A method for simulating precise navigation rotation and fixation of the femoral head

Abstract

The present invention relates to a method for simulating precise navigation rotation and fixation of a femur, belonging to the field of medical technology. The method comprises: determining an area to be rotated; establishing a rotation coordinate system; obtaining a femoral head rotation angle; creating a personalized femoral rotation navigator model; truncation of the femoral neck; importing and fixing a femoral rotation navigator to simultaneously complete the target rotation; and completing the connection, fixation, and installation of the truncation after completing the navigation rotation positioning of the femoral head. The present invention simulates the femoral head rotation angle throughout the entire process, rotates the femoral head using a femoral head rotation navigator, and completes subsequent fixation operations, thereby achieving preoperative simulation of the femoral head rotation angle visualization, reducing the difficulty of intraoperative surgical operations, increasing the operator's confidence, and greatly improving the accuracy of the rotation angle after femoral head osteotomy.

Description

Technical Field

[0001] The present invention relates to the field of medical technology, and in particular to a method for simulating precise navigation rotation and fixation of a femoral head. Background Art

[0002] Precise rotation and fixation of designated areas of the femoral head is an extremely important operation in medicine. For example, when treating femoral head necrosis, due to the limited service life of the artificial hip joint used in hip replacement surgery and the need for regular revisions, hip-preserving surgery is generally preferred when the condition permits. Femoral osteotomy in hip-preserving surgery rotates and fixes the femoral head to move the necrotic area away from the weight-bearing area, allowing the non-necrotic area to bear weight, preventing the femoral head from collapsing, and thus maintaining hip joint function.

[0003] Currently, the rotation and fixation of a designated area of the femoral head is mainly performed using the following steps: first, the surgeon determines the area to be transferred based on medical images of the femoral head; second, adaptive bone resection is performed at the femoral neck; then, based on the surgeon's operating experience, the femoral head is rotated to an appropriate angle to reach the desired position; finally, the bone resection is fixed with a lateral steel plate to complete the entire femoral rotation operation.

[0004] Currently, when rotating and fixing the femoral head, the entire process is mainly based on the surgeon's personal operating experience. When rotating the severed femoral head, the rotation angle cannot be precisely controlled, and the angle of femoral rotation cannot be visually navigated. The surgeon can only rely on operating experience to ensure the success rate, which places extremely high experience requirements on the surgeon. In addition, the rotation angle of the necrotic area of the femoral head to avoid the weight-bearing area cannot be known before the operation. Through high-precision surgical simulation operations, the operational accuracy of femoral head rotation is greatly improved, providing patients with precise treatment methods for postoperative recovery. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to propose a method for simulating the precise navigation rotation and fixation of the femoral head to address the gaps in the prior art. First, the femoral neck osteotomy is simulated, and the femoral head rotation angle is simulated using a femoral head navigator through 3D software, so that the femoral head rotation angle can be accurately navigated under a visualized state, thereby improving the surgeon's confidence in the surgery and reducing the error rate of the femoral head not rotating to the ideal position.

[0006] The present invention is achieved through the following technical solutions:

[0007] A method for simulating precise navigation rotation and fixation of a femoral head, the method comprising:

[0008] 1) 3D reconstruction of medical models: Using 3D reconstruction technology to measure and model planar medical images, a three-dimensional image is obtained to assist in determining the femoral lesion area;

[0009] 2) Establishing a rotation coordinate system, simulating the osteotomy line and the cervical spine, and establishing a rotation coordinate system based on the osteotomy line and the cervical spine;

[0010] 3) determining the rotation angle of the femoral head, and analyzing and obtaining the rotation angle of the femoral head based on the measurement data in the rotation coordinate system;

[0011] 4) creating a navigator model, and creating a personalized femoral rotation navigator model according to the obtained specific parameters of the femoral head;

[0012] 5) Cut the femoral neck along the cutting line to separate the greater trochanter and femoral head;

[0013] 6) Import the navigator model and import the femoral rotation navigator model into the medical model;

[0014] 7) Assemble the navigator, attach the femoral rotation navigator to the surface of the greater trochanter, drive the rotation guide pin into the femur, and inflate the clamping piece on the rotation guide pin to complete the clamping fixation of the rotation guide pin to the femur;

[0015] 8) rotating the femur, and rotating the femur to a target angle position according to the rotation angle using a rotating guide pin;

[0016] 9) Fix the femur. After completing the femoral navigation rotation positioning, insert a fixation pin at the cutoff to connect and fix the greater trochanter and the rotated femur, completing the simulation operation.

