Portable intelligent navigation system for artificial hip joint surgery

Abstract

The invention discloses a portable artificial hip joint operation intelligent navigation system in the technical field of medical instruments, and the system comprises the following modules: an operation planning module which is used for carrying out the three-dimensional reconstruction and analysis of a hip joint, and generating an operation scheme and plan; the navigation positioning module is used for providing real-time three-dimensional image guidance and positioning; the data management module is used for storing and managing operation-related data; the visual display module is used for displaying the reconstructed three-dimensional model and the real-time navigation information to medical staff in an image or video form; the surgical instrument positioning module is used for helping medical staff to accurately position and operate during an operation; wherein the surgical instrument positioning module comprises an electric drill unit, a handle unit and a passive reflective marking ball unit. The advantages of the navigation function are reserved, the defects that an existing mechanical arm is heavy, rough in operation, high in cost and the like are abandoned, a handheld portable intelligent navigation system is adopted, the cost is low, operation is friendly, and no learning curve exists.

Description

Technical Field

[0001] The invention belongs to the technical field of medical instruments, and in particular relates to a portable intelligent navigation system for artificial hip joint surgery. Background Art

[0002] As an effective clinical procedure for treating severe hip pain, deformity, and dysfunction, hip replacement has been widely performed at home and abroad. In recent years, new technologies for artificial hip replacement have continued to emerge, and "personalized, precise, and minimally invasive" treatment methods have become the main development direction. Among them, the application of digital orthopedic technology is particularly popular. It mainly solves the problem of personalized differences in surgery and pays more attention to improving the capabilities of the "eyes" and "brains". Joint navigation is the perfect combination of these two core needs.

[0003] The development of medical imaging technology (such as CT and MRI, which can display the three-dimensional structure of complex parts) has enabled medical staff to make a more comprehensive and accurate assessment of the patient's condition than before. However, these image features are not applicable to the surgical process. During the operation, medical staff still mainly rely on two-dimensional X-ray images to conduct local analysis and diagnosis based on clinical experience. The precise positioning and quantitative analysis of the lesion area are far from enough. The existing three-dimensional model reconstructed based on CT image data before surgery has low registration accuracy with the patient's anatomical structure during surgery, poor real-time performance, and long operation time, which seriously affects the enthusiasm of medical staff to use it. In addition, traditional joint replacement surgery mainly relies on the surgical experience of medical staff, and uses traditional surgical tools and instruments to place and implant artificial joints. It has low repeatability, poor accuracy, high surgical risks, and many postoperative complications.

[0004] In order to solve the above problems, for example, a Chinese patent, with the announcement number: CN112641511B, discloses a joint replacement surgery navigation system and method, the system comprising: a preoperative planning module, used to segment and reconstruct the acquired hip joint medical image data to obtain a three-dimensional model of the hip joint, and perform preoperative planning to determine the position, size and angle of the prosthesis placement; a navigation registration module, used to determine the spatial position of the pelvis and femur according to the pelvic reference frame and the femoral reference frame, and, according to the spatial position relationship between the surgical probe and the pelvic reference frame and the femoral reference frame, register the three-dimensional model of the hip joint to obtain a physical model of the hip joint, and control the surgical instrument holding the prosthesis to place the prosthesis in the hip joint according to the physical model of the hip joint. By preoperatively planning the surgical approach and the prosthesis placement position and other information, the spatial positioning method is used during the operation to track the surgical instruments, improve the accuracy of the operation, and provide navigation support for medical staff, making the operation safer and more efficient.

[0005] However, in actual use, the mainstream of existing robots is a surgical system based on a semi-active closed platform, which requires preoperative CT images to complete preoperative planning and intraoperative navigation. During the operation, it is necessary to use the anatomical landmarks on the surface of the lower limbs and joints for positioning, and implant the marking component at the same time, and then complete the surgical planning. The operator holds the grinding component at the end of the robotic arm to operate. The role of the robotic arm is to limit the scope of the operation. When it exceeds the preoperative planning range, the robotic arm will provide feedback and terminate the surgical operation. Through image-based pre-planning, adjustments can be made during the operation to deal with possible unexpected situations. Therefore, the current robot equipment is complex, bulky, and has high requirements for operating room space; most of the robotic arms currently use six axes, which are cumbersome to operate, and the flexibility feedback system is rough, which is easy to cause iatrogenic injuries; because the use of the robotic arm is very different from that of the traditional electric drill, the learning cost and learning cycle of the clinician are high during the learning process. Therefore, the present invention proposes a portable artificial hip joint surgery intelligent navigation system to solve the above problems. Summary of the invention

[0006] The present invention proposes a portable artificial hip joint surgery intelligent navigation system, which retains the advantages of navigation function, abandons the shortcomings of the current mechanical arm such as bulky, rough operation and high cost, and replaces it with a handheld portable intelligent navigation system that is cheap, user-friendly and has no learning curve.

