Intramedullary nail positioning method and system

Abstract

An embodiment of the present application provides an intramedullary nail positioning method and system, wherein the intramedullary nail positioning method may include: receiving a first transmission signal emitted by a first transmitter set at a first designated position; receiving a second transmission signal emitted by a second transmitter set at a second designated position, wherein the first designated position and the second designated position are positions on a distal aiming frame of an intramedullary nail positioning system; screening and processing the first transmission signal and the second transmission signal to obtain a first processed signal and a second processed signal; and calculating the first processed signal and the second processed signal to obtain a target trajectory of a drill guide.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a method and system for positioning an intramedullary nail. Background Art

[0002] After the intramedullary nail is inserted into the medullary cavity, the specific position of the locking hole at the distal end is blocked by surrounding tissues and bones, resulting in difficulties in drilling and driving the locking nail. Summary of the invention

[0003] The purpose of the present application is to provide an intramedullary nail positioning method and system, which can improve the positioning accuracy of the intramedullary nail.

[0004] In a first aspect, the present invention provides an intramedullary nail positioning method, comprising: receiving a first transmission signal emitted by a first transmitter arranged at a first designated position; receiving a second transmission signal emitted by a second transmitter arranged at a second designated position, wherein the first designated position and the second designated position are positions on a distal aiming frame of an intramedullary nail positioning system; screening and processing the first transmission signal and the second transmission signal to obtain a first processed signal and a second processed signal; and calculating the first processed signal and the second processed signal to obtain a target trajectory of a drill guide.

[0005] In the above embodiment, by screening and processing the two transmission signals, the received signals can better characterize the position information of the first transmitter and the second transmitter, so that the positioning of the intramedullary nail can be better achieved, and the positioning of the intramedullary nail can be more accurate, which can provide an effective data basis for the drilling of the intramedullary nail and the insertion of the locking nail, thereby improving the accuracy of drilling and the accuracy of inserting the locking nail.

[0006] In an optional embodiment, the screening and processing of the first transmission signal and the second transmission signal to obtain a first processed signal and a second processed signal includes: performing operational amplifier processing on the first transmission signal and the second transmission signal to obtain a first operational amplifier signal and a second operational amplifier signal; performing positive and negative screening on the first operational amplifier signal and the second operational amplifier signal to obtain a first screened signal and a second screened signal; and performing data filtering on the first screened signal and the second screened signal to obtain a first processed signal and a second processed signal.

[0007] In the above embodiment, the transmission signal may be subjected to multiple processing, so that the processed signal can better represent the information of the transmitter, and the trajectory of the target intramedullary nail obtained based on the processed signal can be more accurate.

[0008] In an optional embodiment, performing operational amplifier processing on the first transmit signal and the second transmit signal to obtain a first operational amplifier signal and a second operational amplifier signal includes: performing operational amplifier processing on the first transmit signal to obtain a first initial operational amplifier signal; filtering the first operational amplifier signal to obtain a first operational amplifier signal; performing operational amplifier processing on the second transmit signal to obtain a second initial operational amplifier signal; and filtering the second operational amplifier signal to obtain a second operational amplifier signal.

[0009] In an optional embodiment, the first transmitter and the second transmitter are magnetic field transmitters; the positive and negative screening of the first op amp signal and the second op amp signal to obtain a first screening signal and a second screening signal includes: positive and negative screening of the first op amp signal according to the magnetic field direction of the first transmitter to screen out a first screening signal that conforms to the magnetic field direction of the first transmitter; positive and negative screening of the second op amp signal according to the magnetic field direction of the second transmitter to screen out a second screening signal that conforms to the magnetic field direction of the second transmitter.

[0010] In an optional embodiment, the data filtering of the first filtered signal and the second filtered signal to obtain a first processed signal and a second processed signal includes: performing digital filtering on the first filtered signal to remove discrete data in the first filtered signal to obtain a first processed signal; performing digital filtering on the second filtered signal to remove discrete data in the second filtered signal to obtain a second processed signal.

