Line-driven continuum arthroscope with navigation function

Abstract

The invention discloses a line-driven continuum arthroscope with a navigation function, and relates to the field of surgical equipment, the line-driven continuum arthroscope comprises an arthroscope arm part, the head end is provided with a plurality of channels arranged along the length direction, the channels are uniformly arranged along the circumferential direction of the arthroscope arm part, driving ropes are arranged in the channels, and the peripheral surface of the arthroscope arm part is provided with a dent structure; the image acquisition part is arranged at the tail end of the glasses arm part, and the image acquisition part comprises a tracker; the positioning system is in signal connection with the tracker, and the positioning system is connected with the driving rope through a driving mechanism; according to the arthroscope, the position of the image acquisition part can be automatically adjusted through control of the driving rope and the driving mechanism, the position of the image acquisition part is determined through the tracker, and the position of the image acquisition part can be automatically adjusted in cooperation with other surgical instruments and model reconstruction of preoperative CT and intraoperative positioning of a patient. Patient information such as anatomical structure point locations is rendered and displayed under the view of the image acquisition part, and view augmented reality navigation is achieved.

Description

Technical Field

[0001] The present invention belongs to the field of surgical equipment, and more specifically, relates to a wire-driven continuum arthroscope with a navigation function. Background Art

[0002] How to reconstruct a ligament that is closest to the normal cruciate ligament anatomy and biomechanical function is currently a key difficulty in the field of orthopedic sports medicine at home and abroad. Determining the position, morphology and bone tunnel of the ligament on the bone surface is the key to the success of the reconstruction surgery, and it is also a difficulty that the academic community has paid attention to for many years. The anatomical structure of the knee joint is complex, and the femoral intercondylar fossa where the anterior and posterior cruciate ligaments are located has great individual differences. The posterior part of the femoral condyle is adjacent to important nerves and blood vessels, all of which pose severe challenges to the surgeon's precise positioning and stability operations. At present, in clinical practice, surgeons mostly use handheld fixed-specification locators to manually locate the ligament attachment points under the field of view of the arthroscope. This method is greatly affected by the surgeon's subjective factors, and it is easy to cause jitter and deviation when drilling the bone tunnel. At the same time, the fixed-mode locator cannot meet the individual differences of patients. Summary of the invention

[0003] The purpose of the present invention is to address the deficiencies in the prior art and to provide a wire-driven continuum arthroscope with a navigation function. The arthroscope can automatically adjust the position of the image acquisition part through the control of a driving rope and a driving mechanism, and determine the position of the image acquisition part through a tracker. In conjunction with other surgical instruments and the patient's preoperative CT and intraoperative positioning model reconstruction, patient information such as anatomical structure points can be rendered and displayed under the field of view of the image acquisition part to achieve field of view augmented reality navigation.

[0004] In order to achieve the above object, the present invention provides a wire-driven continuum arthroscopy with navigation function, comprising:

[0005] The mirror arm part has a head end provided with a plurality of channels arranged along the length direction, the channels are evenly distributed along the circumference of the mirror arm part, a driving rope is arranged in the channel, and a dent structure is arranged on the outer peripheral surface of the mirror arm part;

[0006] An image acquisition part is arranged at the tail end of the mirror arm part, and the image acquisition part includes a tracker;

[0007] A positioning system is connected to the signal of the tracker, and the positioning system is connected to the driving rope through a driving mechanism.

[0008] Optionally, the indentation structure includes a horizontally curved indentation portion and a vertically curved indentation portion, the horizontally curved indentation portion includes a plurality of evenly distributed first indentations, the vertically curved indentation portion includes a plurality of evenly distributed second indentations, and the indentation directions of the first indentation and the second indentation are perpendicular to each other.

[0009] Optionally, the arm portion is a hollow structure, and a channel is provided on the outer peripheral side wall of the arm portion. A driving rope is provided in each of the channels, and the driving rope is connected to the rear end of the arm portion.

[0010] Optionally, a power supply harness and a data transmission harness connected to the image acquisition part are arranged in the hollow structure of the mirror arm part.

[0011] Optionally, the driving mechanism includes a plurality of electric winders, the electric winders are connected to the driving ropes in a one-to-one correspondence, and the control unit of the driving signal is connected to the motor of the electric winder.

[0012] Optionally, the image acquisition part is a fisheye pinhole lens.

[0013] Optionally, the tracker is a magnetic navigation tracker and the positioning system is an electromagnetic tracking system.