[0007] In order to achieve the above object, the technical solution of the present invention is as follows: a portable artificial hip joint surgery intelligent navigation system, comprising the following modules:

[0008] Surgical planning module: used to perform three-dimensional reconstruction and analysis of the hip joint based on the patient's individualized data and generate surgical plans.

[0009] Navigation and positioning module: helps medical staff to accurately position and operate by providing real-time three-dimensional image guidance and positioning.

[0010] Data management module: used to store and manage surgery-related data, including the patient's personal information, imaging data collected during the operation, and surgical records.

[0011] Visual display module: used to display the reconstructed three-dimensional model and real-time navigation information to medical staff in the form of images or videos.

[0012] Positioning surgical instrument module: used to help medical staff accurately position and operate during surgery.

[0013] The positioning surgical instrument module includes an electric drill unit, a handle unit and a passive reflective marker ball unit. The handle unit is fixedly connected to the bottom of the electric drill unit, and the side of the electric drill unit away from the handle unit is fixedly connected to the passive reflective marker ball unit.

[0014] The following beneficial effects are achieved by adopting the above scheme:

[0015] The surgical planning module can perform three-dimensional reconstruction and analysis based on the patient's individualized data, generate accurate surgical plans and programs for medical staff, and improve surgical accuracy and success rate.

[0016] The navigation and positioning module helps medical staff to accurately position and operate during surgery through real-time three-dimensional image guidance and positioning, reducing surgical risks and improving surgical accuracy.

[0017] The data management module is used to store and manage surgery-related data, including patient information, imaging data collected during the operation, and surgical records, to facilitate medical staff to conduct subsequent evaluation and research.

[0018] The visualization display module presents the reconstructed three-dimensional model and real-time navigation information to medical staff in the form of images or videos, allowing them to clearly observe and understand the surgical situation and make correct decisions.

[0019] The positioning surgical instrument module includes an electric drill unit, a handle unit and a passive reflective marker ball unit, which can help medical staff accurately position and operate during surgery, thereby improving surgical efficiency and safety.

[0020] By integrating these modules, the portable artificial hip joint surgery intelligent navigation system can provide more accurate, efficient and safe surgical plans and operation guidance, bringing benefits to medical staff and patients.

[0021] In short, compared with the existing technology, the advantages of navigation function are retained, and the shortcomings of the current robotic arm, such as bulky, rough operation, and high cost, are abandoned. Instead, a handheld, portable intelligent navigation system is used, which is cheap, user-friendly, and has no learning curve.

[0022] Beneficial effects: Electric drill units are widely used in orthopedic surgery for cutting, drilling and fixing bones. Electric drill units use built-in motors to provide power, converting electrical energy into rotational force; drill bits are rotating tools connected to the motors for cutting or drilling. Electric drill units have the characteristics of high speed, low noise and precise control, and can accurately perform cutting, drilling and filing operations during surgery. Different types of surgeries require drill bits of different shapes and sizes. During preoperative planning, data on various types of drill bits are input into the navigation system.

[0023] Furthermore, the electric drill unit includes a motor, a drill bit and a positioner. The drill bit is coaxially fixedly connected to the motor output shaft, the positioner is fixedly connected to the electric drill, the motor signal is connected to the controller, and the controller is connected to the positioner signal.

[0024] Beneficial effects: The electric drill unit is widely used in orthopedic surgeries for cutting, drilling, and fixing bones. The electric drill unit uses a built-in motor to provide power, converting electrical energy into rotational force; the drill bit is a rotating tool connected to the motor for cutting or drilling. The electric drill unit features high rotational speed, low noise, and precise control, enabling precise cutting and drilling operations during surgery. Different types of surgeries require drill bits of different shapes and sizes.

