A femoral intramedullary nail navigation device based on AR technology

Abstract

The present invention discloses a femoral intramedullary nail navigation device based on AR technology, which relates to the field of intramedullary nail installation. The device comprises a base, a guide rail component is arranged above the base, an external navigation component is slidably mounted on the guide rail component, a mounting component is arranged between the guide rail component and the base, and the mounting component comprises an intramedullary nail component, a mounting handle component, and an internal navigation component. The device can display virtualized muscle tissue and a complete three-dimensional femur, so that the doctor can observe the fracture position in real time, and can also perform operations such as sectioning and rotating the virtual imaged femur by operating the display, so that the doctor can understand the real-time condition of the patient's femur, can detect both the inside and outside of the femur, can realize the three-dimensional image display of the inside and outside of the femur, and can accurately reflect the real-time condition of the femur when the doctor performs the installation operation, so as to avoid the situation that the fracture position of the patient is not aligned or secondary injury occurs during installation.

Description

Technical Field

[0001] The present invention relates to the field of intramedullary nail installation, and more specifically, to a femoral intramedullary nail navigation device based on AR technology. Background Art

[0002] Intramedullary nails are orthopedic internal fixation devices among medical devices, mainly used for the treatment of long bone fractures, bone nonunion, etc. Specifically, intramedullary nails are long structures with multiple locking screw holes at both ends to fix the proximal and distal ends of the fracture. A decompression plane is set on the surface of the intramedullary nail rod to increase its biocompatibility and reduce stress shielding. Intramedullary nails are particularly suitable for the treatment of bone fractures such as femurs and tibias, and can also be used for remedial treatment after the failure of plate internal fixation;

[0003] Navigation is required during the installation of intramedullary nails, mainly to improve surgical accuracy, reduce surgical risks, improve surgical outcomes, and reduce radiation exposure;

[0004] The femur is the longest and strongest long bone in the human body. It is also called the thigh bone, hip bone, and hamstring. Most of the femoral body is cylindrical and slightly arched forward. The proximal end of the femoral body extends inward to form a short femoral neck with a nearly circular joint head on the inner side. The distal end is larger and stronger, forming a joint with the tibia through the medial and lateral condyles. The femoral head faces inward and upward, forming a hip joint with the acetabulum. The femoral head is often described as "hemispherical", but in fact it is shaped like a ball, with most of the surface smooth and a rough pit in the lower back of the center, called the femoral head fossa. The angle between the femoral head and neck is called the neck-shaft angle. There is a difference in the average neck-shaft angle between men and women. Intramedullary nails are used to support and treat femoral fractures.

[0005] The invention patent with patent publication number CN 114081628 A provides an intramedullary nail navigation device and method of use based on AR technology. The device extends a first sensor into the interior of the intramedullary nail, and then uses a second sensor outside the patient's body to sense, thereby obtaining the position of the positioning point, making it easier to drill holes and install the intramedullary nail, thereby improving positioning accuracy, alleviating patient pain, improving surgical quality, and shortening surgical time.

[0006] However, the prior art has the following shortcomings: due to the different bone densities of the human body, the electromagnetic waves, lasers, etc. emitted by the sensor will be strongly blocked, and the external second sensor may be interfered with or even unable to receive the signal. If you want to receive the signal completely, you need to use X-rays to penetrate and output the signal. Traditionally, when installing an intramedullary nail, X-rays are used to scan the patient's femur, and X-rays have strong radiation, so the use of X-rays may cause damage to doctors and patients. In order to consider the compatibility with the human body, the intramedullary nail is generally made of titanium alloy. Titanium alloy is a metal and has a very high reflectivity to electromagnetic waves, lasers, and ultrasound. The use of sensors for mutual induction for penetrating positioning can easily lead to the blocking of the positioning signal, resulting in positioning failure and surgical errors. Moreover, the device can only perform positioning, and cannot obtain the real-time condition of the patient's femur, cannot determine whether the fracture position is fixed, and cannot determine whether the position of the intramedullary nail is appropriate.

[0007] Therefore, it is necessary to propose a femoral intramedullary nail navigation device based on AR technology to solve the above problems. Summary of the invention

[0008] The purpose of the present invention is to provide a femoral intramedullary nail navigation device based on AR technology to solve the problem that the above-mentioned method of using two sensors for penetration positioning is prone to interference or even positioning failure, the positioning is not accurate enough, and the real-time condition of the patient's femur cannot be accurately fed back.

[0009] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0010] A femoral intramedullary nail navigation device based on AR technology comprises a base, a guide rail component is provided above the base, an external navigation component is slidably mounted on the guide rail component, a mounting component is provided between the guide rail component and the base, the mounting component comprises an intramedullary nail component, a mounting handle component, and an internal navigation component, the intramedullary nail component is mounted at one end of the mounting handle component, the internal navigation component is movably clamped inside the mounting handle component, two first mounting frames are slidably mounted on one side of the guide rail component, two second mounting frames are fixedly mounted on the other side of the guide rail component, the first mounting frame and the second mounting frame are detachably mounted on the upper surface of the base, the external navigation component has a first ultrasonic probe, the internal navigation component has a second ultrasonic probe, the external navigation component and the internal navigation component are both connected to an external computer terminal via a cable, and the computer terminal comprises a processor, a display and AR glasses.

[0011] Optionally, the guide rail component includes two mutually symmetrical first guide rods, two mutually symmetrical semicircular guide rods are fixedly installed between the two first guide rods, the outer surface of the semicircular guide rod is slidably sleeved with a first slider, a second guide rod is fixedly installed between the two first sliders, a first support member is fixedly installed on the upper surface of one of the first sliders, a plurality of evenly distributed first gear teeth are installed on a semicircular guide rod close to the first support member, and a plurality of evenly distributed second gear teeth are fixedly installed on one side of the second guide rod.