[0011] In the above implementation, discrete data may also be removed based on digital filtering, so that the obtained signal can more accurately represent the position information of the transmitter.

[0012] In an optional embodiment, the method further comprises: forming a trajectory map according to the parameters of the target intramedullary nail and the target trajectory, so as to display the trajectory map on a control device of the target intramedullary nail.

[0013] In the above embodiment, a trajectory diagram may also be formed based on the target trajectory, so as to display the insertion status of the target intramedullary nail, which may be more convenient for relevant operators to operate.

[0014] In a second aspect, the present invention provides an intramedullary nail positioning system, comprising: a distal aiming frame, a first transmitter and a second transmitter installed at both ends of the distal aiming frame, a drill guide and a sensor; the distal aiming frame is installed on the drill guide, and the first transmitter and the second transmitter are located on both sides of the drill guide; the sensor is installed in the target intramedullary nail, for receiving the transmission signals of the first transmitter and the second transmitter, and processing the transmission signals; the sensor includes a signal acquisition module, a signal extraction module and a signal calculation module, for executing the method described in any one of the aforementioned embodiments.

[0015] In an optional embodiment, the first transmitter and the installation position of the remote aiming frame and the drill guide form a first distance, the second transmitter and the installation position of the remote aiming frame and the drill guide form a second distance, and the first distance is equal to the second distance.

[0016] In an optional embodiment, a limiter is further included to limit the position of a sensor installed in the target intramedullary nail.

[0017] In an optional implementation, it further includes: a control device; the first transmitter, the second transmitter and the sensor are all connected to the control device; the control device is used to send control instructions to the first transmitter, the second transmitter and the sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic diagram of the structure of the intramedullary nail positioning system provided in an embodiment of the present application;

[0020] Figure 2 A schematic diagram of the structure of an intramedullary nail used in conjunction with the intramedullary nail positioning system provided in an embodiment of the present application;

[0021] Figure 3 A circuit diagram of a sensor of an intramedullary nail positioning system provided in an embodiment of the present application;

[0022] Figure 4 A schematic diagram of the structure of the control device of the intramedullary nail positioning system provided in the embodiment of the present application

[0023] Figure 5This is a flow chart of the intramedullary nail positioning method provided in an embodiment of the present application.

[0024] Icons: 110 - distal aiming frame; 120 - first launcher; 130 - second launcher; 140 - drill guide; 150 - sensor; 160 - control device; 161 - display; 162 - button; 163 - interface; 210 - intramedullary nail handle; 220 - intramedullary nail rod. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be described below in conjunction with the accompanying drawings in the embodiments of the present application.

[0026] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0027] In the description of the present application, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be interpreted as a limitation of the present application.

[0028] In the description of this application, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "setting", "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0029] Intramedullary nails are medical internal fixation devices, which can be divided into humerus, femur, tibia, and hip intramedullary nails according to the location. Its structure has an intramedullary nail rod, and locking holes are set at the proximal and distal ends of the intramedullary nail rod. After the intramedullary nail is inserted into the medullary cavity, the specific position of the distal locking hole is blocked by the surrounding tissues and bones, making it difficult to accurately drill and drive the locking nail.

[0030] At present, clinical practice mainly uses X-ray imaging to obtain a series of static images to identify the relative position of the locking hole of the intramedullary nail. The disadvantage is that surgeons and operating personnel are exposed to radiation for a long time, which creates additional risks. Therefore, some methods have been proposed to solve the positioning problem. One of them is the mechanical positioning method. This method can be aimed very accurately in vitro, but during the insertion of the intramedullary nail, the human body's tissue squeezes the intramedullary nail, which may cause the intramedullary nail to deform, and the position of the locking hole may also shift. Mechanical positioning often cannot accurately place the screw into the locking hole.

