A surgical navigation system and method for fracture reduction

Abstract

The application provides a kind of fracture reduction surgery navigation system and method. Including: reduction assembly, including first fixing part, second fixing part and auxiliary restorer;Wherein, first fixing part, second fixing part are fixedly connected with first bone, second bone respectively, auxiliary restorer is movably connected between first fixing part and second fixing part, and can follow first fixing part, second fixing part movement in 360 ° space;Position data of first bone, second bone, first fixing part, second fixing part are acquired by intraoperative positioning device;Three-dimensional model acquisition module obtains the three-dimensional model of patient tissue and the three-dimensional model of reduction assembly, and according to position data, through simulation fixing module, fixing part model is fixed to corresponding bone model and makes second bone model and first bone model joint, obtains auxiliary restorer model reduction parameter to guide actual reduction, so that the reduction of bone is quickly and accurately realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical assistance, in particular to a fracture reduction surgery navigation system and method. BACKGROUND

[0002] When femoral neck fracture needs to be treated by surgery, according to various factors such as fracture site, displacement condition and patient age, any one of the following surgical procedures can be selected for treatment: closed reduction internal fixation, open reduction internal fixation, closed / open reduction external fixation and artificial hip joint replacement.

[0003] In the medical care process, the bone needs to be fixed and reduced. The existing reduction method relies on the experience of doctors to judge, and X-ray films need to be taken to verify after each adjustment of reduction in the operation. When the effect is not good, repeated reduction and X-ray films need to be taken.

[0004] The above method has low surgical efficiency, and is prone to poor intraoperative reduction, leading to postoperative nonunion of fracture, even femoral head necrosis and other problems. In addition, in the case of complex conditions such as fracture rotation and excessive displacement, the operation is complex and it is difficult to accurately reduce. SUMMARY

[0005] The fracture reduction surgery navigation system and method provided by the embodiments of the present application solve the problem that doctors are difficult to quickly and accurately reduce the bone involved in the fracture in the prior art.

[0006] In a first aspect, the embodiments of the present application provide a bone fracture reduction surgery navigation system, comprising: a reduction assembly, comprising a first fixing member, a second fixing member and an auxiliary reduction device; wherein the first fixing member is fixedly connected with a first bone, the second fixing member is fixedly connected with a second bone, and the first bone and the second bone are at least partially separated; the auxiliary reduction device is movably connected between the first fixing member and the second fixing member, and the auxiliary reduction device comprises a plurality of movably connected components; the sum of degrees of freedom of the kinematic pairs formed between the first fixing member, the second fixing member and the plurality of components is at least 6; wherein the kinematic pairs formed between the first fixing member, the second fixing member and the plurality of components can provide at least three rotational degrees of freedom, so that at least part of the components can rotate around a first axis, a second axis and a third axis, and the auxiliary reduction device can move with the first fixing member and the second fixing member in a 360° space, and the first axis, the second axis and the third axis are perpendicular to each other; an intraoperative positioning device, configured to obtain position data of the first bone, position data of the second bone, position data of the first fixing member and position data of the second fixing member; a three-dimensional model acquisition module, configured to obtain a three-dimensional model of patient tissue and a three-dimensional model of the reduction assembly; the three-dimensional model of patient tissue comprises a first bone model corresponding to the first bone and a second bone model corresponding to the second bone; the three-dimensional model of the reduction assembly comprises a first fixing member model corresponding to the first fixing member, a second fixing member model corresponding to the second fixing member and an auxiliary reduction device model corresponding to the auxiliary reduction device; a simulation fixing module, configured to fix the first fixing member model to the first bone model and fix the second fixing member model to the second bone model according to the position data obtained by the intraoperative positioning device; a simulation reduction module, configured to make the second bone model engage with the first bone model to realize virtual reduction, and obtain a reduction parameter of the auxiliary reduction device model to guide actual reduction.

[0007] In a possible implementation, at least one of the plurality of components can move along at least one of the first axis, the second axis and the third axis to provide at least one translational degree of freedom.

[0008] In a possible implementation, the three-dimensional model of patient tissue comprises at least one of a preoperative tissue three-dimensional model and an intraoperative tissue three-dimensional model.

[0009] In a possible implementation, when the three-dimensional model of patient tissue is the preoperative tissue three-dimensional model, the bone fracture reduction surgery navigation system further comprises: a pre-reduction module, configured to determine a virtual reduction position between the first bone model and the second bone model according to the preoperative tissue three-dimensional model; and the simulation reduction module is configured to realize virtual reduction according to the virtual reduction position.

[0010] In a possible implementation, the intraoperative positioning device comprises at least one of a medical imaging device and a medical positioning device; the medical imaging device is configured to acquire intraoperative imaging data of the first bone, intraoperative imaging data of the second bone, intraoperative imaging data of the first fixing member, and intraoperative imaging data of the second fixing member; the medical positioning device is configured to acquire intraoperative position data of the first bone, intraoperative position data of the second bone, intraoperative position data of the first fixing member, and intraoperative position data of the second fixing member.

[0011] In a possible implementation, the intraoperative imaging data comprises transmission images at at least two different angles.

[0012] In a possible implementation, the intraoperative imaging data comprises coronal plane transmission images and sagittal plane transmission images.

[0013] In a possible implementation, the plurality of movably connected members comprises: a first connecting member movably connected to the first fixing member; a second connecting member movably connected to the second fixing member to rotate around the first axis; and an intermediate connecting member movably connected between the first connecting member and the second connecting member, and movably connected to the first connecting member to rotate around the second axis and to the second connecting member to rotate around the third axis; wherein the first connecting member slides along the first fixing member and / or the second connecting member slides along the second fixing member; and the intermediate connecting member moves along the axis of the second axis and / or the intermediate connecting member moves along the axis of the third axis.

[0014] In a possible implementation, the first connecting member, the second connecting member, and the intermediate connecting member are each provided with angle scale lines, at least one of the first fixing member and the second fixing member is provided with length scale lines, and at least one of the first connecting member, the second connecting member, and the intermediate connecting member is provided with length scale lines.

[0015] In a possible implementation, the first connecting member comprises a main body portion and a connecting portion connected to each other, the main body portion is movably connected to the first fixing member, and the connecting portion is movably connected to the intermediate connecting member; the second connecting member comprises a rotating portion and a guiding portion connected to each other, the rotating portion is movably connected to the second fixing member, and the guiding portion extends away from the second fixing member; and the intermediate connecting member comprises a guiding sleeve and a guiding shaft connected to each other, the guiding sleeve is sleeved on the guiding portion, and the guiding shaft is movably connected to the connecting portion.

[0016] In a possible implementation, the rotating portion is a semicircular plate, and the semicircular plate is attached to an outer wall surface of the second fixing member.

[0017] In a possible implementation, the first connecting member, the second connecting member, and the intermediate connecting member are each provided with a locking portion.

[0018] In a second aspect, the embodiments of the present application provide a bone fracture reduction surgery navigation method, which is applied to the bone fracture reduction surgery navigation system of the first aspect and / or various possible embodiments of the first aspect, and includes: acquiring intraoperative positioning data, the intraoperative positioning data including position data of a first bone, position data of a second bone, position data of a first fixing member, and position data of a second fixing member; acquiring a three-dimensional model of a patient tissue and a three-dimensional model of a reduction assembly; the three-dimensional model of the patient tissue including a first bone model corresponding to the first bone and a second bone model corresponding to the second bone; the three-dimensional model of the reduction assembly including a first fixing member model corresponding to the first fixing member, a second fixing member model corresponding to the second fixing member, and an auxiliary reduction device model corresponding to an auxiliary reduction device; fixing the first fixing member model to the first bone model and fixing the second fixing member model to the second bone model according to the position data acquired by the intraoperative positioning device; making the first bone model and the second bone model joint to realize virtual reduction, and obtaining a reduction parameter of the auxiliary reduction device model; and adjusting an orthopedic parameter corresponding to the auxiliary reduction device in actual surgery according to the reduction parameter.