[0025] Adding a locator to the electric drill, the locator can provide the accurate distance between the tip of the electric drill bit and the working surface, making the drilling position more precise and reliable; by using the locator, the operator can quickly find the required drilling position, reducing the time for measurement and positioning, saving time and effort, and increasing work efficiency; the locator can correctly guide the electric drill bit to the target position, avoiding unnecessary deviations and incorrect drilling; it provides stable guidance, reducing damage or errors caused by improper human operation.

[0026] Furthermore, the distance between the tip of the drill bit and the center of the locator is constant, facilitating tracking by the navigation system.

[0027] Beneficial effects Keeping the distance between the tip of the drill bit and the center of the locator constant can provide accurate position information. The navigation system can calculate and accurately locate the position of the drill bit based on this fixed distance, thus achieving accurate navigation and positioning; fixing the distance between the tip of the drill bit and the center of the locator can help the navigation system accurately predict the trajectory of the drill bit. By推算 based on the known distance, the system can better estimate and predict the movement trajectory of the drill bit and make adjustments and controls in advance; keeping the constant distance between the tip of the drill bit and the center of the locator can also help maintain the attitude stability of the working device. When the distance remains unchanged, any attitude change will be accurately captured by the navigation system and timely feedback and adjustment will be made to keep the drill bit in a stable working state.

[0028] Furthermore, according to the preoperative planning results, preset values a for the grinding boundary and depth when the electric drill unit operates correctly are set in the navigation system in advance, a boundary warning value b is set, and the real-time detection value is set as c;

[0029] When c < a, it indicates that the grinding boundary and depth have not reached the expectation, and the electric drill unit continues to work;

[0030] When c = a, it indicates that the grinding boundary and depth have reached the expectation, and the controller controls the motor to stop running. Through the judgment of the medical staff on the positioning surgical instrument module, it is further selected whether to continue grinding;

[0031] When c = b, it indicates that the grinding has reached the safety boundary, and the controller controls the motor to stop running. Through the judgment of the medical staff on the positioning surgical instrument module, it is decided whether to stop grinding.

[0032] Beneficial effects: The control process of the controller is based on setting a normal value as a reference standard, and the working state of the positioning surgical instrument module is judged by comparing with the value. When it exceeds the normal value range, it can be inferred that the module has an abnormality. The controller will take corresponding measures, such as stopping the motor operation, to ensure the safety of the operation.

[0033] When the real-time detection value of the positioning surgical instrument module exceeds the normal range, it indicates that there may be an abnormal situation. For example, when it exceeds the grinding and filing range, stopping the motor operation by the controller can prevent further risks and damages and ensure the safety of the surgical process.

[0034] When the test value exceeds the normal range, medical staff can use this prompt to further analyze the surgical situation and make timely adjustments. This helps to detect problems in time and take corrective measures to ensure the normal operation of the equipment.

[0035] When the detection value is found to be beyond the normal range, the medical staff needs to judge and deal with the positioning surgical instrument module. They can determine the specific problem through observation and analysis, and if necessary, they can confirm in the system to continue grinding and filing, and restore the power of the electric drill to restore the normal working state of the module.

[0036] Furthermore, the surgical planning module includes an imaging unit for preoperative CT image scanning and recording, reconstructing a three-dimensional model of the patient's hip joint, determining the grinding angle and depth, and then determining the size and model of the prosthesis and the ideal implantation angle to complete preoperative planning.

[0037] Beneficial effects: Through the surgical planning module, medical staff can obtain the patient's specific anatomical information and make personalized surgical plans based on this, which helps to ensure that the surgical process matches the patient's special needs and improves surgical results and satisfaction; the surgical planning module can provide detailed and accurate anatomical structure information to help medical staff accurately locate the surgical target area and determine the optimal implantation angle and position. Through prior planning and prediction, it can reduce uncertainty in surgery and reduce operational risks; the surgical planning module can provide digital three-dimensional reconstruction results, enabling medical staff to better understand the patient's anatomical structure, plan surgical plans, and perform precise surgical operations, which helps to improve the accuracy and quality of surgery; using the surgical planning module, medical staff can perform detailed planning and analysis through imaging data before surgery, avoiding temporary decision-making during surgery, saving time, and reducing bed occupancy and waste of surgical resources.

[0038] Furthermore, the navigation and positioning module includes an optical positioning unit, wherein the optical positioning unit includes a light source component, a photo sensor component and a data processing component, the light source component emits a light beam for providing suitable lighting conditions in the surgical scene; the photo sensor component receives the light signal reflected from the light source component for providing images or data about the surgical scene and target structure; the data processing component receives the image or data from the photo sensor component and performs real-time processing and analysis using a computing algorithm.