[0031] Various electromagnetic localization techniques have also been explored, for example, one electromagnetic method that has been proposed is static magnetic field targeting, which involves detecting the position of a permanent magnet inserted into the intramedullary nail. Active electromagnetic systems use an electromagnetic transmitter and receiver, at least one of which is located or inserted within the nail to aid in identification.

[0032] Based on the above shortcomings, an electromagnetic-based method was considered. However, the difficulty with electromagnetic methods is that they must be sensitive enough to detect the location of small holes in metal parts. In this way, they are sensitive to electromagnetic field distortions caused by the surgical device itself, eddy currents generated in conductive non-ferromagnetic materials, or nearby conductors or electromagnetic fields. The exact nature of the distortion varies from surgery to surgery and depends on the length and material of the nail and the relative position of the surgical device. For example, after actual investigation of the static magnetic field targeting method, it was found that the system's targeting accuracy was insufficient, and large offset values ​​were present due to the similar magnitude of the magnetic field from other sources and nearby ferromagnetic materials, which was unfavorable for targeting and made the method unreliable.

[0033] Based on the above shortcomings, an active system is provided in which the intramedullary nail includes a central axis into which the sensor is inserted at a known distance. Two transmitters are located on a support arm that is fixed to an alignment fixture surrounding the drill sleeve. A microcontroller processes the signals and a display module displays the position of the nail and the hole as well as the current drilling position. The drilling fixture can then be adjusted until the current drilling position is aligned with the target hole.

[0034] In the following, in conjunction with the accompanying drawings, an intramedullary nail positioning system for realizing intramedullary nail positioning is first introduced. Figure 1 As shown, Figure 1 This is a schematic diagram of the structure of the intramedullary nail positioning system provided in the embodiment of the present application. Figure 1 As shown, the intramedullary nail positioning system includes: a distal aiming frame 110, a first transmitter 120 and a second transmitter 130 installed at both ends of the distal aiming frame 110, a drill guide 140 and a sensor 150 ( Figure 2 shown).

[0035] The distal aiming frame 110 is mounted on the drill guide 140 , and the first transmitter 120 and the second transmitter 130 are located on both sides of the drill guide 140 .

[0036] Exemplarily, a through hole is provided on the distal aiming frame 110 , and the drill guide 140 passes through the through hole, so that the distal aiming frame 110 is installed on the drill guide 140 .

[0037] Optionally, the first transmitter 120 and the installation position of the remote sight frame 110 and the drill guide 140 form a first distance, the second transmitter 130 and the installation position of the remote sight frame 110 and the drill guide 140 form a second distance, and the first distance is equal to the second distance. Exemplarily, the first transmitter 120 and the second transmitter 130 are symmetrically arranged on both sides of the drill guide 140 with the drill guide 140 as the symmetry axis.

[0038] Optionally, the first transmitter 120 may be an electron transmitting coil, and the second transmitter 130 may also be an electron transmitting coil.

[0039] The sensor 150 is installed in the target intramedullary nail, and is used to receive the transmission signals of the first transmitter 120 and the second transmitter 130, and process the transmission signals.

[0040] like Figure 2 As shown, the intramedullary nail may include an intramedullary nail handle 210 and an intramedullary nail rod 220. The sensor 150 may be installed in the intramedullary nail rod 220. Optionally, the sensor 150 may be installed at a specified position of the intramedullary nail rod 220. For example, the distance between the position of the sensor 150 and the edge of the intramedullary nail rod 220 is a fixed value. The fixed value may be set according to the actual length of the intramedullary nail, for example, it may be set at a position of one third, two thirds, etc. of the edge of the intramedullary nail rod 220.

[0041] The sensor 150 includes a signal acquisition module, a signal extraction module and a signal calculation module.

[0042] The intramedullary nail can be positioned by means of the three modules of the sensor 150 , namely, the signal acquisition module, the signal extraction module and the signal calculation module.