[0019] In a possible implementation, when the position data acquired by the intraoperative positioning device includes first bone images, second bone images, first fixing member images, and second fixing member images acquired based on a medical imaging device, fixing the first fixing member model to the first bone model and fixing the second fixing member model to the second bone model includes: aligning the first bone model with the first bone images, aligning the second bone model with the second bone images, and aligning the first fixing member model with the first fixing member images and aligning the second fixing member model with the second fixing member images; fixing the aligned first fixing member model to the first bone model, and fixing the aligned second fixing member model to the second bone model.

[0020] In a possible implementation, when the position data acquired by the intraoperative positioning device includes first bone intraoperative positions, second bone intraoperative positions, first fixing member intraoperative positions, and second fixing member intraoperative positions acquired based on a medical positioning device, fixing the first fixing member model to the first bone model and fixing the second fixing member model to the second bone model includes: positioning the first bone model at a position corresponding to the first bone intraoperative position, positioning the second bone model at a position corresponding to the second bone intraoperative position, positioning the first fixing member model at a position corresponding to the first fixing member intraoperative position, and positioning the second fixing member model at a position corresponding to the second fixing member intraoperative position; fixing the positioned first fixing member model to the first bone model, and fixing the positioned second fixing member model to the second bone model.

[0021] In a third aspect, the embodiments of the present application provide a computer device, which includes: a memory and a processor; the memory stores computer execution instructions; and the processor executes the computer execution instructions stored in the memory, so that the processor executes the bone fracture reduction surgery navigation method described above.

[0022] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, which stores computer execution instructions. The computer execution instructions are used to execute the bone fracture reduction surgery navigation method.

[0023] In a fifth aspect, the embodiments of the present application provide a computer program product, which includes a computer program. The computer program is used to execute the bone fracture reduction surgery navigation method.

[0024] The bone fracture reduction surgery navigation system and method provided by the embodiments of the present application include a reduction assembly, an intraoperative positioning device, a three-dimensional model acquisition module, a simulation fixing module and a simulation reduction module. The reduction assembly includes a first fixing member and a second fixing member which are respectively fixedly connected with a first bone and a second bone, and an auxiliary reduction device which is movably connected between the first fixing member and the second fixing member. The auxiliary reduction device includes a plurality of movably connected components. The sum of the degrees of freedom of the kinematic pairs formed between the first fixing member, the second fixing member and the plurality of components is at least 6. The kinematic pairs formed between the first fixing member, the second fixing member and the plurality of components can provide at least three rotational degrees of freedom, so that at least part of the components can rotate around a first axis, a second axis and a third axis which are perpendicular to each other, and the auxiliary reduction device can move in a 360° space together with the first fixing member and the second fixing member.

[0025] The three-dimensional model acquisition module can acquire a three-dimensional model of a patient tissue and a three-dimensional model of the reduction assembly. The three-dimensional model of the patient tissue includes a first bone model and a second bone model related to a fracture site. The simulation fixing module can fix a first fixing member model to the first bone model and a second fixing member model to the second bone model according to position data of the first bone, the second bone, a first fixing device and a second fixing device acquired by the intraoperative positioning device, so that the virtual model can accurately reflect the relative position relationship between the first bone and the first fixing member and the relative position relationship between the second bone and the second fixing member while clearly reflecting the characteristics of the first bone and the second bone.

[0026] The simulation reduction module can adjust the relative position between the first bone model and the second bone model to make the first bone model and the second bone model joint along a fracture and achieve virtual reduction. During the adjustment of the joint of the first bone model and the second bone model, the auxiliary reduction device model movably connected with the first fixing member and the second fixing member can adjust the position and posture following the movement of the first bone model and the second bone model, so that the reduction parameters of the obtained auxiliary reduction device model can be used to guide the actual surgery reduction process.

[0027] By restoring the relative position relationship between the first fixing member and the first bone and the relative position relationship between the second fixing member and the second bone to the virtual model in the surgery and adjusting the virtual model to make the first bone and the second bone virtually joint, and guiding the actual surgery reduction process based on the reduction parameters obtained in the simulation reduction, the problem that the doctor is difficult to quickly and accurately realize the reduction of the first bone and the second bone involved in the fracture in the prior art is solved, the cumbersome process of repeatedly reducing operation and shooting X-ray film for verification one by one in the actual surgery is saved, and the accuracy of the fracture reduction is improved. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application. Those skilled in the art can also obtain other drawings according to these drawings without creating any creative labor.

[0029] Figure 1 A schematic diagram of a fracture reduction surgery navigation system provided by an embodiment of the present application;

[0030] Figure 2 A schematic diagram of intraoperative image data provided by an embodiment of the present application;

[0031] Figure 3 A schematic diagram of another fracture reduction surgery navigation system provided by an embodiment of the present application;

[0032] Figure 4 A schematic diagram of the state of aligning the first bone model and the second bone model according to the intraoperative image data by the aligning unit provided by an embodiment of the present application;

[0033] Figure 5 A schematic diagram of the state of fixing the first fixing member model and the second fixing member to the first bone model and the second bone model according to the intraoperative image data by the fixing unit provided by an embodiment of the present application;

[0034] Figure 6 A schematic diagram of another fracture reduction surgery navigation system provided by an embodiment of the present application;

[0035] Figure 7 A schematic diagram of another fracture reduction surgery navigation system provided by an embodiment of the present application;

[0036] Figure 8 A structural schematic diagram of a reduction assembly provided by an embodiment of the present application;

[0037] Figure 9 A Figure 8 A partial enlarged view of an auxiliary reducer in the middle;

[0038] Figure 10 A state diagram of the simulation reset module provided by an embodiment of the present application is engaged;

[0039] Figure 11 Another state diagram of the simulation reset module provided by an embodiment of the present application is engaged;

[0040] Figure 12 A flow diagram of a fracture reset surgery navigation method provided by an embodiment of the present application.

[0041] Explanation of reference signs:

[0042] 101a-first bone image; 102a-second bone image; 101b-first bone model; 102b-second bone model;

[0043] 200-reset assembly; 210-first fixing member; 220-second fixing member; 230-assistant reset device; 210a-image of the first fixing member; 220a-image of the second fixing member; 210b-model of the first fixing member; 220b-model of the second fixing member; 230b-model of the assistant reset device;

[0044] 231-first connecting member; 2311-main body part; 2312-connecting part; 2313-first locking part; 232-second connecting member; 2321-rotating part; 2322-guiding part; 233-intermediate connecting member; 2331-guiding sleeve; 2332-guiding shaft; 2333-third locking part;

[0045] 300-intraoperative positioning device; 400-three-dimensional model acquisition module; 500-simulation fixing module; 510-alignment unit; 520-fixing unit; 530-positioning unit; 600-simulation reset module; 610-parameter acquisition unit; 620-reset unit; 700-pre-reset module. DETAILED DESCRIPTION

[0046] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0047] The embodiments of the present application provide a fracture reset surgery navigation system and method, which are used for assisting fracture surgery treatment. The fracture surgery treatment that can be assisted can cover common fracture types, such as forearm fracture, upper arm fracture, thigh fracture, femoral neck fracture and wrist joint fracture.

[0048] The following is an example of a femoral neck fracture. Femoral neck fracture refers to a fracture that occurs in the femoral neck of the thigh bone. The femoral neck is located near the hip joint and is the part that connects the femoral head and the femoral shaft. Femoral neck fractures are common in older adults, especially in patients with osteoporosis, as their bones are more fragile and can easily fracture under the action of a fall or slight external force.