[0014] Optionally, the positioning system also includes a CT data import module and a patient posture coordinate positioning module.

[0015] Optionally, the fisheye pinhole lens and the magnetic navigation tracker are both arranged on the axis of the mirror arm part.

[0016] Optionally, the drive rope is made of stainless steel.

[0017] The present invention provides a wire-driven continuum arthroscopy with navigation function, which has the following beneficial effects:

[0018] 1. In the line-driven continuum arthroscopy with navigation function, the indentation structure, driven by the driving rope, enables the image acquisition part to achieve flexible steering observation of different levels and expand the observation field of view;

[0019] 2. When the arthroscope uses a magnetic navigation tracker to position the image acquisition part in a contactless manner, it can guide doctors to determine the positional relationship between the arthroscope and the patient's lesion;

[0020] 3. Under the field of view of the arthroscope, the anatomical structure information that can be obtained by preoperative fluoroscopy can be directly displayed, which increases the auxiliary content of intraoperative observation and navigation, and provides more accurate and safe surgical technical solutions for arthroscopic surgery.

[0021] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0023] Figure 1 A schematic structural diagram of a wire-driven continuum arthroscope with a navigation function according to an embodiment of the present invention is shown.

[0024] Description of reference numerals:

[0025] 1. Mirror arm part; 2. Driving rope; 3. Horizontal bending indentation part; 4. Vertical bending indentation part; 5. Fisheye pinhole lens; 6. Magnetic navigation tracker. DETAILED DESCRIPTION

[0026] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0027] The present invention provides a wire-driven continuum arthroscopy with navigation function, comprising:

[0028] The mirror arm part has a plurality of channels arranged along the length direction at the head end, the channels are evenly distributed along the circumference of the mirror arm part, a driving rope is arranged in the channel, and a dent structure is arranged on the outer peripheral surface of the mirror arm part;

[0029] An image acquisition part is arranged at the tail end of the mirror arm part, and the image acquisition part includes a tracker;

[0030] The positioning system is connected to the signal of the tracker, and the positioning system is connected to the driving rope through the driving mechanism.

[0031] Specifically, the arthroscope is provided with multiple channels on the arm part, and driving ropes are passed through the channels. Under the drive of the driving structure, the length of each driving rope can be changed, so that the arm part can be bent at different angles, so that the posture of the image acquisition part can be accurately adjusted to meet the individual differences of patients; after the arthroscope enters the patient's body, the tracker connected to the image acquisition part can be positioned by the positioning system, and then the positional relationship between the arthroscope and the patient's lesion can be obtained according to the patient's spatial position in the operating room, so that it can cooperate with other surgical instruments to work, and also understand the information of the patient's internal anatomical structure to realize field of view augmented reality navigation.

[0032] Optionally, the indentation structure includes a horizontally curved indentation portion and a vertically curved indentation portion, the horizontally curved indentation portion includes a plurality of evenly distributed first indentations, the vertically curved indentation portion includes a plurality of evenly distributed second indentations, and the indentation directions of the first indentation and the second indentation are perpendicular to each other.

[0033] Specifically, the outer surface of the arm portion is provided with indents for bending in the horizontal direction and in the vertical direction, respectively, so that when the arm portion is bent in two directions, the deformation of the arm portion caused by bending can be accommodated by the first indent and the second indent; because the indentation length of the first indent and the second indent into the arm portion is half of the circumference of the arm portion, the arm portion can bend sideways at a larger angle under the drive of the driving rope. In addition, taking the horizontal bending indent portion as an example, a plurality of first indents are provided in the region thereof and divided into two parts. When the arm portion is bent horizontally, one part of the first indents is located on the inner side of the horizontal bend, and the other part of the first indents is located on the outer side of the horizontal bend. The first indents of the two parts are also arranged in a high and low staggered arrangement, so that when the driving rope bends the arm portion, the driving rope does not need to exert too much force, thereby effectively ensuring the service life of the driving rope.

[0034] Optionally, the arm portion is a hollow structure, and a channel is arranged on the outer peripheral side wall of the arm portion. A driving rope is arranged in each channel, and the driving rope is connected to the rear end of the arm portion.

[0035] Optionally, a power supply harness and a data transmission harness connected to the image acquisition part are arranged in the hollow structure of the mirror arm part.

