Verification block structure and verification system for orthopedic surgery

Abstract

The application discloses a verification block structure and a verification system for orthopedic surgery. The verification block structure comprises a base and a bone block. The base has a bearing portion and a bottom portion corresponding to the bearing portion. The bone block is detachably fixed to the bearing portion of the base, and the shape or material of the bone block is determined according to the bone characteristics of a patient and / or a surgical method.

Description

Technical Field

[0001] This invention relates to a verification block structure and verification system, and more particularly to a verification block structure and verification system for orthopedic surgery. Background Technology

[0002] The use of surgical robots in surgery is becoming increasingly common. To maintain high precision and low error in their operation, surgical robots need to be calibrated regularly to ensure that there are no misalignments between the surgical instruments and the surgical site during surgery. In addition to regular calibration, orthopedic surgical robots also require additional verification that the system's preset drilling depth matches the actual depth reached during complex surgical procedures. Ensuring consistency between system settings and actual values ​​is a highly challenging issue in this field. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the present invention aims to provide a verification block structure for orthopedic surgery, which can have suitable bone-like blocks for preoperative simulation and verification.

[0004] To achieve the above objectives, embodiments of the present invention provide a verification block structure for orthopedic surgery, including a base and a simulated bone block. The base has a support portion and a bottom corresponding to the support portion. The simulated bone block is detachably fixed to the support portion of the base, and the shape or material of the simulated bone block is determined according to the patient's bone characteristics and / or the surgical procedure.

[0005] Furthermore, this invention provides a verification system for orthopedic surgery, including surgical instruments, a verification block structure, and a computational detection unit. The base of the verification block structure has a support portion and a corresponding bottom portion. A simulated bone block of the verification block structure is detachably fixed to the support portion of the base, and the shape or material of the simulated bone block is determined based on the patient's bone characteristics and / or the surgical procedure. The computational detection unit detects the position of the surgical instruments to calculate simulation data of the surgical instruments performing surgery on the verification block structure according to the surgical procedure.

[0006] To further understand the features and technical content of the present invention, please refer to the following detailed description and drawings of the present invention. However, the drawings provided are for reference and illustration only and are not intended to limit the present invention. Attached Figure Description

[0007] Figures 1A to 1C This is a schematic diagram of the verification block structure according to an embodiment of the present invention.

[0008] Figure 2 This is a schematic diagram of the verification system according to an embodiment of the present invention. Detailed Implementation

[0009] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can understand the advantages and effects of the present invention from the content provided in this specification. The present invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the concept of the present invention. Furthermore, the accompanying drawings of the present invention are for simple illustrative purposes only and are not depictions of actual dimensions; this is stated in advance. The following embodiments will further describe the relevant technical content of the present invention in detail, but the content provided is not intended to limit the scope of protection of the present invention.

[0010] Please see Figures 1A to 1C , Figures 1A to 1C This is a schematic diagram of the verification block structure according to an embodiment of the present invention. Please refer to it first. Figure 1A The verification block structure 1 includes a base 11 and a bone-like block 131. The base 11 has a support portion 111 and a bottom 113 corresponding to the support portion 111, and the side 115 of the base 11 connects the support portion 111 and the bottom 113. The bone-like block 131 is detachably fixed to the support portion 111 of the base 11, and the shape or material of the bone-like block 131 is determined according to the patient's bone characteristics and / or surgical method. In this embodiment, bone characteristics are bone density, bone hardness, or bone pathology features, and surgical methods are drilling, cutting, scraping, or grinding.

[0011] Specifically, the user (e.g., a surgeon) can select the most suitable bone-like block from multiple blocks of different shapes or materials, based on the patient's bone characteristics and / or surgical procedure, and fix it to the support portion 111 of the base 11. For example, Figures 1A to 1C The bone-like blocks 131-133 have different shapes to suit different surgical methods such as drilling, cutting, and grinding, but the present invention is not limited thereto. When the surgical method is drilling, the user can select a bone-like block 131 with a specific shape to fix it on the support portion 111 of the base 11, such as... Figure 1A As shown. When the surgical method is cutting or grinding, the user can select a different shaped bone block 132 or 133 to fix it to the support portion 111 of the base 11, such as... Figure 1B or Figure 1C As shown.

