectively arranged at the radial ends of the first fixed support and the second fixed support.

[0014] Optionally, the radial ends of the first fixed support and the second fixed support are not less than three.

[0015] Optionally, the marking points comprise reflective spheres which are exposed and arranged on the first fixed support and the second fixed support.

[0016] Optionally, the first fixed support and the second fixed support form sharp angles on the side close to the connecting support, and the reflective spheres are arranged on the sides of the first fixed support and the second fixed support which are away from each other.

[0017] Optionally, the connecting support is provided with a positioning column, and the base fixing assembly comprises:

[0018] a fixing sleeve which is sleeved on the positioning column;

[0019] a first locking mechanism which is arranged on the fixing sleeve and is used for fixing the fixing sleeve and the positioning column;

[0020] a second locking mechanism which is arranged at the lower end of the fixing sleeve and is used for fixing a surgical tool.

[0021] Optionally, the first locking mechanism comprises:

[0022] a fixing knob which is arranged at the end of the fixing sleeve which is away from the connecting support, and the positioning column is provided with a positioning groove which cooperates with the fixing knob;

[0023] an inclined surface which is arranged at the side of the positioning column which is away from the positioning groove, and the fixing sleeve is provided with an inclined platform which cooperates with the inclined surface.

[0024] Optionally, the second locking mechanism comprises:

[0025] a ring body which is arranged at the lower side of one end of the fixing sleeve;

[0026] a locking ring which is arranged at the lower side of the other end of the fixing sleeve.

[0027] Optionally, the base fixing assembly further comprises:

[0028] a positioning pin which is arranged on the outer periphery of the positioning column, and the fixing sleeve is provided with a clamping groove which cooperates with the positioning column.

[0029] a pre-tightening pin, the outer periphery of the positioning column is provided with a pre-tightening groove, and one end of the pre-tightening pin is clamped in the pre-tightening groove through the fixing sleeve.

[0030] The application also provides a navigation drill comprising the surgical tool navigation device.

[0031] The surgical tool navigation device has the advantages that:

[0032] 1. The surgical tool navigation device can be connected with a surgical navigation robot / system to realize navigation of a traditional surgical tool, track the relative position between the surgical tool and a bone in real time during surgery, guide a doctor to operate, improve the safety of surgery, and reduce the radiation exposure of the doctor.

[0033] 2. The surgical tool navigation device comprises a double-sided tracking frame structure formed by the first fixing support and the second fixing support, and can meet the requirements of navigation effective space, navigation accuracy, operation space, and cost, and has optimized overall performance and is convenient for a doctor to operate.

[0034] Other features and advantages of the application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0035] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which like reference characters refer to like parts throughout the different views of the drawings and in which:

[0036] Fig. 1 A structural schematic diagram of a surgical tool navigation device according to one embodiment of the application is shown.

[0037] Fig. 2 A structural schematic diagram of a positioning column of a surgical tool navigation device according to one embodiment of the application is shown.

[0038] Fig. 3 A sectional view of a surgical tool navigation device according to one embodiment of the application is shown.

[0039] Explanation of reference signs:

[0040] 1, connecting support; 2, marker point; 3, fixing assembly; 4, fixing sleeve; 5, fixing knob; 6, inclined surface; 7, ring body; 8, locking ring; 9, positioning pin; 10, pre-tightening pin; 11, pre-tightening groove; 12, positioning column. DETAILED DESCRIPTION

[0041] Preferred embodiments of the present application will be described in greater detail below. While the preferred embodiments of the present application are described below, it is to be understood that the present application can be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art.

[0042] As shown in Figs. 1-3 A surgical tool navigation device comprises:

[0043] A surgical tool navigation device comprises:

[0044] At least one base fixing assembly 3 is connected with the surgical tool;

[0045] A tracking assembly is detachably connected with the base fixing assembly 3, and a tracking end of a surgical navigation system can track and locate the position and posture of the tracking assembly in real time;

[0046] The tracking assembly comprises:

[0047] A connecting bracket 1 is detachably connected with the base fixing assembly 3;

[0048] First and second fixing brackets are respectively arranged on both sides of the connecting bracket 1 and form sharp angles near the sides of the connecting bracket 1

[0049] A plurality of marker points 2 are distributed on the first and second fixing brackets and located outside the outer periphery of the connecting bracket 1.

[0050] Specifically, the base fixing assembly 3 is connected with the surgical tool and the tracking assembly to realize tracking and positioning of the conventional surgical tool, and the conventional surgical tool is combined with the surgical navigation system. Meanwhile, the base fixing assembly 3 is detachably connected with the tracking assembly, which is suitable for replacing different surgical instruments as needed, and there is no need to allocate one tracking assembly for each surgical tool, thereby reducing the cost. The tracking end confirms the position and posture of the tracking assembly by tracking the spatial positions of the plurality of marker points 2, and further confirms the position of the surgical tool. The first and second fixing brackets rationally and effectively distribute the marker points 2, thereby reducing the number of marker points 2, and compared with the multi-face redundant distribution, the design is more simple and efficient, has an optimized multi-face tracking frame, saves the cost, and has a more cost-effective effect.