[0049] Femoral neck fractures can be classified into different types according to the location and degree of the fracture, such as medial fracture, lateral fracture, and complete fracture. The treatment method depends on the type of fracture, the age and health status of the patient. Common treatment methods include:

[0050] (1) Non-surgical treatment: suitable for less unstable fractures, usually including bed rest, traction and physical therapy.

[0051] (2) Surgical treatment: for most femoral neck fractures, especially displaced fractures, surgery is the preferred treatment method. Surgical methods include internal fixation (using screws, steel plates, etc. to fix the fracture) and joint replacement (partial or total hip replacement).

[0052] As described in the background, in surgical treatment, the existing reduction method relies mainly on the experience of the doctor. After each adjustment of the reduction during the operation, an X-ray film is taken to verify the effect of the reduction, and when the effect is not good, repeated reduction and X-ray film taking are required. The operation is time-consuming and inefficient, and it is also easy to cause postoperative nonunion of the fracture and even femoral head necrosis due to poor intraoperative reduction. In addition, in complex cases such as fracture rotation and excessive displacement, the operation is complex and it is difficult to achieve precise reduction based on experience.

[0053] Therefore, the embodiments of the present application provide a bone fracture reduction surgery navigation system and method, which includes a reduction assembly, an intraoperative positioning device, a three-dimensional model acquisition module, a simulation fixation module, and a simulation reduction module. The reduction assembly includes a first fixing member and a second fixing member fixedly connected to a first bone and a second bone, respectively, and an auxiliary reduction device movably connected between the first fixing member and the second fixing member. Moreover, the auxiliary reduction device includes a plurality of movably connected components, and the sum of the degrees of freedom of the kinematic pairs formed between the first fixing member, the second fixing member, and the plurality of components is at least 6. Among them, the kinematic pairs formed between the first fixing member, the second fixing member, and the plurality of components can provide at least 3 degrees of rotational freedom, so that at least part of the components can rotate around the first axis, the second axis, and the third axis, which are perpendicular to each other, so that the auxiliary reduction device can move in a 360° space following the first fixing member and the second fixing member.

[0054] The three-dimensional model acquisition module can acquire a three-dimensional model of the patient's tissue and a three-dimensional model of the aforementioned reduction assembly. The three-dimensional model of the patient's tissue includes a first bone model and a second bone model related to the fracture site. The simulation fixation module can fix the first fixture model to the first bone model and the second fixture model to the second bone model based on the positional data of the first bone, the second bone, the first fixture, and the second fixture acquired by the intraoperative positioning device. This allows the virtual model to accurately reflect the relative positional relationship between the first bone and the first fixture, as well as the relative positional relationship between the second bone and the second fixture, during the operation, while clearly reflecting the characteristics of the first and second bones.

[0055] The simulated reduction module adjusts the relative position between the first and second bone models to engage them along the fracture site and achieve virtual reduction. During this process, the auxiliary reducer model, flexibly connected to the first and second fixtures, can freely adjust its position and posture to follow the movements of the first and second bone models. The resulting reduction parameters of the auxiliary reducer model can then be used to guide the actual surgical reduction process.

[0056] With this arrangement, the relative positional relationship between the first fixing part and the first bone, and the relative positional relationship between the second fixing part and the second bone during the operation are restored to the virtual model, and the virtual model is adjusted to virtually connect the first bone and the second bone. The actual surgical reduction process is guided based on the reduction parameters obtained based on the simulated reduction. This solves the problem in the prior art that it is difficult for doctors to quickly and accurately reduce the first bone and the second bone involved in the fracture, eliminates the tedious process of repeated reduction operations and taking X-rays for verification one by one during actual surgery, and also improves the accuracy of fracture reduction.

[0057] The fracture reduction surgical navigation system and method provided in the embodiments of the present application are described in detail below.

[0058] It is understandable that the fracture site may cause the original bone to split into two or two bones to adhere to each other. Hereinafter, the two bones involved in the fracture site are referred to as the first bone and the second bone, and the first bone and the second bone are at least partially separated.

[0059] Figure 1 This is a schematic diagram of a fracture reduction surgical navigation system provided in an embodiment of the present application. Figure 1 As shown, the fracture reduction surgical navigation system provided in an embodiment of the present application includes a reduction assembly 200, an intraoperative positioning device 300, a three-dimensional model acquisition module 400, a simulated fixation module 500, and a simulated reduction module 600. The intraoperative positioning device 300, the three-dimensional model acquisition module 400, the simulated fixation module 500, and the simulated reduction module 600 are electrically connected.

[0060] The reset assembly 200 is connected with the first bone and the second bone, and can provide support for stable connection of the first bone and the second bone, and the reset assembly 200 can also move along with the movement of the first bone and the second bone. Meanwhile, the intraoperative positioning device 300 can acquire intraoperative positioning data of the first bone, the second bone and at least part of the reset assembly 200, the three-dimensional model acquisition module 400 can acquire a three-dimensional model of the reset assembly 200, and be used for subsequent virtual reset of the simulation reset module 600, and finally the reset parameters of the reset assembly 200 of the first bone and the second bone when the virtual reset is completed can be obtained, so as to guide the actual surgical reset.

[0061] The reset assembly 200 includes a first fixing member 210, a second fixing member 220 and an auxiliary resetter 230 (see Figure 8 、 Figure 10 、 Figure 11 illustrated). The first fixing member 210 is fixedly connected with the first bone, the second fixing member 220 is fixedly connected with the second bone, and the auxiliary resetter 230 is movably connected between the first fixing member 210 and the second fixing member 220. The auxiliary resetter 230 includes a plurality of movably connected members. The sum of degrees of freedom of the kinematic pairs formed between the first fixing member 210, the second fixing member 220 and the plurality of members is at least 6.

[0062] The kinematic pairs formed between the first fixing member 210, the second fixing member 220 and the plurality of members can provide at least three rotational degrees of freedom, so that at least part of the members can rotate around the first axis, the second axis and the third axis, and the auxiliary resetter 230 can move in a 360° space along with the first fixing member 210 and the second fixing member 220, and the first axis, the second axis and the third axis are perpendicular to each other. The first axis can be along the x-axis direction of the coordinate system, the second axis can be along the y-axis direction of the coordinate system, and the third axis can be along the z-axis direction of the coordinate system. It can be understood that the first axis, the second axis and the third axis can be established according to the need, and the first axis, the second axis and the third axis are perpendicular to each other, and the first axis, the second axis and the third axis are perpendicular to each other. In the drawings, only the first axis, the second axis and the third axis are marked for explanation and description, and are not specifically limited. At least part of the members can rotate around the first axis, the second axis and the third axis, which can be relative rotation around the first axis, the second axis and the third axis, and is not specifically limited.

[0063] To improve the connection stability between the plurality of components in the auxiliary repositioning device 230 or to achieve further obstacle avoidance in complex environments and increase flexibility, the sum of the degrees of freedom of the kinematic pairs formed between the first fixing member 210, the second fixing member 220 and the plurality of components can also be greater than 6. For example, the adjustment of the position and attitude of the auxiliary repositioning device 230 can be achieved by combining a plurality of relative rotating joints, such as a seven-axis robot arm or the like. It should be noted that the kinematic pairs formed between the first fixing member 210, the second fixing member 220 and the plurality of components can be any form or any combination of a rotating pair, a spherical pair, a cylindrical pair, a moving pair, a planar pair and a helical pair, and are not limited herein.

[0064] In this way, the auxiliary repositioning device 230 can correspondingly move according to the relative position change of the first bone and the second bone, achieve adjustment of its position and spatial attitude, and flexibly achieve its supporting effect. It can be understood that the specific structure of the auxiliary repositioning device 230 can be designed according to actual conditions, and the present embodiment is not limited in this regard.

[0065] As an implementation manner, at least one of the first fixing member 210 and the second fixing member 220 can include only one fixing nail to reduce the damage to the bone tissue during the operation. For example, the first fixing member 210 and the second fixing member 220 each include only one fixing nail.