[0012] Optionally, the external navigation component includes a second slider, a first mounting hole is fixedly installed on one side of the second slider, a first laser displacement sensor is fixedly installed on the side of the first mounting hole away from the second slider, a second support block is fixedly installed on the side of the second slider adjacent to the first support block, a simulator is installed on the second support block, a first servo motor is fixedly installed on the side of the second slider away from the first support block, a second gear is fixedly installed on the driving end of the first servo motor, the second gear is meshed with the second gear teeth, the second slider is slidably sleeved on the outer surface of the second guide rod, a second servo motor is fixedly installed on one side of the first support member, a first gear is rotatably installed in the middle of the first support member, and the driving end of the second servo motor passes through the first guide rod and is fixedly installed in the middle of the first gear.

[0013] Optionally, the intramedullary nail component is made of a front section and a rear section by an integrated molding technology, the front section has a plurality of evenly distributed first fixing holes at one end away from the rear section, the rear section has a plurality of second fixing holes, and the rear section has a plurality of grooves at one end away from the front section.

[0014] Optionally, the mounting handle member includes a holding handle, a mounting head is fixedly mounted on one end of the holding handle, a clamping rod is fixedly mounted on the end of the mounting head away from the holding handle, a plurality of protrusions corresponding to the grooves are fixedly mounted on the outer surface of the clamping rod, an introduction member is fixedly mounted on the middle section of the holding handle, a connecting groove is provided inside the holding handle, the introduction member and the mounting head are both connected to the connecting groove, an inclined plate is fixedly mounted on the end of the holding handle away from the mounting head, a plurality of third mounting holes corresponding to the second fixing holes are provided on the inclined plate, a plurality of second mounting holes corresponding to the second fixing holes are provided on the holding handle, a fixing rod is fixedly mounted on the lower surface of the end of the holding handle away from the mounting head, and a circular plate is fixedly mounted on the bottom end of the fixing rod.

[0015] Optionally, the first mounting frame includes a first turning handle, a second turning handle is rotatably mounted on the upper surface of the first turning handle, a first screw is provided inside the second turning handle through threaded engagement, a connecting piece is fixedly mounted on the top end of the first screw, and a second screw used in conjunction with the mounting screw hole is fixedly mounted in the middle of the lower surface of the first turning handle.

[0016] Optionally, the internal navigation component includes a soft rod, a second ultrasonic probe is fixedly mounted on one end of the soft rod, a rotating block is movably sleeved on the soft rod, a handle is fixedly mounted on the end of the soft rod away from the second ultrasonic probe, a second laser displacement sensor is fixedly mounted inside the end of the soft rod close to the second ultrasonic probe, and a section of the soft rod close to the second ultrasonic probe has an integrally formed limiting block.

[0017] Optionally, two annular blocks are fixedly installed on one side of the introduction piece, and two matching grooves corresponding to the annular blocks are opened on one side of the rotating block. The annular blocks are slidably clamped inside the matching grooves. A center groove is opened in the middle of the rotating block, and the diameter of the center groove is equal to the diameter of the soft rod. The diameter of the limit block is larger than the diameter of the soft rod.

[0018] Optionally, a plurality of evenly distributed mounting screw holes are provided on the upper surface of the base, a positioning rod is fixedly installed on one side of the base close to the first mounting frame, a first sleeve is fixedly installed on the top of the positioning rod, a second sleeve is hinged on one side of the first sleeve, T-slots are provided inside the second sleeve and the first sleeve, and the circular plate is placed inside the T-slots.

[0019] A femoral intramedullary nail navigation method based on AR technology, using a femoral intramedullary nail navigation device, further comprising the following steps:

[0020] S1: Place the patient's legs on the base and install the rail assembly above the patient's legs;

[0021] S2: Power on the device and enter the display software. The display is a touch-screen tablet, and then the doctor wears AR glasses;

[0022] S3: Slowly push the handle, the second ultrasonic probe collects information about the inside of the intramedullary nail component and the inner wall of the femur and feeds it back to the processor, controls the movement of the external navigation component, and the first ultrasonic probe collects information about the outer wall of the patient's femur and feeds it back to the processor, which processes the two signals and outputs them into graphic signals to the display and AR glasses;

[0023] S4: The specific position and angle of the first fixing hole can be fed back on the display. When the first fixing hole where the fixing nail needs to be driven is clicked, the processor controls the external navigation component to move and rotate to the corresponding first fixing hole position;

[0024] S5: When the external navigation component is in place, the simulator can simulate the laser, and the simulator feeds back a signal to the processor, and the processor outputs the signal to the AR glasses. A simulated laser dot or laser line appears on the AR glasses, and the laser dot simulated by the simulator coincides with the first mounting hole;

[0025] S6: The doctor places the mounting tube inside the first mounting hole, drills a hole using a drill bit, and then installs a fixing nail to fix the intramedullary nail component to the patient's femur.

[0026] Compared with the prior art, the technical solution provided by the present invention has at least the following beneficial effects:

[0027] In the above scheme, by setting up the first ultrasonic probe and the second ultrasonic probe, the blurred muscle tissue and the complete three-dimensional femur can be displayed, the doctor can observe the fracture position in real time, and can also perform operations such as cutting and rotating the virtual imaged femur by operating the display, so that the doctor can understand the real-time condition of the patient's femur, can detect both the inside and outside of the femur, and can realize the three-dimensional image display of the inside and outside of the femur. When the doctor performs the installation operation, the real-time condition of the femur can be accurately reflected, avoiding the situation where the patient's fracture position is misaligned or secondary injury occurs during installation.