[0051] Further, the marker points 2 are active, the marker points 2 actively emit position signals, and the tracking end is a receiving end that receives the position signals of the marker points 2;

[0052] The marker points 2 are passive, the tracking end actively emits signals, and the marker points 2 receive and feedback the signals of the tracking end;

[0053] For example, near-infrared (IR) light wireless detection device and (NDI) passive marker ball, (NDI) passive marker ball is set on the surgical tool, and the near-infrared (IR) light wireless detection device scans the (NDI) passive marker ball to realize real-time positioning, and achieve the effect of navigation marker tracking.

[0054] Further, the base fixing assembly 3 is fixedly connected with the surgical tool requiring navigation, and can be detachably fixed by embracing locking or screw fastening, or can be fixedly connected by welding or adhesion.

[0055] In the embodiment, the tracking end captures at least three marker points 2 at any angle.

[0056] Specifically, three points form a plane, and the three points in the plane can be positioned two by two and calibrated by triangulation.

[0057] In the embodiment, the first fixed support and the second fixed support are respectively radial, and the plurality of marker points 2 are respectively arranged at the radial ends of the first fixed support and the second fixed support.

[0058] Specifically, the first fixed support and the second fixed support are respectively arranged with the marker points 2, so that the marker points 2 are distributed outside the outer periphery of the connecting support 1, and the radial first fixed support and the second fixed support can be symmetrically arranged or staggered with each other, so as to ensure that the tracking end can continuously track the tracking assembly in different positions and postures.

[0059] In the embodiment, the radial ends of the first fixed support and the second fixed support are not less than three.

[0060] Specifically, the planes where the first fixed support and the second fixed support are located are determined according to the principle of three points forming a plane, and then the reference position is determined by the two planes, and the spatial coordinates are determined.

[0061] In the embodiment, the tracking end includes at least one infrared camera and at least one infrared light source, and the marker points 2 include reflective spheres, which are exposed on the first fixed support and the second fixed support.

[0062] Specifically, the reflective spheres reflect infrared rays at any angle, and the reflective spheres reflect infrared rays at different angles, so that the infrared camera determines the positions of the marker points 2 through the reflected infrared rays, and the exposed part of the reflective sphere is greater than half.

[0063] In the embodiment, the first fixed support and the second fixed support form sharp angles near the side close to the connecting support 1, and the reflective spheres are arranged on the sides away from each other of the first fixed support and the second fixed support.

[0064] Specifically, the reflective sphere is arranged on the mutually far side of the first and second fixed supports to avoid the shielding of the first and second fixed supports, and the first and second fixed supports can be close to each other to form an included angle or close to each other while being staggered with each other, so as to increase the number of mark points 2 that can be tracked and captured at different angles.

[0065] In the embodiment, the connecting support 1 is provided with a positioning column 12, and the base fixing assembly 3 comprises:

[0066] A fixed sleeve 4 is sleeved on the positioning column 12;

[0067] A first locking mechanism is arranged on the fixed sleeve 4 and used for fixing the fixed sleeve 4 and the positioning column 12;

[0068] A second locking mechanism is arranged at the lower end of the fixed sleeve 4 and used for fixing the surgical tool.

[0069] Specifically, the base fixing assembly 3 and the tracking assembly are connected by the sleeving of the positioning column 12 and the fixed sleeve 4.

[0070] Further, the second locking mechanism comprises a screwing structure or a clamping jaw structure.

[0071] In the embodiment, the first locking mechanism comprises:

[0072] A fixed knob 5 is arranged at the end of the fixed sleeve 4 away from the connecting support 1, and the positioning column 12 is provided with a positioning groove matched with the fixed knob 5;

[0073] An inclined surface 6 is arranged on the side of the positioning column 12 away from the positioning groove, and the fixed sleeve 4 is provided with an inclined table matched with the inclined surface 6.

[0074] Specifically, the fixed sleeve 4 and the positioning column 12 are pressed by the fixed knob 5, and the fixed sleeve 4 is prevented from rotating on the positioning column 12 by the cooperation of the inclined surface 6 and the inclined table.

[0075] Further, the end of the positioning column 12 away from the connecting support 1 is provided with two inclined surfaces 6 forming a sharp corner structure, and the inclined table is arranged at the tail end of the fixed sleeve 4 and matched with the sharp corner structure, so as to prevent the fixed sleeve 4 from rotating on the positioning column 12.