[0043] The signal acquisition module can be implemented by a magnetic field detection element, a magnetoresistive element, a coil or other detection elements. For example, a coil can be used to collect the signal emitted by the transmitter.

[0044] Optionally, the transmitter may be an electronic transmitting coil. Considering that the size of the magnetic field is inversely proportional to the square of the distance in space, since there is a certain distance between the sensor 150 and the transmitter, the magnetic field signal emitted by the transmitter reaches the sensor 150 relatively weak. In order to make the collected signal more accurate, the weak magnetic field signal may be processed by operational amplifier during signal extraction.

[0045] Furthermore, since the weak signal may be coupled with the interference signal of the circuit power supply and the interference signal mixed by the environmental radiation, etc., signal noise is formed. Based on this, the magnetic field signal can be filtered during signal extraction.

[0046] In this embodiment, the signal extraction module may include an operational amplifier unit and a filtering unit. The operational amplifier unit performs operational amplifier processing on the magnetic field signal, and the filtering unit may perform filtering processing on the magnetic field signal to remove noise.

[0047] Considering that the transmitter can be an embodiment of an electronic transmitting coil, the magnetic field is directional, and the collected voltage signal also has positive and negative. Only the detection value that conforms to the magnetic field direction of the transmitter is the true value, otherwise it is the voltage value of the collected interference signal. Therefore, the above-mentioned signal extraction module can include a positive and negative judgment unit to judge the positive and negative of the magnetic field signal emitted by the transmitter to extract the correct magnetic field signal.

[0048] In order to further improve the accuracy of the extracted signal, the signal extraction module may also include a signal processing unit, which may perform digital filtering on the received signal to remove discrete data to improve the accuracy of the extracted signal. Optionally, the signal processing module may be a software unit that implements digital filtering by processing the digital signal.

[0049] In this embodiment, the calculated voltage values ​​can be matched one-to-one to the corresponding position values ​​based on the fitting of the calculation results of the signals extracted at different times.

[0050] like Figure 3 As shown, the circuit structure diagram of the sensor 150 is shown in the figure. In the figure, r and L are the internal resistance and inductance of the coil respectively, C is the distributed capacitance of the coil, Rt is the matching resistor, R1 and R2 are the gain resistors, and C1 is the filter capacitor. The induction signal of the coil is Ui, and the voltage reaching the input terminal of the operational amplifier G after passing through the r, L, and C network is Uo. The final output of the operational amplifier G is Ua. The input impedance of the operational amplifier is usually very large, so its influence on the matching resistor can be ignored. Select an operational amplifier with appropriate parameters to ensure sufficient gain stability within the effective frequency band.

[0051] In this embodiment, Figure 3The internal resistance r, inductance L, distributed capacitance C and operational amplifier G shown in the figure can form an operational amplifier unit and a filtering unit of a signal extraction module.

[0052] For example, Figure 3 As shown, the inherent noise of the sensor 150 includes the internal resistance thermal noise er of the coil, the thermal noise iRt of the matching resistor of the coil, the voltage noise en and current noise in of the operational amplifier G, and the gain resistance thermal noise e of the operational amplifier G. R1 And eR2. It can be further divided into seven types of noise, decomposing the current noise of the operational amplifier G into two parts: one part is the voltage noise generated by the current noise flowing through the coil network, and the other part is the voltage noise generated by its flow into the gain resistors R1 and R2.

[0053] Considering that the noise of the coil is related to the frequency, the voltage noise of the operational amplifier G and the thermal noise of the matching resistor play a leading role in the effective frequency band of the sensor 150. The voltage noise of the operational amplifier G can be reduced by selecting a low-noise device, but the thermal noise of the matching resistor cannot be reduced after the working state of the coil is determined. Therefore, the embodiment of the present application can reduce the voltage noise by selecting a low-noise device.

[0054] Optionally, the intramedullary nail positioning system may further include a limiter for limiting the position of the sensor 150 installed in the target intramedullary nail.