[0066] As another implementation manner, at least one of the first fixing member 210 and the second fixing member 220 can include at least two fixing nails and a connecting block. For example, the first fixing member 210 includes two fixing nails and a connecting block. Both of the two fixing nails are fixedly connected with the connecting block, for example, can be threadedly connected, welded, clamped or the like, and are not limited herein. Moreover, the two fixing nails are used to be fixed with the first bone 101, and the two fixing nails are connected with the auxiliary repositioning device 230 through the connecting block. At this time, the connecting block is one of the rotation references of the auxiliary repositioning device 230.

[0067] Since during the bone fracture reduction operation, the doctor will first fix the first fixing member 210 to the first bone and fix the second fixing member 220 to the second bone to provide a supporting basis, then adjust the relative position between the first bone and the second bone to achieve the engagement between the first bone and the second bone, and complete the supporting reduction through the repositioning assembly 200. Therefore, the bone fracture reduction navigation system provided in the present application needs to acquire the position data of the first bone, the position data of the second bone, the position data of the first fixing member 210 and the position data of the second fixing member 220 through the intraoperative positioning device 300.

[0068] As an implementation, the intraoperative positioning device 300 can include at least one of a medical imaging device and a medical positioning device. The medical imaging device can acquire intraoperative imaging data of the first bone, intraoperative imaging data of the second bone, intraoperative imaging data of the first fixing member 210, and intraoperative imaging data of the second fixing member 220. The medical positioning device can acquire intraoperative position data of the first bone, intraoperative position data of the second bone, intraoperative position data of the first fixing member 210, and intraoperative position data of the second fixing member 220.

[0069] The intraoperative positioning device 300 can be connected to the three-dimensional model acquisition module 400 and the simulation fixing module 500 through a data interface. The data interface can be a hardware interface, such as a universal serial bus (USB) interface, a network interface, etc., or a software interface, such as an application programming interface (API), a Web service, etc.

[0070] For example, the intraoperative positioning device 300 can be connected to the medical imaging device or the medical positioning device through a network interface to acquire intraoperative positioning data from the medical imaging device or the medical positioning device. In this way, the intraoperative positioning data can be transmitted at a high speed, and the connection is stable and safe. Alternatively, the intraoperative positioning device 300 can be connected to a storage device through a USB interface, and the storage device stores intraoperative imaging data or intraoperative position data to acquire corresponding intraoperative positioning data. In this way, the intraoperative positioning device 300 can be plug-and-play, and has strong compatibility.

[0071] As an implementation, the intraoperative positioning device 300 can be a medical imaging device, which can be an X-ray machine. Specifically, the intraoperative imaging data can be X-ray imaging data. In some embodiments, the intraoperative imaging data includes at least two transmission images at different angles. By providing multiple X-ray transmission images at different angles, the relative positional relationship of the first bone, the second bone, the first fixing member 210, and the second fixing member 220 can be more accurately obtained, and the simulation reduction accuracy of the system can be improved.

[0072] Figure 2 A schematic diagram of the intraoperative imaging data provided by an embodiment of the present application is shown. For example, the intraoperative imaging data can include a coronal plane transmission image (see FIG. 2(a)) and a sagittal plane transmission image (see FIG. 2(b)). Figure 2 Figure 2 ​(b)). Coronal radiographs are X-ray images acquired in the coronal plane (also called the frontal plane). The coronal plane divides the body into two vertical sections, front and back. Therefore, coronal radiographs can provide information about the front-to-back relationship of bone structures. Sagittal radiographs are X-ray images acquired in the sagittal plane. The sagittal plane divides the body into left and right sections, allowing for visualization of the left-right relationship of bone structures and providing detailed information about the internal structure of bones.

[0073] The two transmission images at different angles can spatially determine the relative positional relationship between the first bone and the first fixture 210, as well as the relative positional relationship between the second bone and the second fixture 220. This allows the actual intraoperative position of the first fixture 210 and the first bone, as well as the actual position of the second fixture 220 and the second bone, to be accurately reflected on the corresponding virtual model.

[0074] As another embodiment, the intraoperative positioning device 300 can also be a medical positioning device. Generally, a medical positioning device includes a locator and a sensor. Among them, the sensor can be used to detect and measure parameters such as the position, angle, distance, etc. of the part to be positioned. The locator can determine the specific position of the detected object by receiving satellite signals or other positioning signals. For example, the sensor can be fixed on the tissue of the patient to be positioned or on the surgical tool. After the sensor collects the physical parameters of the patient's tissue or the surgical tool, the collected data can be transmitted to the locator or computer system for real-time processing and display. It should be noted that the sensor can be an optical sensor, a magnetic sensor, an inertial sensor, etc., and this embodiment does not specifically limit it.

[0075] Specifically, multiple sensors may be included, and each of the sensors may be fixed to the first bone, the second bone, the first fixture 210, and the second fixture 220. The data transmitted by the sensors may be processed by a positioning device to obtain the spatial coordinates of the first bone, the second bone, the first fixture 210, and the second fixture 220. The spatial coordinates of the first bone, the second bone, the first fixture 210, and the second fixture 220 may be represented as position data for the first bone, the second bone, the first fixture 210, and the second fixture 220. This provides corresponding intraoperative positioning data for the simulated fixation module 500.

[0076] The three-dimensional model acquisition module 400 can acquire a three-dimensional model of the patient tissue and a three-dimensional model of the reduction assembly 200. Specifically, the three-dimensional model of the patient tissue includes a first bone model corresponding to the first bone and a second bone model corresponding to the second bone. The three-dimensional model of the reduction assembly 200 includes a first fixing member model 210b corresponding to the first fixing member 210, a second fixing member model 220b corresponding to the second fixing member 220, and an auxiliary reducer model 230b corresponding to the auxiliary reducer. Specifically, the auxiliary reducer model 230b can include a first connecting member model, a second connecting member model, and an intermediate connecting member model.

[0077] The three-dimensional model of the patient tissue can be obtained by three-dimensional reconstruction. Specifically, the three-dimensional reconstruction first needs to obtain a tomographic image slice including the tissue of the patient to be modeled by a medical imaging device. It should be noted that the medical imaging device herein can also be a computed tomography (CT) device or a magnetic resonance imaging (MRI) device, etc., which is not specifically limited herein. After obtaining the tomographic image slice, one or more image processing processes such as filtering and denoising, sharpening, binarization, and edge extraction can be performed to enhance the quality of the tomographic image slice and extract useful information, thereby realizing three-dimensional model reconstruction of the tissue to be modeled and obtaining the three-dimensional model of the patient tissue.

[0078] It should be noted that the three-dimensional model reconstruction can be automatic reconstruction or semi-automatic reconstruction, which is not specifically limited in the present embodiment. Automatic reconstruction can be realized by an artificial intelligence (AI) modeling algorithm. Specifically, the AI modeling algorithm can be a modeling algorithm based on a neural network algorithm, a deep learning algorithm, or a machine learning algorithm. This helps the operator to more efficiently complete the reconstruction of the three-dimensional model. Alternatively, the three-dimensional model reconstruction can also be semi-automatic reconstruction, that is, a combination of manual operation by the user and algorithm to adapt to changes in specific operation requirements.

[0079] The three-dimensional model of the patient tissue can include at least one of a preoperative tissue three-dimensional model and an intraoperative tissue three-dimensional model, which is not specifically limited in the present embodiment. The preoperative tissue three-dimensional model refers to a three-dimensional model of the tissue that has been reconstructed before the patient undergoes surgery, and the intraoperative tissue three-dimensional model refers to a three-dimensional model of the tissue that is temporarily reconstructed when the patient undergoes surgery.