[0028] Ultrasound is used to image the patient's femur to produce a virtual image, and the inside and outside of the femur can be completely imaged without the use of X-rays, reducing X-ray radiation during the operation. The AR augmented reality function provides three-dimensional operable navigation, making it more convenient for doctors to install intramedullary nails, and to understand the condition of the patient's femur in real time, preventing secondary damage to the fracture site, improving surgical efficiency, reducing radiation and improving safety.

[0029] By setting up an external navigation component, when the doctor needs to install a fixing nail, the external navigation component can move along with the movement of the second ultrasonic probe, and can determine the horizontal position of the first fixing hole. By establishing a three-dimensional coordinate origin and a coordinate system, the specific angle orientation of the first fixing hole can be obtained, thereby allowing the first support block to rotate to a corresponding position. It is only necessary to select the first fixing hole to be installed on the display, and the external navigation component can automatically rotate and move to align the first installation hole with the first fixing hole at the corresponding position, thereby facilitating the doctor to install the fixing nail.

[0030] By setting up a simulator, when the external navigation component moves and rotates to the position corresponding to the first fixed hole, the simulator can output a virtual signal to the processor, and the processor converts the signal into a virtual image to the display and AR glasses. After the external navigation component is moved away, the virtual image will still exist. Depending on the operation, the simulator outputs different virtual signals, and can output linear images and dot images, which is convenient for guiding doctors to perform cutting and punching operations and improve surgical efficiency.

[0031] By setting the introduction part and the rotating block, you only need to install the rotating block on the introduction part before use, and then pull the handle to automatically find the initial position A, which is convenient for quickly establishing a three-dimensional coordinate system. The coordinates of the first fixed hole in three dimensions can be accurately found, and then the external navigation component can be controlled to move to the corresponding position, thereby improving accuracy and reducing the probability of error. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings, which are incorporated herein and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, further serve to explain the principles of the invention and to enable those skilled in the relevant art to make and use the invention.

[0033] Figure 1 It is a structural schematic diagram of the femoral intramedullary nail navigation device based on AR technology of the present invention.

[0034] Figure 2 It is a schematic structural diagram of the guide rail component in the present invention.

[0035] Figure 3 It is a structural schematic diagram of the Chinese and foreign navigation components of the present invention.

[0036] Figure 4 It is a structural schematic diagram of the base in the present invention.

[0037] Figure 5 It is a schematic diagram of the structure of the installation components in the present invention.

[0038] Figure 6 It is a schematic structural diagram of the intramedullary nail component in the present invention.

[0039] Figure 7 It is a schematic diagram of the structure of installing the handle member in the present invention.

[0040] Figure 8 It is a schematic diagram of the structure of the internal navigation component in the present invention.

[0041] Fig. 9 It is a schematic diagram of the connection structure of the soft rod, the second ultrasonic probe and the handle in the present invention.

[0042] Fig.10 It is a structural schematic diagram of the rotating block in the present invention.

[0043] Fig.11 It is a schematic diagram of the connection structure between the positioning rod and the first sleeve in the present invention.

[0044] Fig.12 It is a schematic structural diagram of the first mounting frame in the present invention.

[0045] [reference numerals]

[0046] In the figure:

[0047] 1. Base; 11. Positioning rod; 12. Mounting screw hole; 13. First sleeve; 14. Second sleeve; 15. T-slot;

[0048] 2. Guide rail component; 21. First guide rod; 22. Semicircular guide rod; 23. First slider; 24. First support member; 25. First gear; 26. Second guide rod; 27. Second gear;

[0049] 3. Install components;

[0050] 4. External navigation component; 41. Second slider; 42. First support block; 43. Second support block; 44. Simulator; 45. First laser displacement sensor; 46. First servo motor; 461. Second gear; 47. Second servo motor; 48. First gear; 49. First mounting hole;

[0051] 5. First mounting frame; 51. First turning handle; 52. Second turning handle; 53. First screw rod; 54. Connecting piece; 55. Second screw rod;

[0052] 6. Second mounting frame;

[0053] 7. Intramedullary nail component; 71. front section; 72. rear section; 73. first fixing hole; 74. second fixing hole;

[0054] 8. Installation handle; 81. Grip handle; 811. Second installation hole; 82. Installation head; 821. Clamp rod; 822. Bump; 83. Lead-in piece; 831. Annular clamp block; 84. Inclined plate; 841. Third installation hole; 85. Fixing rod; 851. Round plate;

[0055] 9. Internal navigation component; 91. Soft rod; 92. Rotating block; 921. Matching slot; 922. Center slot; 93. Second ultrasonic probe; 94. Handle; 95. Second laser displacement sensor; 96. Limiting block.

[0056] As shown in the figure, in order to clearly implement the structure of the embodiment of the present invention, specific structures and devices are marked in the figure, but this is only for illustrative purposes and is not intended to limit the present invention to the specific structure, device and environment. According to specific needs, ordinary technicians in this field can adjust or modify these devices and environments. DETAILED DESCRIPTION

[0057] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. At the same time, it is explained here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art may also adopt other alternatives to implement some known technologies; and the accompanying drawings are only for more specific description of the embodiments, and are not intended to specifically limit the present invention.