[0012] In other embodiments, multiple bone-like blocks 131 of different materials may be provided to suit patients with different bone characteristics, but the present invention is not limited thereto. For example, Figures 1A to 1CThe simulated bone blocks 131-133 are made of different materials. When the surgical method is drilling, the user can select the most suitable one from multiple simulated bone blocks 131 made of different materials according to the patient's bone characteristics, and fix it to the support part 111 of the base 11. Similarly, when the surgical method is cutting or grinding, the user can select the most suitable one from simulated bone blocks 132 or 133 made of different materials according to the patient's bone characteristics, and fix it to the support part 111 of the base 11.

[0013] In other words, the verification block structure 1 of the present invention can have a suitable bone-like block for preoperative simulation and verification. Furthermore, this bone-like block mimics the patient's bone structure and is used to simulate and verify drilling, cutting, scraping, or grinding of that bone structure. Since the patient's bone structure has external and internal structural parts, the bone-like block may also include an outer layer and a central layer. The hardness of the outer layer may correspond to the bone density of the external structural part, and the hardness of the central layer may correspond to the bone density of the internal structural part, but the present invention is not limited thereto. In addition, the bone-like block can also simulate the tissue structure or shape of bone spurs, laminas, or cartilaginous endplates.

[0014] In practical applications, before surgery, equipment such as computed tomography (CT), magnetic resonance imaging (MRI), and ultrasound can be used to scan specific bone areas (e.g., the vertebrae). The resulting images determine the bone density distribution and bone structure of that specific bone area. Based on the measured bone density distribution and shape, a simulated bone block with similar bone density and shape is created using materials of similar density (e.g., bone cement, plaster, ceramics, or rigid polyurethane foam selected according to ASTM F1839 for orthopedic instrument testing, such as SAWBONES). Alternatively, a suitable simulated bone block can be selected from multiple standard templates. Then, surgical tools are used to drill, cut, scrape, or grind the simulated bone block. This verification procedure allows us to determine whether the pre-planned surgical procedure matches the actual surgical outcome or whether it aligns with the results simulated and calculated by the surgical system. In other words, the drilling depth and volume removed (simulation data) planned in the surgical procedure must be verified to ensure that the actual drilling depth and volume removed during the actual surgery match the system planning or calculations. Furthermore, this verification procedure allows surgeons to simulate the surgical process and practice how to perform the surgery beforehand.

[0015] In practice, doctors or surgical robot systems can use surgical tools to simulate surgery on the verification block structure 1. However, it is usually necessary to position the verification block structure 1 before using the surgical tools. For this purpose, the verification block structure 1 also includes multiple marking elements 141-144 for positioning. The multiple marking elements 141-144 are disposed on the side 115 of the base 11, such as... Figures 1A to 1C As shown.

[0016] In this embodiment, the marking elements 141-144 can be infrared reflective spheres, but the present invention is not limited thereto. Since the positioning principle of the marking elements 141-144 is well known to those skilled in the art, its details will not be elaborated further. It should be noted that, in order to allow the simulated bone blocks 131-133 to be detachably fixed to the support portion 111, the simulated bone blocks 131-133 and the support portion 111 may be provided with multiple corresponding fastening points (e.g., ...). Figures 1A to 1C Screw locking points 151-154) allow the user to use at least one fastener (e.g., Figures 1A to 1C Screws 161-162 are used to detachably fix the bone fragments 131-133 to the support portion 111.

[0017] In addition, such as Figures 1A to 1C As shown, the supporting part 111 may also be provided with a mortise 171, and the simulated bone blocks 131-133 have tenon parts corresponding to the mortise 171. Figures 1A to 1C (Not shown), so that the user can also use the mortise 171 and the tenon to detachably fix the pseudo-bone blocks 131-133 to the support portion 111, but the present invention does not limit the specific implementation of detachably fixing the pseudo-bone blocks 131-133 to the support portion 111.