[0039] Beneficial effects: The principle of the navigation and positioning module is to use the optical positioning unit to perform positioning and navigation in the surgical scene.

[0040] Through the use of the optical positioning unit, the navigation and positioning module can provide real-time navigation functions, so that medical staff can accurately understand the position and direction of surgical tools or implants relative to the target structure to guide surgical operations; the optical positioning unit can provide high-precision positioning information, including three-dimensional spatial position and coordinates, which helps medical staff to perform precise instrument operations and avoid errors and injuries. The navigation and positioning module can present the processing and analysis results to medical staff in real time to help them understand the progress of the operation and make accurate decisions. Instant feedback can improve surgical efficiency and quality; by providing accurate navigation and positioning information, the navigation and positioning module can help medical staff operate more accurately and reduce unnecessary trauma and injuries.

[0041] Furthermore, the data management module includes a host, which includes a data collection component for collecting data from different sources; a data storage component for persistently storing the collected data; a data cleaning and preprocessing component for cleaning, denoising and converting the original data; and a data integration and consolidation component for integrating and fusing data from different data sources to create a unified view or data set.

[0042] Beneficial effects: The principle of the data management module is to collect, store, clean and pre-process, integrate and fuse data from different sources to create a unified view or data set.

[0043] Through data cleaning, preprocessing and integration, the data management module can ensure the consistency and accuracy of data, and help improve the reliability and availability of data; by removing duplicate data, processing missing values ​​and correcting errors, the data cleaning and preprocessing components can improve data quality and help reduce erroneous decisions and analysis results caused by low-quality data; the data integration and consolidation components can integrate data from different data sources into a unified view or data set, allowing users to easily access and analyze data from multiple data sources and improve data utilization efficiency; by providing reliable, consistent and comprehensive data, the data management module can provide strong support for the decision-making process, and medical staff can make analyses and judgments based on accurate and comprehensive data.

[0044] Furthermore, the visual display module includes a display screen.

[0045] Beneficial effects: Through visual display, medical staff can clearly observe the patient's hip joint structure, which helps medical staff make more accurate diagnosis and surgical planning, and minimize surgical risks and complications; visual display enables medical staff to observe key structures and target areas during the operation in real time, and can adjust the surgical plan based on this information, and more accurately locate and process during the operation, maximizing the protection of surrounding tissues and improving the safety and success rate of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a schematic diagram of the flow chart of an embodiment of the portable artificial hip joint surgery intelligent navigation system of the present invention.

[0047] Figure 2 It is a schematic diagram of positioning the surgical instrument module in the embodiment of the portable artificial hip joint surgery intelligent navigation system of the present invention.

[0048] Figure 3 It is a partial schematic diagram of an embodiment of the portable artificial hip joint surgery intelligent navigation system of the present invention. DETAILED DESCRIPTION

[0049] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0050] In the description of the present invention, it is to be understood that the terms “longitudinal”, “lateral”, “vertical”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside” and “outside” etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention 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 should not be understood as a limitation on the present invention.

[0051] In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal connection between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0052] The following is further described in detail through specific implementation methods:

[0053] The reference numerals in the drawings of the specification include: imaging unit 1, optical positioning unit 2, host 3, display screen 4, positioning surgical instrument module 5, electric drill unit 501, handle unit 502, and passive reflective marker ball unit 503.

[0054] Embodiment 1, basically as attached Figure 1-3 Shown: Portable artificial hip joint surgery intelligent navigation system, including the following modules:

[0055] Surgical planning module: used to perform three-dimensional reconstruction and analysis of the hip joint based on the patient's individualized data and generate surgical plans.

[0056] Navigation and positioning module: helps medical staff to accurately position and operate by providing real-time three-dimensional image guidance and positioning.

[0057] Data management module: used to store and manage surgery-related data, including the patient's personal information, imaging data collected during the operation, and surgical records.

[0058] Visual display module: used to display the reconstructed three-dimensional model and real-time navigation information to medical staff in the form of images or videos.

[0059] Positioning surgical instrument module 5: used to help medical staff accurately position and operate during surgery.