[0080] Generally, the more the number of tomographic image slices, the higher the accuracy of the reconstructed three-dimensional model, but the longer the required imaging examination time, and the time required for three-dimensional model reconstruction will also increase.

[0081] As an implementation, the three-dimensional model of the patient tissue can be a preoperative three-dimensional model of the patient tissue, that is, the patient is scanned by a medical imaging device before the operation, and a three-dimensional model of the patient tissue is reconstructed before the operation. In this way, the medical imaging scanning and the temporary reconstruction of the three-dimensional model of the tissue in the operation can be avoided, so that the operation time can be shortened, and the operation risk caused by the long operation time and the doctor leaving the operating room for imaging scanning can be reduced.

[0082] As another implementation, the three-dimensional model of the patient tissue can be an intraoperative three-dimensional model of the patient tissue, that is, the patient is scanned by a medical imaging device during the operation, and a three-dimensional model of the patient tissue is reconstructed during the operation. In this way, the difference between the preoperative three-dimensional model of the tissue and the actual intraoperative state of the patient tissue caused by the change of the patient's position, posture or body state during the operation can be avoided, so that the reconstructed three-dimensional model of the tissue is completely consistent with the intraoperative state of the patient tissue, and the accuracy of the operation navigation is improved.

[0083] The three-dimensional model of the reduction assembly 200 can be obtained by a three-dimensional design tool, or can be obtained by scanning the reduction assembly 200 by a three-dimensional scanner and reconstructing in three dimensions, and the embodiment is not limited specifically.

[0084] Similarly, the three-dimensional model acquisition module 400 can be connected with the medical imaging device, the three-dimensional design tool storage device and the three-dimensional scanner through a data interface. The data interface can be a hardware interface such as a USB interface, a network interface, etc., or a software interface such as an API, a Web Service, etc. For example, the three-dimensional model acquisition module 400 can access a three-dimensional model storage address through an API interface to acquire a three-dimensional model.

[0085] The simulation fixing module 500 can fix the first fixing member model 210b to the first bone model 101b and fix the second fixing member model 220b to the second bone model 102b according to the position data acquired by the intraoperative positioning device 300. So that the first fixing member model 210b can move with the movement of the first bone model 101b, and the second fixing member model 220b can move with the movement of the second bone model 102b.

[0086] The simulation reduction module 600 is used to engage the second bone model 102b with the first bone model 101b to achieve virtual reduction, and the reduction parameter of the auxiliary reduction device model 230b can be obtained to guide the actual reduction.

[0087] Figure 3 Another schematic diagram of a bone fracture reduction operation navigation system provided by the embodiment of the application. Figure 4 A state diagram in which the alignment unit aligns the first bone model and the second bone model according to the intraoperative imaging data. Figure 5 A schematic diagram of a state in which the fixing unit provided in an embodiment of the present application fixes the first fixing member model and the second fixing member to the first bone model and the second bone model according to intraoperative imaging data. Figure 6 This is a schematic diagram of another fracture reduction surgical navigation system provided in an embodiment of the present application.

[0088] Reference Figure 3 As shown, as an embodiment, the simulation fixation module 500 includes an alignment unit 510 and a fixation unit 520. In this case, the intraoperative positioning device 300 is a medical imaging device, and the first bone image 101a, the second bone image 102a, the first fixation member image 210a, and the second fixation member image 220a can be obtained through the medical imaging device. The alignment unit 510 is used to align the first bone model 101b and the second bone model 102b with the first bone image 101a and the second bone image 102a in the intraoperative imaging data (see Figure 4 As shown, Figure 4 (a) is the coronal transmission image. Figure 4 (b) is a sagittal plane transmission image), and the first fixture model 210b and the second fixture model 220b are aligned with the first fixture image 210a and the second fixture image 220a in the intraoperative image data. The fixing unit 520 is used to fix the aligned first fixture model 210b on the first bone model 101b, and to fix the aligned second fixture model 220b on the second bone model 102b (see Figure 5 As shown, Figure 5 (a) is the fixed state under the coronal transmission angle. Figure 5 (b) in the figure is the fixed state under the sagittal plane transmission angle).

[0089] Such a setting can ensure that the three-dimensional model can accurately reflect the relative positions between the first fixation member 210 and the first bone and the second fixation member 220 and the second bone during the operation, and the first fixation member model 210b and the second fixation member model 220b will move following the movement of the first bone model 101b and the second bone model 102b.

[0090] It should be understood that when the first fixture 210 in the reduction assembly 200 includes at least two fixing pins and a connecting block, when both fixing pin models are aligned with the images in the intraoperative imaging data, the axial rotation angle of the connecting block model fixedly connected to the two fixing pin models remains consistent with the axial rotation angle of the connecting block. This arrangement further enhances the stability of the connection, adapts to a wider range of surgical requirements, and achieves accurate alignment during operation.

[0091] Reference Figure 6As another implementation, the simulation fixing module 500 can also include a positioning unit 530 and a fixing unit 520, as shown. At this time, the intraoperative positioning device 300 is a medical positioning device, and the first bone model 101b and the second bone model 102b can be positioned to positions corresponding to the spatial coordinates of the first bone and the second bone according to the spatial coordinates of the first bone, the spatial coordinates of the second bone, the spatial coordinates of the first fixing member 210, and the spatial coordinates of the second fixing member 220 acquired by the medical positioning device, and the first fixing member model 210b and the second fixing member model 220b can be positioned to positions corresponding to the spatial coordinates of the first fixing member 210 and the spatial coordinates of the second fixing member 220.

[0092] The fixing unit 520 is configured to fix the positioned first fixing member model 210b on the first bone model 101b, and fix the positioned second fixing member model 220b on the second bone model 102b, so that the first fixing member model 210b and the second fixing member model 220b can move with the movement of the first bone model 101b and the second bone model 102b.

[0093] With reference to the foregoing description of the simulation fixing module 500, the simulation reduction module 600 can include a reduction unit 620, as shown. Figure 3 Figure 6 The reduction unit 620 is configured to engage the second bone model 102b with the first bone model 101b to achieve virtual reduction. Virtual reduction refers to changing the relative positions of the first bone model 101b and the second bone model 102b to make the at least partially separated first bone model 101b and the second bone model 102b return to the normal engagement state. Specifically, feature points of the first bone model 101b and the second bone model 102b at the fracture site can be extracted, and edge curves of the first bone and the second bone at the fracture end can be fitted, and the edge curves are engaged by repeatedly adjusting the connection of the first bone model 101b and the second bone model 102b, so as to finally achieve virtual reduction.

[0094] The simulation reduction module 600 also includes a parameter acquisition unit 610. The parameter acquisition unit 610 is configured to acquire a reduction parameter corresponding to a kinematic pair formed between the first fixing member 210, the second fixing member 220, and the plurality of components of the auxiliary reduction device 230 of the reduction assembly 200. Specifically, the reduction parameter can include at least a rotation angle along a first axis, a rotation angle along a second axis, and a rotation angle along a third axis.

[0095] ​When the virtual reduction is performed, the models corresponding to the plurality of components in the auxiliary reduction device 230 in the three-dimensional model of the reduction assembly 200 can maintain the active connection state with the first fixing member model 210b, the active connection state with the second fixing member model 220b, and the active connection state between the respective component models, i.e., the models corresponding to the plurality of components in the auxiliary reduction device 230 can be adaptively adjusted following the movement of the first fixing member model 210b and / or the second fixing member model 220b. When the first bone model 101b and the second bone model 102b return to the normal engagement state, the parameter acquisition unit 610 can obtain the reduction parameters by recording the rotation and / or translation parameters of the kinematic pairs corresponding to the sum of degrees of freedom of at least 6 in the three-dimensional model of the reduction assembly 200.