[0055] Alternatively, if Figure 4 As shown, the intramedullary nail positioning system may also include a control device 160. The control device 160 may include a memory and a processor. The above-mentioned memory and processor components are directly or indirectly electrically connected to each other to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines. The above-mentioned processor is used to execute the executable module stored in the memory.

[0056] The memory may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), etc. The memory is used to store programs, and the processor executes the program after receiving the execution instruction. The method executed by the control device 160 of the process definition disclosed in any embodiment of the present application can be applied to the processor or implemented by the processor.

[0057] The above-mentioned processor may be an integrated circuit chip with signal processing capabilities. The above-mentioned processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0058] like Figure 4 As shown, the control device 160 may include a display 161, which may be used to display data during the use of the intramedullary nail. The display 161 provides an interactive interface (such as a user operation interface) between the control device 160 and the user or is used to display image data for the user's reference.

[0059] Optionally, the control device 160 may include a button 162, which may be used to control parameters required during the positioning process. Optionally, the button 162 may be Figure 4 The physical button shown may also be a touch button displayed on the display 161 .

[0060] Exemplarily, the display 161 may be a light-emitting diode (LED) display screen that can dynamically display the aiming state of the drilling center of the intramedullary nail positioning system and the distal hole of the intramedullary nail.

[0061] For example, in theory, there is a target position required for positioning, and the actual test value obtained based on the intramedullary nail positioning system has a deviation from the target position, and the deviation can be described as a positioning aiming deviation. When the positioning aiming deviation is zero, the intramedullary nail positioning is completed. The target position can be represented by a first marker on the display screen. The actual test value can be represented by a second marker. The distance between the first marker and the second marker can represent the positioning aiming deviation. When the positioning aiming deviation is zero, the first marker and the second marker overlap on the display screen, which can indicate that the positioning is completed.

[0062] The control device 160 may further include an interface 163, which may be used for charging. The interface 163 may be a Type-C interface 163, a USB interface 163, etc.

[0063] The first transmitter 120 , the second transmitter 130 , and the sensor 150 are all connected to the control device 160 ; the control device 160 is used to send control instructions to the first transmitter 120 , the second transmitter 130 , and the sensor 150 .

[0064] The operating principle of the intramedullary nail positioning system provided by the embodiment of the present application is to transmit signals through two transmitters installed on the distal aiming frame 110. The sensor 150 in the intramedullary nail can detect the signal. The two transmitters are symmetrically positioned on both sides of the drill guide 140, so that when the sensor 150 receives equal signals, the drill guide 140 will face the center of the intramedullary nail. Then, an image can be displayed by the display 161 on the control device 160, and the image display will simulate the target position of the drill guide 140.

[0065] When in use, the first emitter 120, the second emitter 130 and the sensor 150 can be sterilized. Optionally, the first emitter 120, the second emitter 130 and the sensor 150 can be sterilized by high temperature and high pressure.

[0066] The calibration action of the positioning system in this embodiment includes inserting a sterile intramedullary nail into a fixture, inserting the sensor 150 into the central axis of the intramedullary nail, fixing the support arm to the fixture, and then adjusting the fixture until the drill sleeve in the support arm is aligned with the target hole on the nail, thereby completing the calibration of the positioning system. When surgery is required, the system is disassembled, the nail is inserted into the patient's bone, and then the sensor 150 is inserted. The fixture is then reassembled onto the patient using the support arm, and the calibrated system is used to align the drill sleeve with the target hole using the display module.

[0067] The control device 160 includes a battery. For example, the battery can be a 2000 mAh battery, which can be repeatedly charged by connecting the Type interface 163 charger to a 110-240v AC power outlet. Optionally, the battery can work for 3 to 4 hours after being fully charged.

[0068] In order to protect the safety of the battery, the battery is automatically shut down after being fully charged for a first specified time period, for example, the first specified time period may be 30 minutes.