[0060] The positioning surgical instrument module 5 includes an electric drill unit 501, a handle unit 502 and a passive reflective marker ball unit 503. The handle unit 502 is fixedly connected to the bottom of the electric drill unit 501 by bolts, and the electric drill unit 501 is fixedly connected to the passive reflective marker ball unit 503 by bolts on the side away from the handle unit 502.

[0061] In summary, the advantages of the navigation function are retained, and the shortcomings of the current robotic arm, such as being bulky, rough to operate, and expensive, are abandoned, and replaced with a handheld, portable intelligent navigation system that is cheap, user-friendly, and has no learning curve.

[0062] The specific implementation process is as follows: Surgical planning module: By evaluating the patient's hip joint structure and abnormalities, medical staff can use the planning module to determine the best surgical path and operation strategy.

[0063] Navigation and positioning module: By collecting three-dimensional image data of the surgical area, the system can track the patient's anatomical structure position in real time, and compare and adjust it with the data in the surgical planning module to ensure the accuracy of the operation.

[0064] Data management module: Storing and managing surgery-related data can serve as the basis for subsequent analysis and research, and provide reference and decision-making support for medical staff.

[0065] Visual display module: Through visual display, medical staff can intuitively observe the anatomical structure and operation status of the surgical area, thereby better guiding the surgical process.

[0066] Positioning surgical instrument module 5: through the coordinated work of the electric drill unit 501, the handle unit 502 and the passive reflective marker ball unit 503, it helps medical staff to achieve precise positioning and operation during surgery.

[0067] Electric drill unit 501: Electric drill unit 501 is a tool for surgical cutting and bone repair. It is connected to handle unit 502 to provide rotational power. Medical staff can use electric drill unit 501 to accurately process and prepare bone tissue.

[0068] Handle unit 502: The handle unit 502 is fixedly connected to the bottom of the electric drill unit 501, and the medical staff can hold the handle unit 502 for operation. Through the handle unit 502, the medical staff can control the rotation speed and direction of the electric drill unit 501 through instructions, and realize precise manual operation of the surgical instrument.

[0069] Passive reflective marker ball unit 503: The passive reflective marker ball unit 503 is a specially designed device that includes a light-reflecting sphere that can reflect light sources in the surrounding environment. The navigation system determines the position and posture of the surgical instrument by identifying and tracking the position of these reflective marker balls.

[0070] During the operation, the navigation and positioning module will collect the three-dimensional image data of the operation area in real time, and perform calculations and analyses in combination with the position information of the passive reflective marker balls. Then, the system will present the calculated positioning and operation guidance information to medical staff through the visualization display module to help them accurately position and operate the surgical instruments.

[0071] Embodiment 2 is different from the above embodiment in that: the electric drill unit 501 includes a motor, a drill bit and a locator. The drill bit is coaxially and fixedly connected to the output shaft of the motor by bolts, and the locator is fixedly connected to the electric drill unit 501 by bolts. The motor is signal-connected to a controller, and the controller is signal-connected to the locator. The distance between the top of the drill bit and the center of the locator is constant, so as to facilitate tracking by the navigation system.

[0072] The specific implementation process is as follows: when the electric drill unit 501 is working, the motor converts electrical energy into rotational force to provide power for the drill bit to work. When the drill bit is working, the optical positioning system real-time locates the position of the electric drill and the drill bit, and transmits the monitoring data to the controller. The controller analyzes the received monitoring data to control the electric drill unit 501.

[0073] The control process of the controller: According to the preoperative planning result, preset value a of the grinding boundary and depth when the electric drill unit operates correctly is preset in the navigation system in advance, the boundary warning value b is set, and the real-time detection value is set as c;

[0074] When c < a, it indicates that the grinding boundary and depth do not reach the expectation, and the electric drill unit continues to work;

[0075] When c = a, it indicates that the grinding boundary and depth have reached the expectation. The controller controls the motor to stop running, and medical staff judges the positioning surgical instrument module to further select whether to continue grinding;

[0076] When c = b, it indicates that the grinding has reached the safety boundary. The controller controls the motor to stop running, and medical staff judges the positioning surgical instrument module to decide whether to stop grinding.

[0077] Embodiment 3 is different from the above embodiment in that: the surgical planning module includes an imaging unit 1, which is used for performing CT image scanning and input before surgery, reconstructing the three-dimensional model of the patient's hip joint, determining the grinding angle and depth, and then determining the size and model of the prosthesis and the ideal implantation angle to complete the preoperative planning.