[0096] Since the three-dimensional model of the patient tissue in the virtual reduction is obtained from the three-dimensional reconstruction of the patient tissue in the actual reduction surgery, and the three-dimensional model of the reduction assembly is obtained according to the three-dimensional modeling / three-dimensional scanning of the reduction assembly 200 used in the actual reduction surgery, the three-dimensional model of the patient tissue in the virtual reduction and the three-dimensional model of the reduction assembly 200 are one-to-one corresponding to the patient tissue and the reduction assembly 200 in reality. In addition, under the action of the simulation fixing module 500, the relative position of the three-dimensional model of the reduction assembly 200 relative to the three-dimensional model of the patient tissue is also an accurate reflection of the actual position in the surgery.

[0097] Therefore, when the virtual reduction is completed, i.e., the first bone model 101b and the second bone model 102b return to the normal engagement state, the reduction parameters obtained by the parameter acquisition unit 610 can guide the adjustment of the orthopedic parameters of the reduction assembly 200 in the actual reduction surgery. That is, as long as the orthopedic parameters of the reduction assembly 200 in the actual reduction surgery are adjusted to be consistent with the reduction parameters obtained when the virtual reduction is completed, the reduction of the fracture can be quickly and accurately achieved in the surgery.

[0098] Figure 7 Another schematic view of a bone fracture reduction surgery navigation system provided by an embodiment of the present application is shown in FIG. 7. As shown in FIG. 7, the bone fracture reduction surgery navigation system further includes a pre-reduction module 700. The pre-reduction module 700 is configured to determine a virtual reduction position between the first bone model 101b and the second bone model 102b according to the preoperative tissue three-dimensional model. The virtual reduction position refers to the spatial position of the first bone model 101b and the second bone model 102b when the first bone model 101b and the second bone model 102b return to the normal engagement state. It can be understood that the virtual reduction position can be the relative position of the first bone model 101b and the second bone model 102b, or the absolute position of the first bone model 101b and the second bone model 102b, such as the spatial coordinates of the first bone model 101b and the second bone model 102b, which is not limited in the present embodiment. Figure 7 As shown in FIG. 7, the pre-reduction module 700 includes a first bone model model adjustment unit 710 and a second bone model model adjustment unit 720. The first bone model model adjustment unit 710 is configured to adjust the first bone model 101b according to the preoperative tissue three-dimensional model. The second bone model model adjustment unit 720 is configured to adjust the second bone model 102b according to the preoperative tissue three-dimensional model.

[0099] After the pre-reduction module 700 determines the virtual reduction position, the simulation fixation module 500 fixes the first fixation member model 210b to the first bone model 101b and the second fixation member model 220b to the second bone model 102b according to the position data obtained by the intraoperative positioning device 300, and the simulation reduction module 600 can achieve more efficient virtual reduction according to the virtual reduction position.

[0100] It can be understood that, since the pre-reduction module 700 needs to determine the virtual reduction position before the operation, in this embodiment, the three-dimensional model of the patient tissue obtained by the three-dimensional model acquisition module 400 is a preoperative tissue three-dimensional model.

[0101] In this way, the doctor can quickly complete the virtual reduction according to the virtual reduction position obtained in advance, thereby shortening the time required for completely reducing the first bone model 101b and the second bone model 102b to the normal engagement state in the virtual reduction process, and further reducing the time required in the actual operation and the risk of the operation caused by long operation time.

[0102] Figure 8 A structural schematic diagram of the reduction assembly provided in the embodiments of the present application is shown. Figure 9 A structural schematic diagram of the reduction assembly provided in the embodiments of the present application is shown. Figure 8 A partial enlarged view of the auxiliary reductor in the reduction assembly.

[0103] The specific structure of the reduction assembly 200 and the three-dimensional model of the reduction assembly 200 will be described below. Figure 8 The specific structure of the reduction assembly 200 and the three-dimensional model of the reduction assembly 200 will be described below. Figure 9 The specific structure of the reduction assembly 200 and the three-dimensional model of the reduction assembly 200 will be described below.

[0104] The reduction assembly 200 includes a first fixation member 210, a second fixation member 220, and an auxiliary reductor 230. The first fixation member 210 and the second fixation member 220 can be provided in the form of a fixation nail. Specifically, the fixation nail is an axisymmetric component, and one end of the fixation nail is provided with a conical piercing end, so that the stress point is concentrated, thereby facilitating the fixation nail to be driven into the first bone and the second bone. In addition, the conical piercing end increases the contact area between the fixation nail and the first bone and the second bone, thereby reducing the stress concentration when the fixation nail is fixed, and avoiding additional damage to the first bone and the second bone. In addition, a thread can be extended along the end close to the piercing end to the end away from the piercing end. In this way, the connection stability between the fixation nail and the first bone and the second bone can be enhanced, and the relative position change between the fixation nail and the first bone and the second bone is avoided, thereby affecting the subsequent reduction.

[0105] In some embodiments, the fixing pegs can be provided with alignment marks to facilitate visual adjustment and correction during simulation of the operation of the fixation module 500, to ensure the accuracy of the relative positions between the first fixing member model 210b and the first bone model 101b, and between the second fixing member model 220b and the second bone model 102b. For example, when using a medical imaging device to obtain corresponding image data, the fixation module 500 can align the rotation angle of the first fixing member model 210b in the axial direction with the rotation angle of the first fixing member image 210a in the axial direction by aligning the alignment marks on the first fixing member model 210b with the alignment marks on the first fixing member image 210a when fixing the first fixing member model 210b to the first bone model 101b, to ensure that the rotation angle of the first fixing member model 210b in the axial direction is consistent with the actual rotation angle of the first fixing member 210 in the axial direction.

[0106] It can be understood that the alignment marks can be of any shape, pattern, or combination of shape and pattern, and the present embodiment does not make specific limitations thereto, as long as they can be identified in the intraoperative image data.

[0107] In some embodiments, to improve the flexibility of the auxiliary repositioning device 230, at least one member of the plurality of members included in the auxiliary repositioning device 230 is movable along at least one of the first axis, the second axis, and the third axis, to provide at least one translational degree of freedom.

[0108] That is, the degrees of freedom of the kinematic pairs formed between the first fixing member 210, the second fixing member 220, and the plurality of members include at least 3 rotational degrees of freedom and at least 1 translational degree of freedom. For example, it can be a combination of 5 rotational pairs and 1 translational pair, or a combination of 4 rotational pairs and 3 translational pairs, or a combination of 3 rotational pairs and 3 translational pairs.

[0109] In this way, when the first fixing peg and the second fixing peg are far apart, the translational degree of freedom can be used to quickly connect the auxiliary repositioning device 230 to the first fixing member 210 and the second fixing member 220.

[0110] Continuing to refer to Figure 8 and Figure 9As shown, the auxiliary reduction device 230 includes a first connecting member 231, a second connecting member 232, and an intermediate connecting member 233. The first connecting member 231 is rotationally connected to the first fixed member 210, forming a rotational pair and providing one rotational degree of freedom. The second connecting member 232 is rotationally connected to the second fixed member 220 and can rotate about a first axis, forming a rotational pair and providing one rotational degree of freedom. The intermediate connecting member 233 is movably connected between the first connecting member 231 and the second connecting member 232, and can rotate relative to the first connecting member 231 about a second axis and relative to the second connecting member 232 about a third axis, forming two rotational degrees of freedom and providing two rotational degrees of freedom. The first connecting member 231 can slide along the first fixed member 210 and / or the second connecting member 232 can slide along the second fixed member 220, forming one or two translational pairs to provide one or two translational degrees of freedom. The intermediate connecting member 233 can move axially along the second axis and / or the intermediate connecting member 233 can move axially along the third axis, and can form one or two moving pairs to provide one or two translational degrees of freedom.

[0111] For example, the second connecting member 232 can slide along the second fixing member 220. And the intermediate connecting member 233 can move axially along the third axis, thereby realizing a combination of four rotational degrees of freedom and two translational degrees of freedom.