[0058] It should be noted that the references to "one embodiment", "an embodiment", "an exemplary embodiment", "some embodiments" and the like in the specification indicate that the embodiments described may include specific features, structures or characteristics, but not every embodiment may include the specific features, structures or characteristics. In addition, when a specific feature, structure or characteristic is described in conjunction with an embodiment, it should be within the knowledge of a person skilled in the art to implement such feature, structure or characteristic in conjunction with other embodiments (whether or not explicitly described).

[0059] In general, a term can be understood, at least in part, from its use in context. For example, depending, at least in part, on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in the singular sense, or can be used to describe a combination of features, structures, or characteristics in the plural sense. Additionally, the term "based on" can be understood as not necessarily intended to convey an exclusive set of factors, but can instead, depending, at least in part, on the context, allow for the presence of other factors that are not necessarily explicitly described.

[0060] It will be understood that the meanings of “on,” “over,” and “above” in the present invention should be interpreted in the broadest manner, so that “on” not only means “directly on” something, but also includes the meaning of being “on” something with intervening features or layers therebetween, and “on” or “over” not only means “on” or “above” something, but also includes the meaning of being “on” or “above” something with no intervening features or layers therebetween.

[0061] Additionally, spatially relative terms such as "under," "beneath," "lower," "above," "upper," and the like may be used herein for descriptive convenience to describe the relationship of one element or feature to another element or features, as shown in the accompanying drawings. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the accompanying drawings. The device may be oriented in other ways, and the spatially relative descriptors used herein may be similarly interpreted accordingly.

[0062] like Figures 1 to 12As shown, an embodiment of the present invention provides a femoral intramedullary nail navigation device based on AR technology, including a base 1, a guide rail component 2 is provided above the base 1, an external navigation component 4 is slidably installed on the guide rail component 2, the guide rail component 2 is used to support the movement of the external navigation component 4, the external navigation component 4 can detect and feedback the outside of the patient's femur, a mounting component 3 is provided between the guide rail component 2 and the base 1, the mounting component 3 includes an intramedullary nail component 7, a mounting handle 8, and an internal navigation component 9, the intramedullary nail component 7 is installed at one end of the mounting handle 8, the internal navigation component 9 is movably arranged inside the mounting handle 8, and the intramedullary nail component 7 is used to be inserted into the patient's femur. The mounting handle 8 is used for clamping the intramedullary nail component 7 and facilitating the insertion of the intramedullary nail component 7 into the patient's body. The internal navigation component 9 is used for detecting the interior of the patient's femur and the interior of the intramedullary nail component 7. Two first mounting frames 5 are slidably mounted on one side of the guide rail component 2, and two second mounting frames 6 are fixedly mounted on the other side of the guide rail component 2. A plurality of evenly distributed mounting screw holes 12 are provided on the upper surface of the base 1. The external navigation component 4 has a first ultrasonic probe, and the internal navigation component 9 has a second ultrasonic probe 93. Both the external navigation component 4 and the internal navigation component 9 are connected to an external computer terminal via a cable, and the computer terminal includes a processor, a display, and AR glasses.

[0063] When in use, first insert the base 1 under the patient's thigh, install the second mounting frame 6 inside the two mounting screw holes 12 away from the patient's upper body, then adjust the installation position of the first mounting frame 5 according to the patient's body shape, and then complete the installation of the guide rail component 2, and then use the installation handle 8 to nail the intramedullary nail component 7 into the patient's femur. When installing the intramedullary nail component 7, it is necessary to use a drill bit to enter from the patient's greater trochanter position, and then use a medullary reamer and a soft drill to expand the size of the mounting groove inside the femur to facilitate the insertion of the intramedullary nail component 7 into the femur.

[0064] Before drilling, the doctor needs to reposition the bone at the fractured position of the patient. When the intramedullary nail component 7 is installed, a fixing nail is used to connect the intramedullary nail component 7 to the patient's femur to complete the installation of the intramedullary nail component 7. While waiting for the intramedullary nail component 7 to enter the patient's body, the internal navigation component 9 is pulled, and the internal navigation component 9 will drive the second ultrasonic probe 93 to move, so that the second ultrasonic probe 93 can collect information about the inside of the femur and the inside of the intramedullary nail component 7 and output it to the processor. When the second ultrasonic probe 93 moves, the external navigation component 4 will move with the same displacement as the second ultrasonic probe 93. The first ultrasonic probe can scan the outer wall of the femur along the way, and then send the scanned data to the processor. The processor combines the signal transmitted by the second ultrasonic probe 93 with the signal transmitted by the first ultrasonic sensor to obtain the information of the entire femur, and converts it into a visual signal to transmit to the display and AR glasses.

[0065] The virtual reality images produced by AR glasses and the display will show blurred muscle tissue and a complete three-dimensional femur. Doctors can observe the location of the fracture in real time, and can also operate the display to cut and rotate the virtual imaged femur, allowing doctors to understand the real-time condition of the patient's femur. The femur can be completely imaged inside and outside without the use of X-rays, reducing X-ray radiation during surgery. The AR augmented reality function provides three-dimensional operable navigation, making it more convenient for doctors to install intramedullary nails, and can understand the condition of the patient's femur in real time, preventing secondary damage to the fracture site, improving surgical efficiency, reducing radiation and improving safety.

[0066] like Figure 2 As shown, the guide rail component 2 includes two mutually symmetrical first guide rods 21, two mutually symmetrical semicircular guide rods 22 are fixedly installed between the two first guide rods 21, the outer surface of the semicircular guide rod 22 is slidably sleeved with a first slider 23, a second guide rod 26 is fixedly installed between the two first sliders 23, a first support member 24 is fixedly installed on the upper surface of one of the first sliders 23, a plurality of evenly distributed first gear teeth 25 are installed on a semicircular guide rod 22 close to the first support member 24, and a plurality of evenly distributed second gear teeth 27 are fixedly installed on one side of the second guide rod 26.