[0017] Furthermore, the 3D reconstruction of the medical model includes: performing 3D processing on medical images of the femur and the connected pelvis to obtain a three-dimensional stereoscopic image; and performing detailed three-dimensional measurement and registration of the part of the femur to be rotated.

[0018] Furthermore, the creation of the navigator model includes: determining a bone-fitting guide plate that matches the surface of the greater trochanter based on the 3D reconstructed medical image of the patient; establishing a rotating guide pin groove at the intersection of the bone-fitting guide plate and the cervical trunk line; providing an annular scale around the rotating guide pin groove on the outside of the bone-fitting guide plate; providing a rotating guide pin inside the rotating guide pin groove; providing a dual-purpose pointer for indicating the angle scale and assisting rotation on the side wall of the rotating guide pin groove; fixing a fixed groove I on the left side of the annular scale, and fixing a fixed groove II on the upper end of the annular scale; and providing the same fixing pins in both the fixed groove I and the fixed groove II.

[0019] Furthermore, the assembly navigator includes: fitting the femoral head rotation navigator to the corresponding greater trochanter surface; nailing a Kirschner wire along the rotation guide pin groove to form an initial channel; nailing a reaming nail along the rotation guide pin groove to form a widened channel; nailing the rotation guide pin into the widened channel to the inside of the femur, and inflating the clamping piece of the rotation guide pin to complete the clamping of the rotation guide pin and the femoral head; connecting and fixing the dual-purpose pointer with the rotation pointer; recording the initial scale value of the angle dial pointed to by the initial assembly position of the dual-purpose pointer; calculating the target scale value based on the femoral rotation angle and the initial scale value; turning the dual-purpose pointer to a position pointing to the target scale value and stopping rotation.

[0020] Furthermore, the fixing of the femoral head includes: nailing the fixing guide pin into the corresponding fixing guide pin groove and passing it through the cutoff to fix the greater trochanter to the femur; and removing the rotating guide pin and the dual-purpose pointer.

[0021] Furthermore, the assembly navigator includes: before inflating the clamping part of the rotating guide pin, aligning the pointer hole with an integer angle scale by rotating the rotating guide groove; aligning the through hole opening of the rotating guide pin and the pointer hole opening perpendicular to the end face direction of the guide pin; moving the aligned rotating guide pin until the through hole and the pointer hole are coaxial, stopping the movement operation, and then inflating.

[0022] The beneficial effects of the present invention are:

[0023] The present invention utilizes a full-process simulation method before femoral head osteotomy to simulate and complete 3D reconstruction of medical images, obtain accurate corresponding values of the femoral head to be rotated, and based on the accurate corresponding values, combines a personalized customized femoral rotation navigator to perform precise fixed-angle rotation operations on the rotated femur, thereby familiarizing the operator with the operation of visualizing the angle of femoral rotation in advance, reducing the difficulty of precise femoral rotation, increasing the operator's proficiency in femoral head rotation operations, and greatly improving the success rate of precise femoral rotation in subsequent femoral osteotomy. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a flow chart of the simulation method;

[0025] Figure 2 This is a medical image of the femur;

[0026] Figure 3 This is the coronal view of the pelvis and femur after 3D reconstruction;

[0027] Figure 4 This is the coronal view of the right femur;

[0028] Figure 5 It is a diagram of the lesion area rotating around the rotation axis;

[0029] Figure 6 This is a schematic diagram of the area after the lesion area is rotated;

[0030] Figure 7 Assemble the completed assembly drawing for the navigator;

[0031] Figure 8 Figure 1. The fixed assembly after the femur is rotated for the navigator.