[0076] In the embodiment, the second locking mechanism comprises:

[0077] A ring body 7 is arranged at the lower side of one end of the fixed sleeve 4;

[0078] A locking ring 8 is arranged at the lower side of the other end of the fixed sleeve 4.

[0079] Specifically, the surgical end of the surgical tool is exposed through the ring body 7, the holding end is fixedly connected with the locking ring 8, and the locking ring 8 is fixedly connected.

[0080] In the embodiment, further comprising:

[0081] Positioning pins 9 are arranged on the outer periphery of the positioning column 12, and the fixing sleeve 4 is provided with clamping grooves matched with the positioning column 12.

[0082] Pre-tightening pins 10 are arranged on the outer periphery of the positioning column 12, and one end of the pre-tightening pin 10 is clamped in the pre-tightening groove 11 of the fixing sleeve 4.

[0083] Specifically, the positioning pins 9 are matched with the clamping grooves for positioning and preventing mistakes, and the pre-tightening pins 10 are matched with the pre-tightening grooves 11 to prevent the fixing sleeve 4 from slipping off the positioning column 12.

[0084] The surgical tool navigation device is used in the following manner, taking assembly and use as an example,

[0085] The plurality of surgical tools are connected with the respective base fixing assemblies 3.

[0086] According to the need, the base fixing assembly 3 with the surgical tool fixed thereon is connected with the tracking assembly;

[0087] The compensation parameter corresponding to the surgical tool is called, and the compensation parameter and the tracking assembly posture information are pre-recorded in the surgical navigation system;

[0088] The position and posture of the loaded surgical tool are confirmed according to the position and posture of the tracking assembly during the surgery;

[0089] If the surgical tool is replaced during the surgery, the replacement compensation parameter is correspondingly replaced.

[0090] According to another embodiment of the present application, a navigation drill is provided, which comprises the surgical tool navigation device. The surgical tool navigation device is installed on an existing hand drill, so that a navigation drill with navigation function is obtained. The navigation drill can be tracked and positioned in real time during the surgery, guiding the doctor to operate the hand drill, and improving the safety of the surgery.

[0091] The above has described the embodiments of the present application, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A surgical tool navigation device, characterized in that, include: At least one base fixation component is connected to the surgical instrument; The tracer component is detachably connected to the base fixing component, and the tracking end of the surgical navigation system can track and locate the position and attitude of the tracer component in real time. The tracer component includes: The connecting bracket is detachably connected to the base fixing assembly; The first fixed bracket and the second fixed bracket are respectively disposed on both sides of the connecting bracket, and form sharp corners on the side close to the connecting bracket; Multiple marker points are distributed on the first fixed bracket and the second fixed bracket, located on the outer periphery of the connecting bracket; The tracking end can capture at least three of the marked points at any capture angle; The connecting bracket is provided with a positioning post, and the base fixing assembly includes: A fixing sleeve is fitted onto the positioning post; A first locking mechanism is provided on the fixed sleeve for fixing the fixed sleeve and the positioning post; The second locking mechanism is located at the lower end of the fixed sleeve and is used to fix the surgical instruments. The first locking mechanism includes: A fixing knob is located at one end of the fixing sleeve away from the connecting bracket, and a positioning groove is provided on the positioning post to cooperate with the fixing knob; An inclined surface is provided on the side of the positioning post away from the positioning groove, and an inclined platform matching the inclined surface is provided inside the fixing sleeve; The second locking mechanism includes: The ring body is disposed on the lower side of one end of the fixed sleeve; A locking ring is located on the lower side of the other end of the fixed sleeve; A positioning pin is provided on the outer periphery of the positioning post, and a groove that mates with the positioning post is provided on the fixing sleeve; A pre-tightening pin is provided with a pre-tightening groove on the outer periphery of the positioning column, and one end of the pre-tightening pin passes through the fixing sleeve and is engaged in the pre-tightening groove.

2. The surgical tool navigation device according to claim 1, characterized in that, The first fixing bracket and the second fixing bracket are respectively radial, and a plurality of the marking points are respectively set at the radial ends of the first fixing bracket and the second fixing bracket; The first fixing bracket and the second fixing bracket each have no fewer than three radiating ends.

3. The surgical tool navigation device according to claim 2, characterized in that, The marker point includes a reflective sphere, which is exposed on the first fixed bracket and the second fixed bracket.

4. The surgical tool navigation device according to claim 3, characterized in that, The first and second fixed brackets form sharp angles on the side near the connecting bracket, and the reflective sphere is disposed on the side of the first and second fixed brackets that are far apart from each other.

5. A navigation drill, characterized in that, Includes the surgical tool navigation device according to any one of claims 1-4.

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