[0067] like Figure 3 As shown, the external navigation component 4 includes a second slider 41, a first mounting hole 49 is fixedly installed on one side of the second slider 41, a first laser displacement sensor 45 is fixedly installed on the side of the first mounting hole 49 away from the second slider 41, a second support block 43 is fixedly installed on the side of the second slider 41 adjacent to the first support block 42, a simulator 44 is installed on the second support block 43, a first servo motor 46 is fixedly installed on the side of the second slider 41 away from the first support block 42, a second gear 461 is fixedly installed on the driving end of the first servo motor 46, and the second gear 461 is meshed with the second gear teeth 27, The second slider 41 is slidably mounted on the outer surface of the second guide rod 26, a second servo motor 47 is fixedly mounted on one side of the first support member 24, a first gear 48 is rotatably mounted in the middle of the first support member 24, a driving end of the second servo motor 47 passes through the first guide rod 21 and is fixedly mounted in the middle of the first gear 48, the intramedullary nail component 7 is made of a front section 71 and a rear section 72 by an integrated molding technology, a plurality of evenly distributed first fixing holes 73 are provided at one end of the front section 71 away from the rear section 72, a plurality of second fixing holes 74 are provided on the rear section 72, and a plurality of grooves are provided at one end of the rear section 72 away from the front section 71.

[0068] When in use, the first servo motor 46 and the second servo motor 47 are both electrically connected to the processor. The servo motors can accurately rotate a certain number of circles and angles to facilitate precise micro-operations. When the second ultrasonic probe 93 moves, the second ultrasonic probe 93 will send the movement amount to the processor, and the processor will control the first servo motor 46 to rotate. During this process, the first laser displacement sensor 45 will detect the movement amount of the external navigation component 4. When the movement amounts are equal, the first mounting hole 49 sends a signal to the processor, and the processor controls the first servo motor 46 to stop. When the first servo motor 46 works, it will drive the second gear 461 to work, and then the second gear 461 moves along the second gear teeth 27. The initial position of the second ultrasonic probe 93 is located at Figure 6 At point A, the initial position of the second slider 41 is perpendicular to the base 1 and is located on the same axis as A. When the device is started, the second ultrasonic probe 93 will form a three-dimensional coordinate axis at point A. The positive half axis of the Z axis in the coordinate axis is located at the central axis of the intramedullary nail component 7, the position of the X axis in the coordinate axis is parallel to the base 1, the position of the Y axis in the coordinate axis is perpendicular to the base 1, the positive half axis of the Y axis is located above the base 1, and the Z axis is used to measure the horizontal relative movement position of the second ultrasonic probe 93. The XY axes can be combined to form a quadrant.

[0069] When the second ultrasonic probe 93 moves to the position of the first fixing hole 73, because the reflectivity of metal to ultrasound is nearly 100%, while the reflectivity to bone will be lost according to the different bone density, the second ultrasonic probe 93 can obtain the specific position and angle of the second fixing hole 74, and feed it back to the processor, which outputs it as a visual signal to the AR glasses and the display. Due to the different installation positions, the first fixing hole 73 may have a certain angle. At this time, the second ultrasonic probe 93 can detect the angle of the first fixing hole 73 from the positive half axis of the X-axis, and record the angle. is α, if α<90°, the outer navigation component 4 will rotate -(90-α)°, if α>90°, the outer navigation component 4 will rotate +(α-90)°, wherein "-" represents that the outer navigation component 4 rotates clockwise around the Z axis, and "+" represents that the outer navigation component 4 rotates counterclockwise around the Z axis. The coordinate axis is used to accurately determine the distance from the selected first fixing hole 73 to the origin and the angle from the X axis, and then the angle at which the outer navigation component 4 needs to rotate is obtained. When the outer navigation component 4 completes the rotation, the first mounting hole 49 and a part of the first fixing hole 73 are located on the same axis.

[0070] At this time, the doctor needs to cut the patient's skin corresponding to the position of the first fixing hole 73. At this time, the simulator 44 can simulate a red laser line. The simulated line can be displayed on the display and the AR glasses. This line is the line corresponding to the first fixing hole 73. Then the doctor can cut the tissue skin along the line to directly find the position where the nail needs to be inserted. At this time, the doctor clicks on the first fixing hole 73 to be installed through the display. At this time, the simulator 44 will change the simulated image, transform the line into a red dot, and the distance between the simulator 44 and the first mounting holes 49 is equal to the distance between the two first mounting holes 49, and the distance between the two first mounting holes 49 is equal to the distance between the two first mounting holes 49. The distance between the first and second fixing holes 73, and thus the virtual red dot presented by the simulator 44 on the bone is the same as the position of the first fixing hole 73. The doctor only needs to insert the drilling sleeve at the position of the first mounting hole 49, and then align the sleeve with the red dot, use the drill bit to drill a hole, and install the fixing nail after the drilling is completed, thereby realizing the distal fixation of the intramedullary nail component 7. Considering that the external navigation component 4 may cause obstruction to the operation when cutting the skin and installing the fixing nail, the simulator 44 forms a virtual image, and the virtual image can be saved by the processor. The external navigation component 4 can be removed during the operation. At this time, the virtual lines and virtual points will not disappear, which is convenient for the surgeon to operate.