[0032] Description of reference numerals:

[0033] 1. Bone-attaching guide plate; 2. Rotating guide pin slot; 3. Fixed slot I; 4. Fixed slot II; 5. Fixed base; 6. Rotating guide slot; 7. Pointer hole; 8. Dual-purpose pointer; 9. Surface of greater trochanter; 10. Femur; 11. Rotating guide pin; 12. Clamping piece; 13. Needle; 14. Inflatable airbag; 15. Telescopic wire mesh; 16. Trachea; 17. Annular scale; 18. Fixed guide pin. DETAILED DESCRIPTION

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0035] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0036] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0037] In the above description of the present invention, it should be noted that the terms "one side," "the other side," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the inventive product is typically placed when in use. These terms are intended solely to facilitate the description of the present invention and simplify the description, and are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and the like are used solely for distinction and should not be construed as indicating or implying relative importance.

[0038] Furthermore, the term "identical" and similar terms do not necessarily require that the components be absolutely identical; slight variations are permitted. The term "perpendicular" simply refers to the positional relationship between components being more perpendicular than "parallel," not that the structure must be perfectly vertical; rather, it can be slightly tilted.

[0039] like Figure 1-6 As shown, an embodiment of the present invention provides a method for precise navigation rotation and fixation of a femoral head, comprising the following steps:

[0040] S101. 3D reconstructed medical images assist in determining the area to be rotated.

[0041] Medical examinations are performed on the femur to be rotated and the connected pelvis to obtain their medical images. Then, 3D reconstruction technology is used to measure and model the planar medical images to obtain a three-dimensional stereoscopic image. Detailed three-dimensional measurement and registration of the part of the femoral head to be rotated are performed on the image processing and operations, and the relevant features on the medical image are marked on the 3D model. The surgeon then refers to the model and determines the area on the femur to be rotated based on the data.

[0042] S102. Simulate the osteotomy line and the cervical spine and establish a rotation coordinate system based on the osteotomy line and the cervical spine.

[0043] A simulation analysis is performed on the reconstructed 3D model, and the cervical trunk line is simulated based on its structure and positional relationship. Then, an osteotomy line perpendicular to the cervical trunk line is made for use, and a rotation coordinate system is established with the cervical trunk line and the osteotomy line as coordinate axes.

[0044] S103. Analyze and obtain the rotation angle of the femoral head in the rotation coordinate system.

[0045] The corresponding regional coordinates of the area to be rotated on the rotation coordinate system are expressed, and then the femoral rotation angle required for the area to be rotated on the femoral head to rotate to the current position is inferred based on the corresponding coordinates of the femoral peripheral connection structure.

[0046] S104. Create a personalized femoral rotation navigator model based on the obtained femoral specific parameters.

[0047] Based on the 3D reconstructed medical images of the patient, a bone-fitting guide plate that matches the surface of the greater trochanter is determined, a rotation guide pin groove is established at the intersection of the bone-fitting guide plate and the cervical trunk line, an annular scale is set around the rotation guide pin groove on the outside of the bone-fitting guide plate, a rotation guide pin is set inside the rotation guide pin groove, a dual-purpose pointer for indicating the angle scale and assisting rotation is set on the side wall of the rotation guide pin groove, a fixing groove I is fixedly set on the left side of the annular scale, and a fixing groove II is fixedly set at the upper end of the annular scale, and the same fixing pins for fixing the connection between the greater trochanter and the femur after the navigation rotation of the femur is completed are respectively set in the fixing groove I and the fixing groove II.

[0048] S105. Import the navigator model and import the femoral rotation navigator model into the medical model.

[0049] S201. Cut the femoral neck along the cutting line to separate the greater trochanter and the femoral head.

[0050] S202. Assemble the navigator, attach the femoral rotation navigator to the surface of the greater trochanter, screw the rotation guide pin into the femoral head, inflate the clamping piece on the rotation guide pin to expand it, and complete the clamping fixation of the rotation guide pin and the femoral head.