[0112] It will be appreciated that when the first connecting member 231 is rotationally connected to the first fixed member 210, a rotational pair is formed, providing one rotational degree of freedom. The intermediate connecting member 233 is movably connected between the first connecting member 231 and the second connecting member 232, and rotates relative to the first connecting member 231 about the first connecting axis and the second connecting member 232 about the second connecting axis, forming two rotational degrees of freedom and providing two rotational degrees of freedom. The first connecting member 231 can slide along the intermediate connecting member 233, forming a translatory pair and providing one translational degree of freedom. The second connecting member 232 can slide along the second fixed member 220, forming a translatory pair and providing one translational degree of freedom. The intermediate connecting member 233 can move along an axis perpendicular to the second fixed member 220, forming a translatory pair and providing one translational degree of freedom. This arrangement also enables the auxiliary reducer 230 to move flexibly in response to the movements of the first and second fixed members 210, 220.

[0113] With such an arrangement, the total degree of freedom of the kinematic pairs formed by the first fixing member 210, the second fixing member 220 and multiple components can be at least 6 through the combination of the connection structures with the above relative position relationship, and at least 3 rotational degrees of freedom can be provided, and the structure is simple and easy to use.

[0114] Specifically, the auxiliary restorer 230 comprises a first connecting member 231, an intermediate connecting member 233 and a second connecting member 232 connected in sequence. The first connecting member 231 comprises a main body 2311 and a connecting part 2312 connected with each other, the main body 2311 is rotationally connected to the first fixing member 210, and the connecting part 2312 is rotationally connected to the intermediate connecting member 233. For example, a connecting structure with a connecting hole is arranged on one of the first connecting member 231 and the intermediate connecting member 233, and a connecting shaft corresponding to the connecting hole is arranged on the other one. The second connecting member 232 comprises a rotating part 2321 and a guiding part 2322 connected with each other, the rotating part 2321 is rotationally connected to the second fixing member 220, and the guiding part 2322 extends away from the second fixing member 220. The intermediate connecting member 233 comprises a guiding sleeve 2331 and a guiding shaft 2332 connected with each other, the guiding sleeve 2331 is sleeved on the guiding part 2322, and the guiding shaft 2332 is rotationally connected to the connecting part 2312. It should be noted that the main body 2311 and the connecting part 2312, the rotating part 2321 and the guiding part 2322, and the guiding sleeve 2331 and the guiding shaft 2332 mentioned above can be detachably connected or non-detachably connected, which is not limited herein. The first connecting member 231 is rotationally connected to the first fixing member 210, forming a rotating pair, and providing one rotational degree of freedom. The second connecting member 232 is rotationally connected to the second fixing member 220 and can slide along the second fixing member 220, forming a rotating pair and a sliding pair, and providing one rotational degree of freedom and one translational degree of freedom. The intermediate connecting member 233 itself forms a cylindrical pair, providing one rotational degree of freedom and one translational degree of freedom. The intermediate connecting member 233 can rotate relative to the first connecting member 231, forming a rotating pair, and providing one rotational degree of freedom. In this way, the plurality of components inside the auxiliary restorer 230 are flexibly connected, and can be adaptively adjusted following the movement of the first bone and the second bone.

[0115] As an implementation form, the rotating part 2321 can be arranged as a semicircular plate, which can be attached to the outer wall surface of the second fixing member 220 and can slide and rotate along the outer wall surface of the second fixing member 220. In this way, the second fixing member 220 can be separated during the adjustment process, and after the bone position is adjusted, the semicircular plate can be quickly attached to the surface of the second fixing member 220 and drive other connecting parts to be adjusted correspondingly. Moreover, the contact area between the semicircular plate and the second fixing member 220 is small, the contact friction is small, and the rotation and sliding are facilitated.

[0116] In some embodiments, the first connector 231, the second connector 232, and the intermediate connector 233 may be provided with angle scales. The angle scales allow visualization of the angles of the rotational connection between the first connector 231 and the first fixing member 210, the rotational connection between the second connector 232 and the second fixing member 220, the relative rotation between the intermediate connector 233 and the first connector 231 about the second axis, and the relative rotation between the intermediate connector 233 and the second connector 232 about the third axis, thereby facilitating the acquisition of reduction parameters in subsequent virtual reduction and the adjustment of orthopedic parameters of the reduction assembly 200 during actual surgery.

[0117] For example, the connecting portion 2312 of the first connecting member 231 may be provided with an annularly distributed angle scale line near one end of the intermediate connecting member 233 to determine the rotation angle of the intermediate connecting member 233 relative to the first connecting member 231. The intermediate connecting member 233 may also be provided with an annularly distributed angle scale line to determine the rotation angle of the intermediate connecting member 233 relative to the second connecting member 232. The guide portion 2322 of the second connecting member 232 is provided with linearly distributed length scale lines to facilitate determination of the translation distance of the intermediate connecting member 233 relative to the second connecting member 232. The rotating portion 2321 of the second connecting member 232 is provided with an annularly distributed angle scale line (not shown) to determine the rotation angle of the second connecting member 232 and the second fixed member 220.

[0118] Furthermore, at least one of the first fixing member 210 and the second fixing member 220 is provided with a length scale line, and at least one of the first connecting member 231, the second connecting member 232, and the intermediate connecting member 233 is provided with a length scale line. This allows for a visual display of the translational degrees of freedom. For example, when the first connecting member 231 slides along the first fixing member 210, the first fixing member 210 is provided with a length scale line to indicate the relative sliding distance between the first connecting member 231 and the first fixing member 210. Alternatively, when the second connecting member 232 slides along the second fixing member 220, the second fixing member 220 is provided with a length scale line to indicate the relative sliding distance between the second connecting member 232 and the second fixing member 220. Similarly, any of the first connecting member 231, the second connecting member 232, and the intermediate connecting member 233 that is movable relative to the other may also be provided with a length scale line to indicate the relative sliding distance between the two. Specifically, the other end of the first fixing member 210 away from the protruding end may be provided with angle scale lines to facilitate identification and positioning of the rotation angle of the auxiliary reducer 230 relative to the first fixing member 210. The second fixing member 220 may be provided with length scale lines extending along its axial direction to facilitate identification and positioning of the translational displacement of the auxiliary reducer 230 relative to the second fixing member 220.

[0119] It is understood that existing markings, such as length scale lines, can be used as a reference for determining the angle scale. Indicator marks can also be provided on the first connecting member 231, the second connecting member 232, and the intermediate connecting member 233 to facilitate determination of the angle scale, although this is not specifically limited herein. It is understood that the indicator marks can be of any shape, pattern, or combination of shape and pattern, as long as they are easily identifiable.

[0120] Figure 10 A schematic diagram of a state in which the analog reset module provided in an embodiment of the present application is engaged. Figure 11 This is another schematic diagram of the state of the analog reset module provided in the embodiment of the present application. Figure 10 and Figure 11 As shown, during simulated reduction, if the deflection angle between the first fixing member 210 and the second fixing member 220 respectively fixed to the first bone and the second bone is too large, the rotating part 2321 can be separated from the second fixing member 220 first. After the virtual reduction is completed, the rotating part 2321 is quickly controlled to fit into the outer wall surface of the second fixing member 220 to achieve stable support.

[0121] In some embodiments, the first connector 231, the second connector 232, and the intermediate connector 233 are each provided with a locking portion. After completing the virtual reduction and adjusting the actual orthopedic parameters of the auxiliary reducer 230 based on the acquired reduction parameters, the locking portions provided on the first connector 231, the second connector 232, and the intermediate connector 233 can be locked to restrict the original degrees of freedom, thereby achieving a fixed connection of the auxiliary reducer 230. This enhances the stability of the support for the reduction and fixation of the first and second bones and secures the first and second bones in a properly engaged state. The locking portions enable the first connector 231, the second connector 232, and the intermediate connector 233 to have either a loose or locked state. In the loose state, the position and / or angle of the first connector 231, the second connector 232, and the intermediate connector 233 can be adjusted. In the locked state, the position and / or angle of the first connector 231, the second connector 232, and the intermediate connector 233 cannot be adjusted.