[0078] The specific implementation process is as follows: by performing CT (computed tomography) image scanning on the patient, high-resolution three-dimensional image data of the patient's relevant parts are obtained, and the image data obtained by the CT scan is input into the surgical planning module. After image processing and analysis, key features such as bone structure and organ position are extracted; based on the accurate measurement of CT image data, the surgical planning module can help medical staff determine the size and model of the prosthesis suitable for the patient, and help to select the best implant material to meet the patient's needs while minimizing the risk of postoperative complications; based on CT image data, the surgical planning module can simulate the process of implanting the prosthesis on the computer through virtual reconstruction and simulation operations, and determine the ideal implantation angle. This helps to accurately plan surgical operations and improve the accuracy and success rate of surgery.

[0079] Embodiment 4 is different from the above embodiments in that: the navigation positioning module includes an optical positioning unit 2, wherein the optical positioning unit 2 includes a light source component, a photo sensor component and a data processing component, the light source component emits a light beam for providing suitable lighting conditions in the surgical scene; the photo sensor component receives the light signal reflected from the light source component for providing images or data about the surgical scene and the target structure; the data processing component receives the image or data from the photo sensor component and performs real-time processing and analysis using a computing algorithm.

[0080] The specific implementation process is as follows: the light source component emits a light beam and provides appropriate lighting conditions so that the light beam can be reflected and received in the surgical scene; the optical sensor component receives the light signal reflected from the light source component and converts it into an image or data. By receiving the reflected light signal, the optical sensor component can obtain information about the surgical scene and target structure; the data processing component receives the image or data generated by the optical sensor component and uses a computing algorithm to perform real-time processing and analysis. It can extract feature information, reconstruct a three-dimensional model and calculate position coordinates. These processing and analysis results can be used to navigate and position surgical tools, implants or other elements.

[0081] Embodiment 5 is different from the above embodiments in that: the data management module includes a host 3, and the host 3 includes a data collection component for collecting data from different sources; a data storage component for persistently storing the collected data; a data cleaning and preprocessing component for cleaning, denoising and converting the original data; and a data integration and consolidation component for integrating and fusing data from different data sources to create a unified view or data set.

[0082] The specific implementation process is as follows: the data collection component is used to collect data from different sources, which can come from multiple sensors, devices, databases or other data sources; the data storage component is used to persist the collected data for long-term storage and access, which can be a relational database, distributed file system or other suitable storage medium; the data cleaning and preprocessing component is used to clean, denoise and convert the original data to ensure the quality and consistency of the data, which may involve removing duplicate data, processing missing values, correcting errors, and converting data formats; the data integration and consolidation component is used to integrate and fuse data from different data sources to create a unified view or data set, which can be achieved through unified and standardized data models, rules and algorithms.

[0083] Embodiment 6 is different from the above embodiments in that the visual display module includes a display screen 4 .

[0084] The specific implementation process is as follows: The reconstructed 3D model and real-time navigation information are displayed to medical staff in the form of images or videos, so that they can clearly observe and understand the surgical situation and make the right decision. By displaying the reconstructed 3D model and real-time navigation information in the form of images or videos, medical staff can clearly observe and understand the surgical situation and make the right decision. This helps to improve the accuracy, safety and success rate of the surgery.

[0085] Embodiment 7 is different from the above embodiments in that a sound pressure sensor is fixedly connected to the inside of the end of the drill bit away from the motor by bolts, and the sound pressure sensor is connected to the controller and the controller signal is connected with a strain gauge, which is adhesively fixed to the outer wall of the handle unit 502.

[0086] The specific implementation process is as follows: when the drill bit is working, the sound pressure sensor monitors the sound generated by the drill bit in real time, and transmits the monitoring data to the controller. At the same time, the strain gauge at the handle unit 502 also monitors the grip of the medical staff on the handle unit 502 in real time, and transmits the monitoring data to the controller. The controller analyzes the received monitoring data and controls the electric drill unit 501.

[0087] Control process of the controller: The normal values ​​of the sound pressure sensor and the strain gauge when the electric drill unit 501 is operating correctly are set in advance in the controller, and the real-time detection value is set to d.

[0088] When d=normal value, it indicates that the positioning surgical instrument module 5 works normally.

[0089] When d<normal value, it means that the positioning surgical instrument module 5 is working abnormally, and the controller controls the motor to stop running. Medical staff judges whether the positioning surgical instrument module 5 accidentally injures the patient's muscle tissue or the motor is running underpowered.