[0069] Exemplarily, the control device 160 may include a display unit on which a battery signal may be displayed, and when the battery is fully charged, the indicator bar of the battery signal may display the charge level. In normal use, the device only needs to be turned on for a few minutes during initial setup, and then maintained for a second specified time during positioning and drilling, which may be 5-10 minutes.

[0070] Under the above voltage conditions, the charging indicator light will change from red to green when the battery is fully charged.

[0071] In this embodiment, the first transmitter 120, the second transmitter 130 and the sensor 150 are connected to the control device 160 via wires. In one example, the wires are color-coded: yellow corresponds to the sensor 150, and blue corresponds to the first transmitter 120 and the second transmitter 130.

[0072] Before using the intramedullary nail positioning system provided in the embodiment of the present application, the target intramedullary nail may be connected to the intramedullary nail handle 210 for easy operation.

[0073] Optionally, the intramedullary nail positioning system may further include components such as an adapter frame and an angle adjustment frame (not shown).

[0074] Exemplarily, the adapter frame is mounted on the above-mentioned intramedullary nail handle 210. The angle adjustment frame is mounted on the adapter frame.

[0075] The above-mentioned distal aiming frame 110 can be installed on the above-mentioned adapter frame.

[0076] Optionally, the drill guide 140 may include a drill sleeve assembly, a drill bit, and the like. The drill sleeve assembly may pass through the central hole of the distal aiming frame 110. When in use, the front end of the drill sleeve assembly may abut against the outer surface of the intramedullary nail.

[0077] The drill bit can be inserted into the inner hole of the drill sleeve assembly, and the angle adjustment knob is rotated so that the inner hole of the drill sleeve assembly and the center of the distal threaded hole of the target intramedullary nail are on the same axis. Then the drill bit is inserted into the threaded hole of the intramedullary nail.

[0078] With the intramedullary nail positioning system provided in the embodiment of the present application, a plurality of processing modules are provided in the sensor 150, so that the received signal can be more reliable.

[0079] The present application also provides an intramedullary nail positioning method. The method of this embodiment can be applied to the intramedullary nail positioning system described above. Specifically, the steps in the method can be performed by a sensor in the intramedullary nail positioning system. Figure 5 As shown, the method may include the following steps.

[0080] Step 310: Receive a first transmission signal transmitted by a first transmitter disposed at a first designated position.

[0081] For example, the first transmission signal may be received by a sensor 150 in the intramedullary nail positioning system. The sensor 150 may be provided with an electronic transmission coil, through which the first transmission signal is received.

[0082] Step 320: Receive a second transmission signal transmitted by a second transmitter disposed at a second designated position.

[0083] The first designated position and the second designated position are positions on the distal aiming frame 110 of the intramedullary nail positioning system. The installation positions of the first transmitter 120 and the second transmitter 130 can refer to the description in the above embodiment of the intramedullary nail positioning system, which will not be repeated here.

[0084] For example, the second transmission signal may be received by a sensor 150 in the intramedullary nail positioning system. The sensor 150 may be provided with an electronic transmission coil, through which the second transmission signal is received.

[0085] Step 330: Screen the first transmission signal and the second transmission signal to obtain a first processed signal and a second processed signal.

[0086] Optionally, the noise in the first transmission signal and the second transmission signal can be eliminated through screening processing, so that the first processed signal and the second processed signal can better express the relative position of the first transmitter and the second transmitter.

[0087] Step 340, calculating the first processed signal and the second processed signal to obtain a target trajectory of the drill guide.

[0088] In this embodiment, the relative positions of the first transmitter, the second transmitter and the sensor can be determined by the first processed signal and the second processed signal, so as to realize the positioning of the sensor and the position of the sensor.