[0036] Specifically, in addition to the first indentation and the second indentation provided on the periphery of the arm part, the interior of the arm part is provided with a hollow structure, and the wiring harness for power supply and data transmission is passed through the hollow cavity and connected to the image acquisition part. No matter how the arm part is bent, the length of the wiring harness located in the hollow position will not change too much, thereby ensuring the normal transmission operation of the image acquisition part; a channel is opened on the side wall of the arm part, and the channel is interconnected at the positions of the first indentation and the second indentation, so that there is a driving rope in each channel to connect the rear end of the arm part. When the arm part needs to be bent, the length of the driving rope can be relatively adjusted, thereby driving the rear end of the arm part and the image acquisition part to change direction, thereby passing through different bone tunnel positions.

[0037] Optionally, the driving mechanism includes a plurality of electric winders, the electric winders are connected to the driving ropes in a one-to-one correspondence, and the control unit of the driving signal is connected to the motor of the electric winder.

[0038] Specifically, each drive rope is connected to an electric rope winder. When the arthroscope enters the patient's body, the electric rope winders are controlled to adjust the length of the drive rope according to the images obtained by the image acquisition part and the preoperative CT image. In this way, the tail end of the arm can drive the image acquisition part to turn, avoiding the bones and organs in the body to reach the lesion location.

[0039] Optionally, the image acquisition part is a fisheye pinhole lens.

[0040] Optionally, the tracker is a magnetic navigation tracker and the positioning system is an electromagnetic tracking system.

[0041] Optionally, the drive rope is made of stainless steel.

[0042] Specifically, the arthroscope uses a fisheye pinhole lens for image acquisition, which can increase the image acquisition angle and obtain more in vivo images. The fisheye pinhole lens is small in size, which makes it easier for the arthroscope to pass through the patient's body. A magnetic navigation tracker is used as a tracker, and the positioning system positions the fisheye pinhole lens through electromagnetic action. This contactless positioning method can help doctors understand the positional relationship between the arthroscope and the patient's lesion. The drive rope is usually made of stainless steel wire or other materials that are not easily elastically deformed.

[0043] Optionally, the positioning system also includes a CT data import module and a patient posture coordinate positioning module.

[0044] Specifically, in addition to being able to identify the position of the image acquisition part, the positioning system can also import the patient's preoperative CT image information through the import module, and locate the patient's position through the positioning module. In this way, the positioning system can determine the lesion location in the CT image and the patient's actual position, unify them, and then send them to the driving mechanism. According to the positioning position of the image acquisition part, it determines how to bend and adjust the arm part, and the image acquisition part can also display the condition of the patient's internal structure.

[0045] Optionally, the fisheye pinhole lens and the magnetic navigation tracker are both arranged on the axis of the mirror arm part.

[0046] Specifically, the fisheye pinhole lens and the magnetic navigation tracker are both arranged on the axis of the arm part, so that the magnetic navigation tracker can be used to quickly and accurately confirm the position and orientation of the fisheye pinhole lens, understand the patient's in-vivo information, and realize field of view augmented reality navigation.

[0047] Example

[0048] like Figure 1 As shown, the present invention provides a wire-driven continuum arthroscopy with navigation function, comprising:

[0049] The mirror arm part 1 has a plurality of channels arranged along the length direction at the head end, and the channels are evenly distributed along the circumference of the mirror arm part 1. A driving rope 2 is arranged in the channel, and a concave structure is arranged on the outer peripheral surface of the mirror arm part 1;

[0050] An image acquisition part is arranged at the tail end of the mirror arm part 1, and the image acquisition part includes a tracker;

[0051] The positioning system is connected to the signal of the tracker, and the positioning system is connected to the driving rope 2 through the driving mechanism.

[0052] In this embodiment, the indentation structure includes a horizontally curved indentation portion 3 and a vertically curved indentation portion 4. The horizontally curved indentation portion 3 includes a plurality of evenly distributed first indentations, and the vertically curved indentation portion 4 includes a plurality of evenly distributed second indentations. The indentation directions of the first indentation and the second indentation are perpendicular to each other.

[0053] In this embodiment, the arm portion 1 is a hollow structure, and channels are arranged on the peripheral side walls of the arm portion 1. A driving rope 2 is arranged in each channel, and the driving rope 2 is connected to the rear end of the arm portion.

[0054] In this embodiment, a power supply harness and a data transmission harness connected to the image acquisition part are arranged in the hollow structure of the mirror arm part 1.

[0055] In this embodiment, the driving mechanism includes a plurality of electric winders, the electric winders are connected to the driving ropes 2 in a one-to-one correspondence, and the control unit of the driving signal is connected to the motor of the electric winder.