[0051] The femoral rotation navigator is fitted to the corresponding greater trochanter surface, the pointer hole is aligned with an integer angle scale by rotating the rotation guide groove, the through hole opening of the rotation guide pin and the pointer hole opening are aligned perpendicular to the end face direction of the guide pin, the rotation guide pin is nailed into the greater trochanter, the cross-section and the femur in sequence, the rotation guide pin is nailed into the inside of the femur, the inflation clamping sleeve on the top of the rotation guide pin is inflated and clamped through the trachea, the dual-purpose pointer and the rotation pointer are connected and fixed, the initial scale value of the angle dial pointed to by the initial assembly position of the dual-purpose pointer is recorded, the target scale value is calculated according to the femoral rotation angle and the initial scale value, the dual-purpose pointer is turned to the position pointing to the target scale value and the rotation is stopped.

[0052] S204. Hold the dual-purpose pointer and move it to the target angle. The rotation of the dual-purpose pointer will drive the rotating guide pin to rotate, thereby rotating the femur to the target angle position according to the rotation angle.

[0053] S203. After completing the navigation rotation positioning of the femoral head, complete the connection and fixation installation at the cut-off point.

[0054] Nail the fixed guide pin into the corresponding fixed guide pin groove and pass it through the cutoff to fix the greater trochanter and the femoral head, and remove the rotating guide pin and the dual-purpose pointer.

[0055] In this embodiment, the specific structure of the femoral head rotation navigator is as follows: it includes a bone-attached guide plate 1, on which a rotation guide pin slot 2, a fixed slot I 3 and a fixed slot II 4 are fixedly arranged. The bone-attached guide plate and the rotation guide pin slot, the fixed slot I and the fixed slot II are all made by 3D printing. The inner side surface of the bone-attached guide plate completely matches the bone surface to be attached, wherein the rotation guide pin slot includes a fixed base 5 and a rotation guide slot 6 which are connected to each other by threads and can rotate with each other. A pointer hole 7 is provided on the side wall of the rotation guide slot, and a dual-purpose pointer 8 is provided in the pointer hole. After the bone-attached guide plate is attached to the surface of the greater trochanter 9, a rotation guide pin 11 which can penetrate the greater trochanter and be cross-sectioned and then be nailed into the inside of the femur 10 is nailed into the inside of the rotation guide pin slot, and a hole is provided on the side wall of the rotation guide pin to connect with the two A through hole adapted to the pointer is used, and the dual-purpose pointer passes through the pointer hole and is inserted into the through hole to fix the dual-purpose pointer and the rotating guide needle. A clamping piece 12 is fixedly provided at the front end of the rotating guide needle, and a needle 13 is fixedly provided on the top of the clamping piece. The needle is fixedly connected to the rotating guide needle. The clamping piece includes an inflatable airbag 14 fixedly provided on the rotating guide needle and a telescopic steel mesh 15 provided on the surface of the inflatable airbag to increase the roughness of the contact surface. The inflatable airbag is connected to the external inflation and deflation device through an air tube 16 fixedly provided on the side wall of the rotating guide needle. An annular scale 17 is provided around the rotating guide needle groove on the outside of the bone guide plate, the fixed groove I is provided on the left side of the annular scale, and the fixed groove II is provided on the upper end of the annular scale. The fixed groove I and the fixed groove II are respectively provided with the same fixed guide needle 18.

[0056] This embodiment uses a full-process simulation method before femoral osteotomy to simulate the 3D reconstruction of medical images and obtain the accurate corresponding values of the femoral head to be rotated. Based on the accurate corresponding values, combined with a personalized femoral head rotation navigator, the femur is accurately rotated at a fixed angle, thereby familiarizing the operator with the operation of angular visualization navigation of femoral rotation in advance, reducing the difficulty of accurate femoral rotation, increasing the operator's proficiency in femoral rotation operations, and greatly improving the success rate of accurate femoral head rotation in subsequent hip osteotomy.