[0018] On the other hand, please refer to the following: Figure 2 , Figure 2 This is a schematic diagram of the verification system according to an embodiment of the present invention. Figure 2 As shown, the verification system 2 includes a surgical tool 21, a verification block structure 1, and a calculation and detection unit 23. Details of the verification block structure 1 will not be elaborated further. Specifically, a doctor or surgical robot system can use the surgical tool 21 of the verification system 2 to perform surgical simulation on the verification block structure 1 according to the aforementioned surgical procedure. Furthermore, the calculation and detection unit 23 can be implemented using hardware (e.g., a processor and memory) combined with software and / or solid-state devices, but this invention does not limit the specific implementation of the calculation and detection unit 23. The calculation and detection unit 23 detects the position of the surgical tool 21 to calculate simulation data after the surgical tool 21 performs surgery on the verification block structure 1 according to the aforementioned surgical procedure. In this embodiment, the simulation data includes drilling area, drilling depth, cutting area, cutting volume, scraping area, scraping volume, grinding area, or grinding volume, but this invention is not limited to these.

[0019] For example, when a user selects Figure 1A When the simulated bone block 131 is used to simulate and verify drilling into the bone structure of a patient, the calculation and detection unit 23 can detect the position of the surgical tool 21 (e.g., a drilling machine) to calculate the drilling area or drilling depth after the drilling machine drills into the simulated bone block 131. Additionally, when the user selects... Figure 1B When the simulated bone block 132 is used to simulate and verify the cutting of a patient's bone, the calculation detection unit 23 can detect the position of the surgical tool 21 (e.g., a cutting machine) to calculate the cutting area or volume after the cutting machine cuts the simulated bone block 132.

[0020] Similarly, when the user selects Figure 1C When the simulated bone block 133 is used to simulate and verify the grinding of a patient's bone, the calculation and detection unit 23 can detect the position of the surgical tool 21 (e.g., a grinder) to calculate the grinding area or volume after the grinder grinds the simulated bone block 133. In this embodiment, the calculation and detection unit 23 can be used in conjunction with an optical tracker ( Figure 2 (not shown), and the position of the surgical tool 21 is detected according to the spatial positioning of the verification block structure 1, but the present invention does not limit the specific implementation of the calculation of the position of the surgical tool 21 detected by the detection unit 23, and the calculation of the above simulation data.

[0021] In summary, one of the beneficial effects of this invention is that the verification block structure and verification system provided by this invention can determine the shape or material of the simulated bone block based on the patient's bone characteristics and / or surgical method, thereby improving the reliability of preoperative simulation and verification. Furthermore, the simulated bone block is detachably fixed to the support portion of the base, allowing the user to perform surgical simulations for different surgical methods and conditions simply by replacing the simulated bone block, without needing to reposition it, thus increasing the convenience of simulated surgery.

[0022] The content disclosed above is only a preferred and feasible embodiment of the present invention, and is not intended to limit the claims of the present invention. Therefore, all equivalent technical changes made based on the content of the present invention specification and drawings are included within the scope of the claims of the present invention.

Claims

1. A verification system for orthopedic surgery, characterized in that, The verification system includes: A surgical instrument; A verification block structure, including: A base having a support portion and a bottom corresponding to the support portion; Multiple infrared reflective balls for positioning are disposed on one side of the base; A bone fragment, detachably fixed to the support portion of the base, wherein the bone density distribution of the bone fragment is similar to the measured bone density distribution of a patient; and A calculation and detection unit, comprising a processor and a memory, obtains a spatial positioning of the verification block structure based on a plurality of infrared reflective spheres. The calculation and detection unit also detects the position of the surgical tool based on the spatial positioning of the verification block structure, in order to calculate the grinding area or grinding volume of the surgical tool after grinding the bone-like block. The simulated bone block and the supporting part are provided with a plurality of fastening points corresponding to each other. The supporting part may also be provided with a mortise. The simulated bone block is provided with a tenon part corresponding to the mortise. The simulated bone block can be detachably fixed to the supporting part through the tenon part and at least one fastener.

2. The verification system for orthopedic surgery as described in claim 1, characterized in that, The orthopedic surgical procedures mentioned include drilling, cutting, scraping, or grinding.

3. The verification system for orthopedic surgery as described in claim 2, characterized in that, The simulated bone block is a bone part that mimics the patient's bone structure and is used to simulate and verify drilling, cutting, scraping, or grinding of the bone part.

4. The verification system for orthopedic surgery as described in claim 3, characterized in that, The patient's skeletal region has an external structural portion and an internal structural portion. The bone-like block includes an outer layer and a central portion. The hardness of the outer layer corresponds to the bone density of the external structural portion, and the hardness of the central portion corresponds to the bone density of the internal structural portion.

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