[0056] In this embodiment, the image acquisition part is a fisheye pinhole lens 5 .

[0057] In this embodiment, the tracker is a magnetic navigation tracker 6, and the positioning system is an electromagnetic tracking system.

[0058] In this embodiment, the positioning system also includes a CT data import module and a patient posture coordinate positioning module.

[0059] In this embodiment, the fisheye pinhole lens 5 and the magnetic navigation tracker 6 are both arranged on the axis of the mirror arm part 1.

[0060] In this embodiment, the driving rope 2 is made of stainless steel.

[0061] In summary, the wire-driven continuum arthroscope with navigation function adopts a hollow tubular structure for the arm portion 1, and has first and second indentations arranged alternately on the tube wall, and also has four channels on the tube wall for placing the driving rope 2, so that the arm portion can be moved bidirectionally along two vertical directions; when the arthroscope is inserted into the patient's body, the control unit drives each electric winder to rotate according to the preoperative CT image and the patient's posture data, thereby tightening the driving rope 2 on one side and preventing the driving rope 2 on the opposite side from loosening, thereby achieving bending movement toward the tightened side; Step 1: Measure the three-dimensional coordinates of the magnetic navigation tracker 6 in the world coordinate system and the chessboard posture coordinates taken by the fisheye lens for hand-eye calibration, and obtain the internal parameters of the fisheye lens and the external parameters relative to the electromagnetic tracking coordinate system; use the electromagnetic tracking system to track the position information of the bone tissue on both sides of the patient's joints, and combine the external parameters of the fisheye pinhole lens 5 to obtain the relative position relationship between the camera imaging system and the human anatomical structure, use the lens internal parameters to obtain the projection relationship of the human anatomical structure in the arthroscopic field of view, and output the arthroscopic image rendered by augmented reality projection, so as to present more precise anatomical information in the arthroscopic field of view.

[0062] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A wire-driven continuum arthroscopy with navigation function, characterized in that: include: The mirror arm part has a head end provided with a plurality of channels arranged along the length direction, the channels are evenly distributed along the circumference of the mirror arm part, a driving rope is arranged in the channel, and a dent structure is arranged on the outer peripheral surface of the mirror arm part; An image acquisition part is arranged at the tail end of the mirror arm part, and the image acquisition part includes a tracker; A positioning system is connected to the signal of the tracker, and the positioning system is connected to the driving rope through a driving mechanism.

2. The wire-driven continuum arthroscopy with navigation function according to claim 1, characterized in that: The indentation structure includes a horizontally curved indentation portion and a vertically curved indentation portion, wherein the horizontally curved indentation portion includes a plurality of evenly distributed first indentations, and the vertically curved indentation portion includes a plurality of evenly distributed second indentations, wherein the indentation directions of the first indentation and the second indentation are perpendicular to each other.

3. The wire-driven continuum arthroscopy with navigation function according to claim 1, characterized in that: The arm part is a hollow structure, and a channel is arranged on the outer peripheral side wall of the arm part. A driving rope is arranged in each channel, and the driving rope is connected to the rear end of the arm part.

4. The wire-driven continuum arthroscopy with navigation function according to claim 3, characterized in that: A power supply harness and a data transmission harness connected to the image acquisition part are arranged in the hollow structure of the mirror arm part.

5. The wire-driven continuum arthroscopy with navigation function according to claim 1, characterized in that: The driving mechanism includes a plurality of electric winders, each of which is connected to the driving rope in a one-to-one correspondence, and the control unit of the driving signal is connected to the motor of the electric winder.

6. The wire-driven continuum arthroscopy with navigation function according to claim 1, characterized in that: The image acquisition part is a fisheye pinhole lens.

7. The wire-driven continuum arthroscopy with navigation function according to claim 6, characterized in that: The tracker is a magnetic navigation tracker, and the positioning system is an electromagnetic tracking system.

8. The wire-driven continuum arthroscopy with navigation function according to claim 7, characterized in that: The positioning system also includes a CT data import module and a patient posture coordinate positioning module.

9. The wire-driven continuum arthroscopy with navigation function according to claim 7, characterized in that: The fisheye pinhole lens and the magnetic navigation tracker are both arranged on the axis of the mirror arm part.

10. The wire-driven continuum arthroscopy with navigation function according to claim 1, characterized in that: The driving rope is made of stainless steel.

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