[0071] like Fig.12 As shown, the first mounting frame 5 includes a first turning handle 51, a second turning handle 52 is rotatably mounted on the upper surface of the first turning handle 51, a first screw 53 is provided inside the second turning handle 52 through a threaded fit, a connecting piece 54 is fixedly mounted on the top of the first screw 53, and a second screw 55 used in conjunction with the mounting screw hole 12 is fixedly mounted in the middle of the lower surface of the first turning handle 51. The device is debugged before use. Rotating the second turning handle 52 can change the height of the first screw 53 and the connecting piece 54. The connecting piece 54 is sleeved on the outside of the first guide rod 21, so it can drive the guide rail component 2 to move, so as to facilitate changing the height of the device according to different patients.

[0072] like Figure 7As shown, the mounting handle member 8 includes a gripping handle 81, a mounting head 82 is fixedly mounted on one end of the gripping handle 81, a clamping rod 821 is fixedly mounted on the end of the mounting head 82 away from the gripping handle 81, a plurality of protrusions 822 corresponding to the grooves are fixedly mounted on the outer surface of the clamping rod 821, an introduction member 83 is fixedly mounted on the middle section of the gripping handle 81, a connecting groove is provided inside the gripping handle 81, the introduction member 83 and the mounting head 82 are both connected to the connecting groove, an inclined plate 84 is fixedly mounted on the end of the gripping handle 81 away from the mounting head 82, a plurality of third mounting holes 841 corresponding to the second fixing holes 74 are provided on the inclined plate 84, a plurality of second mounting holes 811 corresponding to the second fixing holes 74 are provided on the gripping handle 81, a fixing rod 85 is fixedly mounted on the lower surface of the end of the gripping handle 81 away from the mounting head 82, and a circular plate 851 is fixedly mounted on the bottom end of the fixing rod 85.

[0073] like Fig.11 As shown, a positioning rod 11 is fixedly installed on one side of the base 1 close to the first mounting frame 5, a first sleeve 13 is fixedly installed on the top of the positioning rod 11, a second sleeve 14 is hinged on one side of the first sleeve 13, and T-slots 15 are provided inside the second sleeve 14 and the first sleeve 13, and a circular plate 851 is placed inside the T-slot 15.

[0074] like Figure 6 and Figure 7As shown, when installing the intramedullary nail component 7, the rear section 72 is detachably mounted on the outside of the clamping rod 821. At this time, the protrusion 822 clamps the groove on the rear section 72, so that the intramedullary nail component 7 is firmly fixed and cannot be rotated. The connection method between the intramedullary nail component 7 and the installation handle 8 can be but is not limited to the connection using screws or clamping blocks and slots. Because the patient's body shape is different, the length of their femur is also different, so a fixing rod 85 and a positioning rod 11 are set. When installing, first place the base 1 under the patient's leg, and then punch a hole to install the intramedullary nail component 7 into the patient's femur. At this time, use a hammer or the like to hammer the introduction member 83, so that the intramedullary nail component 7 completely enters the patient's femur. When the intramedullary nail component 7 is completely entered into the patient's body, move the base 1 at this time to make The circular plate 851 is inserted into the interior of the T-slot 15, and the second sleeve 14 is rotated to clamp the circular plate 851, so that the mounting handle 8 cannot be rotated or moved at this time. The doctor puts the sleeve into the interior of the third mounting hole 841, and then uses a drill bit to drill holes on the side of the greater trochanter of the patient's femur and the femoral neck. After the drilling is completed, a tool is used to drive the fixing screw into the drilled hole. The position of the third mounting hole 841 corresponds to one of the second fixing holes 74. The inclined setting enables the fixing screw to be driven into the inside of the femoral neck to enhance the connection strength between the intramedullary nail and the femur. The sleeve is then moved to the inside of the second mounting hole 811, and the second mounting hole 811 corresponds to a part of the second fixing holes 74. The drill bit is then used to drill again. After the hole is drilled, the fixing screw is driven into it, thereby achieving proximal fixation of the intramedullary nail component 7.

[0075] like Figures 8 to 10 As shown, the internal navigation component 9 includes a soft rod 91, one end of which is fixedly mounted with a second ultrasonic probe 93, a rotating block 92 is movably sleeved on the soft rod 91, a handle 94 is fixedly mounted on the end of the soft rod 91 away from the second ultrasonic probe 93, a second laser displacement sensor 95 is fixedly mounted inside the end of the soft rod 91 close to the second ultrasonic probe 93, a section of the soft rod 91 close to the second ultrasonic probe 93 is integrally formed with a limiting block 96, two annular blocks 831 are fixedly mounted on one side of the introduction member 83, two matching grooves 921 corresponding to the annular blocks 831 are provided on one side of the rotating block 92, the annular block 831 is slidably mounted inside the matching groove 921, a central groove 922 is provided in the middle of the rotating block 92, the diameter of the central groove 922 is equal to the diameter of the soft rod 91, and the diameter of the limiting block 96 is larger than the diameter of the soft rod 91.

[0076] Before fixing the intramedullary nail component 7, first insert the second ultrasonic probe 93 and the soft rod 91 into the interior of the introduction member 83. Since there is a groove inside the holding handle 81, the second ultrasonic probe 93 can pass through the mounting head 82 and enter the interior of the intramedullary nail component 7. At this time, insert the annular block 831 into the matching groove 921, and then rotate the rotating block 92 so that the matching groove 921 clamps the annular block 831. Then pull the handle 94 so that the limit block 96 contacts the rotating block 92. At this time, the second ultrasonic probe 93 is just located at position A, which enables the device to quickly find the initial position and improve the accuracy of the origin setting.