[0089] In this embodiment, when the intramedullary nail positioning system is used, the relative positions of the drill guide and the intramedullary nail are relatively fixed, and the sensor is installed at a fixed position inside the intramedullary nail rod of the intramedullary nail, so that after the relative positions of the first transmitter and the second transmitter and the sensor are determined, the real-time position of the drill guide can be determined.

[0090] Exemplarily, the real-time position of the drill guide may be determined based on the first processed signal and the second processed signal, and the target trajectory of the drill guide may be depicted based on the real-time position.

[0091] Optionally, step 330 may include steps 331 to 333 .

[0092] Step 331, performing operational amplifier processing on the first transmission signal and the second transmission signal to obtain a first operational amplifier signal and a second operational amplifier signal.

[0093] The above-mentioned step 331 may include: performing operational amplifier processing on the first transmission signal to obtain a first initial operational amplifier signal; performing filtering processing on the first operational amplifier signal to obtain a first operational amplifier signal; performing operational amplifier processing on the second transmission signal to obtain a second initial operational amplifier signal; performing filtering processing on the second operational amplifier signal to obtain a second operational amplifier signal.

[0094] Step 332: Perform positive and negative screening on the first operational amplifier signal and the second operational amplifier signal to obtain a first screening signal and a second screening signal.

[0095] Optionally, the first transmitter 120 and the second transmitter 130 are magnetic field transmitters.

[0096] The above-mentioned step 332 may include: performing positive and negative screening on the first operational amplifier signal according to the magnetic field direction of the first transmitter 120 to screen out a first screening signal that conforms to the magnetic field direction of the first transmitter 120; performing positive and negative screening on the second operational amplifier signal according to the magnetic field direction of the second transmitter 130 to screen out a second screening signal that conforms to the magnetic field direction of the second transmitter 130.

[0097] Step 333: perform data filtering on the first screening signal and the second screening signal to obtain a first processed signal and a second processed signal.

[0098] The above-mentioned step 333 may include: performing digital filtering processing on the first filtered signal to remove discrete data in the first filtered signal to obtain a first processed signal; performing digital filtering processing on the second filtered signal to remove discrete data in the second filtered signal to obtain a second processed signal.

[0099] In this embodiment, the intramedullary nail positioning method may further include: forming a trajectory map according to the parameters of the target intramedullary nail and the target trajectory, so as to display the trajectory map on the control device 160 of the target intramedullary nail.

[0100] Exemplarily, the trajectory diagram may be displayed on the LED display screen of the control device 160. Exemplarily, the positioning aiming deviation and real-time status data of the target intramedullary nail may be dynamically displayed on the LED display screen.

[0101] Exemplarily, the trajectory diagram may be a trajectory formed by real-time status data. The theoretical target position may be displayed on the display screen by a first marker, and the real-time status data may be displayed on the display screen by a second marker. The distance between the first marker and the second marker may be used as a positioning aiming deviation.

[0102] For example, the first mark is a circle and the second mark is a dot. As positioning proceeds, the dot of the second mark moves toward the circle of the first mark. When the circle and the dot overlap, it indicates that positioning is completed.

[0103] Furthermore, the first mark and the second mark may be displayed in a different color from that in the positioning process after positioning is completed. For example, the first mark and the second mark may be displayed in red during positioning, and may be displayed in green when positioning is completed and after positioning is completed.

[0104] Optionally, the parameters of the target intramedullary nail may include parameters such as the length of the intramedullary nail, the thickness of the intramedullary nail, the position information of the locking hole of the intramedullary nail, and the position of the sensor in the intramedullary nail rod.

[0105] Optionally, the parameter of the target intramedullary nail may be an intramedullary nail model, and the size of the intramedullary nail corresponding to each intramedullary nail model is uniquely determined.

[0106] For example, the trajectory map may include the relative positions of the drill bit and the locking hole of the target intramedullary nail.

[0107] The display of the trajectory diagram can facilitate relevant technical personnel to more accurately nail the positioning pin into the locking hole.