[0090] When d>normal value, it means that the positioning surgical instrument module 5 is working abnormally, and the controller controls the motor to stop running. Medical staff will judge whether the positioning surgical instrument module 5 is caused by improper operation or the positioning surgical instrument module 5 is faulty or abnormal.

[0091] The control process of the controller is based on setting a normal value as a reference standard, and the working status of the positioning surgical instrument module is judged by comparing with this value. When it exceeds the normal value range, it can be inferred that there is an abnormality in the module. The controller will take corresponding measures, such as stopping the motor operation, to ensure the safety of the operation.

[0092] The above is only an embodiment of the present invention, and the common knowledge such as the known specific structure and / or characteristics in the scheme is not described in detail here. It should be pointed out that for those skilled in the art, several deformations and improvements can be made without departing from the structure of the present invention, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. Portable artificial hip joint surgery intelligent navigation system, characterized by: It includes the following modules: Surgical planning module: used to perform three-dimensional reconstruction and analysis of the hip joint based on the individual data of the patient, and generate surgical plans and schedules; Navigation and positioning module: helps medical staff accurately position and operate by providing real-time three-dimensional image guidance and positioning; Data management module: used to store and manage surgical-related data, including the patient's personal information, imaging data collected during the operation, and surgical records; Visualization display module: used to display the reconstructed three-dimensional model and real-time navigation information to medical staff in the form of images or videos; Positioning surgical instrument module: helps medical staff accurately position and operate during the operation; The positioning surgical instrument module includes a drill unit, a handle unit, and a passive reflective marker ball unit. The handle unit is fixedly connected to the bottom of the drill unit, and the side of the drill unit away from the handle unit is fixedly connected to the passive reflective marker ball unit.

2. The portable artificial hip joint surgery intelligent navigation system according to claim 1, characterized in that: The drill unit includes a motor, a drill bit, and a locator. The drill bit is coaxially and fixedly connected to the output shaft of the motor. The locator is fixedly connected to the drill unit. The motor is signal-connected to a controller, and the controller is signal-connected to the locator.

3. The portable artificial hip joint surgery intelligent navigation system according to claim 2 is characterized in that: The distance between the top of the drill bit and the center of the locator is constant to facilitate tracking by the navigation system.

4. The portable artificial hip joint surgery intelligent navigation system according to claim 3 is characterized by: System positioning process: According to the preoperative planning results, preset values a for the grinding boundary and depth when the drill unit operates correctly are preset in the navigation system in advance, a boundary warning value b is set, and the real-time detection value is set as c; When c < a, it indicates that the grinding boundary and depth have not reached the expectation, and the drill unit continues to work; When c = a, it indicates that the grinding boundary and depth have reached the expectation. The controller controls the motor to stop running, and medical staff judge the positioning surgical instrument module to further select whether to continue grinding; When c = b, it indicates that the grinding has reached the safety boundary. The controller controls the motor to stop running, and medical staff judge the positioning surgical instrument module to decide whether to stop grinding.

5. The portable artificial hip joint surgery intelligent navigation system according to claim 1, characterized in that: The surgical planning module includes an imaging unit, which is used to perform CT imaging scans and input before the operation, reconstruct the three-dimensional model of the patient's hip joint, determine the grinding angle and depth, and then determine the size and model of the prosthesis and the ideal implantation angle to complete the preoperative planning.

6. The portable artificial hip joint surgery intelligent navigation system according to claim 1, characterized in that: The navigation and positioning module includes an optical positioning unit, where the optical positioning unit includes a light source component, a light sensor component, and a data processing component. The light source component emits a light beam to provide appropriate lighting conditions in the surgical scene; the light sensor component receives the light signal reflected from the light source component to provide images or data about the surgical scene and the target structure; the data processing component receives the images or data from the light sensor component and performs real-time processing and analysis using calculation algorithms.

7. The portable artificial hip joint surgery intelligent navigation system according to claim 1, characterized in that: The data management module includes a host computer, and the host computer includes a data collection component for collecting data from different sources; A data storage component for persistently storing the collected data; A data cleaning and preprocessing component for performing cleaning, denoising, and conversion operations on the original data; A data integration and consolidation component for integrating and fusing data from different data sources to create a unified view or dataset.

8. The portable artificial hip joint surgery intelligent navigation system according to claim 1, characterized in that: The visualization display module includes a display screen.

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