[0077] A femoral intramedullary nail navigation method based on AR technology, using a femoral intramedullary nail navigation device, further comprising the following steps:

[0078] S1: Place the patient's legs on the base 1 and install the guide rail component 2 above the patient's legs;

[0079] S2: Power on the device and enter the display software. The display is a touch-screen tablet, and then the doctor wears AR glasses;

[0080] S3: slowly push the handle 94, the second ultrasonic probe 93 collects information about the inside of the intramedullary nail component 7 and the inner wall of the femur and feeds it back to the processor, controls the movement of the external navigation component 4, and the first ultrasonic probe collects information about the outer wall of the femur of the patient and feeds it back to the processor, the processor processes the two signals and outputs them into graphic signals to the display and AR glasses;

[0081] S4: The specific position and angle of the first fixing hole 73 can be fed back on the display. Click on the first fixing hole 73 where the fixing nail needs to be driven in, and the processor will control the outer navigation component 4 to move and rotate to the corresponding position of the first fixing hole 73;

[0082] S5: When the external navigation component 4 is in place, the simulator 44 can simulate the laser, and the simulator 44 feeds back a signal to the processor, and the processor outputs the signal to the AR glasses, and a simulated laser point or laser line appears on the AR glasses, and the laser point simulated by the simulator 44 coincides with the first mounting hole 49;

[0083] S6: The doctor places the installation cylinder inside the first installation hole 49, uses a drill to drill a hole, and then installs a fixing nail to fix the intramedullary nail component 7 to the patient's femur.

[0084] The working process of the technical solution of the present invention is as follows:

[0085] When in use, first insert the base 1 under the patient's thigh, install the second mounting frame 6 in the two mounting screw holes 12 away from the patient's upper body, then adjust the mounting position of the first mounting frame 5 according to the patient's body shape, and then complete the installation of the guide rail component 2, and then use the mounting handle 8 to nail the intramedullary nail component 7 into the patient's femur. When installing the intramedullary nail component 7, it is necessary to use a drill to enter from the patient's greater trochanter position, and then use a medullary reamer and a soft drill to expand the size of the mounting groove inside the femur to facilitate the insertion of the intramedullary nail component 7 into the femur. Before drilling, the doctor needs to reposition the bone at the fracture position of the patient. After the intramedullary nail component 7 is installed, it is necessary to use a fixing nail to connect the intramedullary nail component 7 to the patient's femur, and then complete the intramedullary nail. Installation of component 7, while waiting for the intramedullary nail component 7 to enter the patient's body, the internal navigation component 9 is pulled, and the internal navigation component 9 will drive the second ultrasonic probe 93 to move, and then the second ultrasonic probe 93 can collect information about the inside of the femur and the inside of the intramedullary nail component 7 and output it to the processor. When the second ultrasonic probe 93 moves, the external navigation component 4 will move with the same displacement as the second ultrasonic probe 93, and the first ultrasonic probe can scan the outer wall of the femur along the way, and then send the scanned data to the processor. The processor combines the signal transmitted by the second ultrasonic probe 93 with the signal transmitted by the first ultrasonic sensor to obtain the information of the whole femur, and converts it into a visual signal to transmit it to the display and AR glasses;

[0086] Before fixing the intramedullary nail component 7, first insert the second ultrasonic probe 93 and the soft rod 91 into the interior of the introduction member 83. Because the gripping handle 81 has a groove inside, the second ultrasonic probe 93 can pass through the mounting head 82 and enter the interior of the intramedullary nail component 7. At this time, insert the annular clamping block 831 into the matching clamping groove 921, and then rotate the rotating block 92 so that the matching clamping groove 921 clamps the annular clamping block 831. Then pull the gripping handle 94 so that the limit clamping block 96 contacts the rotating block 92. At this time, the second ultrasonic probe 93 is just located at position A, which enables the device to quickly find the initial position and improve the accuracy of the origin setting.

[0087] The first servo motor 46 and the second servo motor 47 are both electrically connected to the processor. When the second ultrasonic probe 93 moves, the second ultrasonic probe 93 will send the movement amount to the processor, and the processor will control the first servo motor 46 to rotate. During this process, the first laser displacement sensor 45 will detect the movement amount of the external navigation component 4. When the movement amounts are equal, the first mounting hole 49 sends a signal to the processor, and the processor controls the first servo motor 46 to stop. When the first servo motor 46 works, it will drive the second gear 461 to work, and then the second gear 461 moves along the second gear teeth 27. The initial position of the second ultrasonic probe 93 is located at Figure 6At point A in the middle, the initial position of the second slider 41 is perpendicular to the base 1 and is located on the same axis as A. When the device is started, the second ultrasonic probe 93 will form a three-dimensional coordinate axis at point A, and then the second ultrasonic probe 93 can obtain the specific position and angle of the second fixing hole 74, and feed it back to the processor, and the processor outputs it as a visual signal to the AR glasses and the display. Due to the different installation positions, the first fixing hole 73 may have a certain angle. At this time, the second ultrasonic probe 93 can detect the angle of the first fixing hole 73 from the positive semi-axis of the X-axis, and record the angle as α. When the outer navigation component 4 rotates After completion, the first installation hole 49 and a part of the first fixing hole 73 are located on the same axis. The doctor needs to cut the patient's skin corresponding to the position of the first fixing hole 73. The simulator 44 can simulate a red laser line. The simulated line can be displayed on the display and the AR glasses at the same time. This line is the line corresponding to the first fixing hole 73. The doctor can cut the tissue skin along the line and directly find the position where the nail needs to be inserted. At this time, the doctor clicks on the first fixing hole 73 to be installed through the display. At this time, the simulator 44 will change the simulated image and transform the line into a red dot to facilitate finding the drilling position.