[0057] In this embodiment, the area on the femur to be rotated is the diseased area. This embodiment simulates and demonstrates the use of the femoral head rotation navigator to remove the diseased area on the femur from the weight-bearing area by rotation, and rotate the healthy area on the femur into the weight-bearing area to replace the diseased area.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A method for simulating precise navigation rotation and fixation of the femoral head, characterized in that: The method comprises: 1) 3D reconstruction of medical models: 3D reconstruction technology is used to measure and model planar medical images to obtain three-dimensional images to assist in determining the lesion area of the femoral head; 2) Establishing a rotation coordinate system, simulating the osteotomy line and the cervical spine, and establishing a rotation coordinate system based on the osteotomy line and the cervical spine; 3) determining the rotation angle of the femoral head, and analyzing and obtaining the rotation angle of the femoral head based on the measurement data in the rotation coordinate system; 4) creating a navigator model, and creating a personalized femoral head rotation navigator model according to the obtained femoral specific parameters; 5) Cut the femoral neck along the cutting line to separate the greater trochanter and femoral head; 6) Import the navigator model and import the femoral rotation navigator model into the medical model; 7) Assemble the navigator, attach the femoral head rotation navigator to the surface of the greater trochanter, insert the rotation guide pin into the femoral head, and inflate the clamping piece on the rotation guide pin to complete the clamping fixation of the rotation guide pin to the femur; 8) rotating the femoral head and rotating the femoral head to a target angle position according to the rotation angle using a rotating guide needle; 9) Fix the femoral head. After completing the femoral navigation rotation positioning, insert a fixation pin at the cutoff to connect and fix the greater trochanter and the rotated femoral head, completing the simulation operation.

2. The method for simulating precise navigation rotation and fixation of the femoral head according to claim 1, characterized in that: The 3D reconstructed medical model includes: The medical images of the femoral head and the connected pelvis are processed into 3D to obtain a three-dimensional image; Image processing and operation for detailed three-dimensional measurement and registration of the part to be rotated on the femoral head.

3. The method for simulating precise navigation rotation and fixation of the femoral head according to claim 1, characterized in that: The creation of the navigator model includes: Determine the bone guide plate that matches the surface of the greater trochanter based on the 3D reconstructed patient's medical image; A rotating guide pin groove is set at the intersection of the bone guide plate and the cervical trunk line; An annular scale is provided on the outer side of the bone guide plate surrounding the rotating guide pin groove; A rotating guide needle is arranged inside the rotating guide needle groove; A dual-purpose pointer for indicating angle scale and assisting rotation is provided on the side wall of the rotating guide needle groove; A fixing groove I is fixedly provided on the left side of the annular scale, and a fixing groove II is fixedly provided on the upper end of the annular scale; The same fixing pins are respectively arranged in the fixing groove I and the fixing groove II.

4. The method for simulating precise navigation rotation and fixation of a femoral head according to claim 1, characterized in that: The assembly navigator includes: Fit the femoral head rotation navigator to the corresponding greater trochanter surface; Insert the Kirschner wire along the rotating guide wire groove to form the initial channel; Insert the expansion nail along the rotating guide pin groove to form a widened channel; The rotating guide pin is driven into the widened channel to the inside of the femur, and the clamping piece of the rotating guide pin is inflated to complete the clamping of the rotating guide pin and the femur; Connect and fix the dual-purpose pointer and the rotating pointer; Record the initial scale value of the angle dial pointed by the dual-purpose pointer in the initial assembly position; Calculating a target scale value according to the femoral rotation angle and the initial scale value; Turn the dual-purpose pointer to the position pointing to the target scale value and stop it.

5. The method for simulating precise navigation rotation and fixation of a femoral head according to claim 1, characterized in that: The fixed femoral head comprises: Insert the fixed guide pin into the corresponding fixed guide pin groove and pass it through the cutoff to fix the greater trochanter and the femoral head; Remove the rotating guide pin and dual-purpose pointer.

6. The method for simulating precise navigation rotation and fixation of the femoral head according to claim 4, characterized in that: The assembly navigator includes: Before inflating the clamping member of the rotating guide needle, the pointer hole is aligned with an integer angle scale by rotating the rotating guide groove; Align the through hole opening of the rotating guide pin and the pointer hole opening perpendicular to the end face direction of the guide pin; Move the aligned rotating guide needle until the through hole and the pointer hole are coaxial, stop the movement operation, and then inflate.

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