[0108] Through the above method, by performing multiple types of processing on the received signals, the received signals can better characterize the position information of the first transmitter 120 and the second transmitter 130, so that the positioning of the intramedullary nail can be better achieved, and the positioning of the intramedullary nail can be more accurate, which can provide an effective data basis for the drilling of the intramedullary nail and the insertion of the locking nail, thereby improving the accuracy of drilling and the accuracy of inserting the locking nail.

[0109] The above description is only an optional embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0110] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for positioning an intramedullary nail, characterized in that: include: receiving a first transmission signal transmitted by a first transmitter disposed at a first designated position; Receiving a second transmission signal transmitted by a second transmitter disposed at a second designated position, wherein the first designated position and the second designated position are positions on a distal aiming frame of an intramedullary nail positioning system; wherein the first transmitter and the second transmitter are magnetic field transmitters; The first transmission signal and the second transmission signal are screened and processed to obtain a first processed signal and a second processed signal, including: performing operational amplifier processing on the first transmission signal and the second transmission signal to obtain a first operational amplifier signal and a second operational amplifier signal; performing positive and negative screening on the first operational amplifier signal according to the magnetic field direction of the first transmitter to screen out a first screened signal that meets the magnetic field direction of the first transmitter; performing positive and negative screening on the second operational amplifier signal according to the magnetic field direction of the second transmitter to screen out a second screened signal that meets the magnetic field direction of the second transmitter; performing data filtering on the first screened signal and the second screened signal to obtain a first processed signal and a second processed signal; The first processed signal and the second processed signal are calculated to obtain a target trajectory of the drill guide.

2. The method according to claim 1, characterized in that The performing operational amplifier processing on the first transmission signal and the second transmission signal to obtain a first operational amplifier signal and a second operational amplifier signal includes: Performing operational amplifier processing on the first transmission signal to obtain a first initial operational amplifier signal; Performing filtering processing on the first operational amplifier signal to obtain a first operational amplifier signal; Performing operational amplifier processing on the second transmission signal to obtain a second initial operational amplifier signal; The second operational amplifier signal is filtered to obtain a second operational amplifier signal.

3. The method according to claim 1, characterized in that The filtering the first screening signal and the second screening signal to obtain a first processed signal and a second processed signal includes: Performing digital filtering processing on the first screening signal to remove discrete data in the first screening signal to obtain a first processed signal; The second filtered signal is digitally filtered to remove discrete data in the second filtered signal to obtain a second processed signal.

4. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: A trajectory diagram is formed according to the parameters of the target intramedullary nail and the target trajectory, so as to be displayed on a control device of the target intramedullary nail.

5. An intramedullary nail positioning system, characterized in that: include: A remote aiming frame, a first transmitter and a second transmitter mounted at both ends of the remote aiming frame, a drill guide, and a sensor; The remote aiming frame is mounted on the drill guide, and the first transmitter and the second transmitter are located on both sides of the drill guide; The sensor is installed in the target intramedullary nail, and is used to receive the transmission signals of the first transmitter and the second transmitter, and process the transmission signals; wherein the first transmitter and the second transmitter are magnetic field transmitters; The sensor comprises a signal acquisition module, a signal extraction module and a signal calculation module, and is used to execute the method according to any one of claims 1 to 4.

6. The intramedullary nail positioning system according to claim 5, characterized in that: The first transmitter and the installation position of the remote aiming frame and the drill guide form a first distance, the second transmitter and the installation position of the remote aiming frame and the drill guide form a second distance, and the first distance is equal to the second distance.

7. The intramedullary nail positioning system according to claim 5, characterized in that: It also includes a limiter for limiting the position of the sensor installed in the target intramedullary nail.

8. The intramedullary nail positioning system according to any one of claims 5 to 7, characterized in that: Also includes: Control equipment; The first transmitter, the second transmitter and the sensor are all connected to the control device; The control device is used to send control instructions to the first transmitter, the second transmitter and the sensor.

Images