[0088] The present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention. In order to make the public have a thorough understanding of the present invention, specific details are described in detail in the following preferred embodiments of the present invention, but those skilled in the art can fully understand the present invention without the description of these details. In addition, in order to avoid unnecessary confusion about the essence of the present invention, well-known methods, processes, procedures, components and circuits are not described in detail.

[0089] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A femoral intramedullary nail navigation device based on AR technology, comprising a base, characterized in that: A guide rail component is provided above the base, an external navigation component is slidably mounted on the guide rail component, a mounting component is provided between the guide rail component and the base, the mounting component comprises an intramedullary nail component, a mounting handle component, and an internal navigation component, the intramedullary nail component is mounted at one end of the mounting handle component, and the internal navigation component is movably clamped inside the mounting handle component; Two first mounting frames are slidably mounted on one side of the guide rail component, and two second mounting frames are fixedly mounted on the other side of the guide rail component, and the first mounting frames and the second mounting frames are detachably mounted on the upper surface of the base, the external navigation component has a first ultrasonic probe, and the internal navigation component has a second ultrasonic probe, and the external navigation component and the internal navigation component are both connected to an external computer terminal through a cable, and the computer terminal includes a processor, a display, and AR glasses; The guide rail component comprises two mutually symmetrical first guide rods, two mutually symmetrical semicircular guide rods are fixedly installed between the two first guide rods, the outer surfaces of the semicircular guide rods are slidably sleeved with first sliders, a second guide rod is fixedly installed between the two first sliders, a first support member is fixedly installed on the upper surface of one of the first sliders, a plurality of evenly distributed first gear teeth are installed on a semicircular guide rod close to the first support member, and a plurality of evenly distributed second gear teeth are fixedly installed on one side of the second guide rod; The external navigation component includes a second slider, a first mounting hole is fixedly installed on one side of the second slider, a first laser displacement sensor is fixedly installed on the side of the first mounting hole away from the second slider, a second support block is fixedly installed on the side of the second slider adjacent to the first support block, a simulator is installed on the second support block, a first servo motor is fixedly installed on the side of the second slider away from the first support block, a second gear is fixedly installed on the driving end of the first servo motor, the second gear is meshed with the second gear teeth, the second slider is slidably sleeved on the outer surface of the second guide rod, a second servo motor is fixedly installed on one side of the first support member, a first gear is rotatably installed on the middle part of the first support member, and the driving end of the second servo motor passes through the first guide rod and is fixedly installed in the middle part of the first gear.

2. The femoral intramedullary nail navigation device based on AR technology according to claim 1, characterized in that: The intramedullary nail component is made of a front section and a rear section by an integrated molding technology. The end of the front section away from the rear section is provided with a plurality of evenly distributed first fixing holes, the rear section is provided with a plurality of second fixing holes, and the end of the rear section away from the front section is provided with a plurality of grooves.

3. The femoral intramedullary nail navigation device based on AR technology according to claim 1, characterized in that: The mounting handle member includes a holding handle, a mounting head is fixedly mounted on one end of the holding handle, a clamping rod is fixedly mounted on the end of the mounting head away from the holding handle, a plurality of protrusions corresponding to the grooves are fixedly mounted on the outer surface of the clamping rod, an introduction member is fixedly mounted on the middle section of the holding handle, a connecting groove is provided inside the holding handle, the introduction member and the mounting head are both connected to the connecting groove, an inclined plate is fixedly mounted on the end of the holding handle away from the mounting head, a plurality of third mounting holes corresponding to the second fixing holes are provided on the inclined plate, a plurality of second mounting holes corresponding to the second fixing holes are provided on the holding handle, a fixing rod is fixedly mounted on the lower surface of a section of the holding handle away from the mounting head, and a circular plate is fixedly mounted on the bottom end of the fixing rod.

4. The femoral intramedullary nail navigation device based on AR technology according to claim 3 is characterized in that: The first mounting frame includes a first turning handle, a second turning handle is rotatably mounted on the upper surface of the first turning handle, a first screw is provided inside the second turning handle through threaded engagement, a connecting piece is fixedly mounted on the top end of the first screw, and a second screw used in conjunction with a mounting screw hole is fixedly mounted in the middle of the lower surface of the first turning handle.

5. The femoral intramedullary nail navigation device based on AR technology according to claim 3, characterized in that: The internal navigation component includes a soft rod, a second ultrasonic probe is fixedly installed on one end of the soft rod, a rotating block is movably sleeved on the soft rod, a handle is fixedly installed on the end of the soft rod away from the second ultrasonic probe, a second laser displacement sensor is fixedly installed inside the end of the soft rod close to the second ultrasonic probe, and a limiting block is integrally formed on the end of the soft rod close to the second ultrasonic probe.

6. The femoral intramedullary nail navigation device based on AR technology according to claim 5, characterized in that: Two annular blocks are fixedly installed on one side of the introduction piece, and two matching grooves corresponding to the annular blocks are opened on one side of the rotating block. The annular blocks are slidably clamped inside the matching grooves. A center groove is opened in the middle of the rotating block, and the diameter of the center groove is equal to the diameter of the soft rod. The diameter of the limit block is larger than the diameter of the soft rod.

7. The femoral intramedullary nail navigation device based on AR technology according to claim 3, characterized in that: The upper surface of the base is provided with a plurality of evenly distributed mounting screw holes, a positioning rod is fixedly installed on one side of the base close to the first mounting frame, a first sleeve is fixedly installed on the top of the positioning rod, a second sleeve is hinged on one side of the first sleeve, a T-slot is provided inside the second sleeve and the first sleeve, and the circular plate is placed inside the T-slot.

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