[0122] That is, when adjusting the auxiliary reducer 230 or the auxiliary reducer model 230b, the locking portions on each connector can be adjusted first to loosen the auxiliary reducer 230. After adjusting the first connector 231, the second connector 232, and the intermediate connector 233 to the positions indicated by the reset parameters, the locking portions can be used to lock each connector to the corresponding position and / or angle, thereby achieving adjustment and fixation of the reset assembly 200 parameters. The locking portions can be threaded, snap-fit, pinned, or wedge-shaped with the corresponding connecting components, and this embodiment does not impose any specific restrictions on this, as long as they can achieve locking and loosening between the two components.

[0123] Specifically, referring to Figure 9 As shown, the auxiliary resetter 230 can include a first locking portion 2313, a second locking portion (not shown), a third locking portion 2333, and a fourth locking portion (not shown). The first locking portion 2313 is used to lock or release the first connecting member 231 from the first fixing member 210. The first locking portion 2313 can be a screw provided on the first fixing member 210, and the screw can be tightened or loosened to achieve the fixed or movable connection of the first connecting member 231 with the first fixing member.

[0124] The second locking portion and the third locking portion 2333 are both provided on the intermediate connecting member 233. The second locking portion is used to lock or release the intermediate connecting member 233 from the first connecting member 231. The second locking portion can include an abutting protrusion and a limiting member. Specifically, the limiting member can be in the form of a screw or a sleeve, as long as it can achieve the fixed connection of the first connecting member 231 with the intermediate connecting member 233, and is not limited herein. Taking the limiting member as a screw as an example, the screw is movably connected with a guide shaft 2332, and the abutting protrusion is provided on the outer periphery of the guide shaft 2332 and can be used as an indication mark of an angle scale. The side of the connecting portion 2312 of the first connecting member 231 close to the guide sleeve 2331 abuts against the abutting protrusion, and the side of the connecting portion 2312 away from the guide sleeve 2331 can be locked by the screw when locking is needed, so as to achieve the fixed or movable connection of the first connecting member 231 with the intermediate connecting member 233. The third locking portion 2333 is used to lock or release the intermediate connecting member 233 from the second connecting member 232. The third locking portion 2333 can be a screw provided on the guide sleeve 2331 of the intermediate connecting member 233, and the screw can be tightened or loosened to achieve the fixed or movable connection of the intermediate connecting member 233 with the second connecting member 232.

[0125] The fourth locking portion is used to lock or release the second connecting member 232 from the second fixing member 220. Specifically, the fourth locking portion can be a screw penetrating through the rotating portion 2321, and the screw can be tightened or loosened to achieve the fixed or movable connection of the second connecting member 232 with the second fixing member 220.

[0126] Continuing to refer to Figure 10 and Figure 11As shown, when the simulation reset is performed, the first fixing member model 210b is fixed with the first bone model 101b, the second fixing member model 220b is fixed with the second bone model 102b, and the three-dimensional models of the first connecting member 231, the second connecting member 232 and the intermediate connecting member 233 are movably assembled. That is, the first locking portion 2313, the second locking portion, the third locking portion 2333 and the fourth locking portion are all in the loosened state.

[0127] Specifically, the three-dimensional model of the first connecting member 231 can be axially rotated relative to the first fixing member model 210b. The three-dimensional model of the intermediate connecting member 233 can be axially rotated relative to the three-dimensional model of the first connecting member 231. The three-dimensional model of the guide sleeve 2331 of the intermediate connecting member 233 can be axially translated and rotated along the three-dimensional model of the guide portion 2322 of the second connecting member 232. The three-dimensional model of the rotating portion 2321 of the second connecting member 232 can be axially translated and rotated along the second fixing member model 220b.

[0128] Therefore, when the virtual reset is performed by moving the first bone model 101b or the second bone model 102b, the positions and / or angles of the first connecting member 231, the second connecting member 232 and the intermediate connecting member 233 will change with the change of the position of the first fixing member model 210b and / or the second fixing member model 220b.

[0129] When the first bone model 101b and the second bone model 102b are normally engaged, the reset parameters can be obtained according to the relative positions of the three-dimensional model of the first connecting member 231 and the first fixing member model 210b, the relative positions of the three-dimensional model of the second connecting member 232 and the second fixing member model 220b, and the relative positions of the three-dimensional model of the intermediate connecting member 233 and the three-dimensional models of the first connecting member 231 and the second connecting member 232.

[0130] It should be noted that in actual surgery, the adjustment of the auxiliary reset device 230 can be achieved by manual operation or automatic operation. That is, the user can manually adjust the auxiliary reset device 230 to set each connecting component to the corresponding position according to the reset parameters and the scale lines. Alternatively, the adjustment can be achieved by automatic operation of the driving component and the control component, which is not limited herein.

[0131] Specifically, in the automatic operation, the control component is electrically connected with the driving component, the driving component is mechanically connected with the auxiliary reset device 230, and the control component receives the reset parameters and controls the driving component to adjust the auxiliary reset device 230 to set each connecting component to the corresponding position according to the reset parameters. In this way, the adjustment speed of the auxiliary reset device 230 in actual surgery can be accelerated, the surgery efficiency can be improved, and the amount of manual operation can be reduced as much as possible to avoid mistakes. Moreover, this scheme does not need to additionally set scale lines.

[0132] As an embodiment, the fracture reduction surgical navigation system provided in the present embodiment may further include a display device for displaying reduction parameters for ease of use. This embodiment is not particularly limited to this, as long as the auxiliary reducer 230 can be adjusted to the position indicated by the reduction parameters according to the reduction parameters.

[0133] In a specific fracture reduction surgery, such as a femoral neck fracture reduction surgery, if the proximal femur is located in the fossa without dislocation, it is only necessary to move the distal femur to engage the proximal femur. The proximal femur can be used as the first bone 101 and the distal femur as the second bone 102. The auxiliary reducer 230 is adjusted according to the reduction parameters, and one end of the auxiliary reducer 230 is fixed to the first fixing member 210, and then the second fixing member 220 is fixed to the other end of the auxiliary reducer 230 according to the reduction parameters. In this way, it is possible to avoid the pulling of the auxiliary reducer 230 during the reduction process, which may cause damage to the auxiliary reducer 230 or wear and change of parameters, thereby reducing surgical risks and ensuring surgical accuracy. It should be understood that in other fracture reduction surgeries, the auxiliary reducer 230 can also be fixed to the second fixing member 220 first, and then the first fixing member 210 is fixed to the other end of the auxiliary reducer 230 to achieve reduction. The specific selection can be made according to the actual situation of the patient, and this embodiment does not impose specific restrictions on this.

[0134] Figure 12 A flowchart of a fracture reduction surgical navigation method provided in an embodiment of the present application is shown in FIG. Figure 12 As shown, the embodiment of the present application also provides a fracture reduction surgical navigation method. The method is applied to any of the fracture reduction surgical navigation systems described above. The method includes:

[0135] S100 , obtaining intraoperative positioning data, where the intraoperative positioning data includes position data of a first bone, position data of a second bone, position data of a first fixing member, and position data of a second fixing member.

[0136] The first bone, the second bone, the first fixture 210, and the second fixture 220 can be spatially positioned using the position data of the first bone, the position data of the second bone, the position data of the first fixture 210, and the position data of the second fixture 220. Specifically, the intraoperative positioning data can be obtained using an intraoperative positioning device 300, such as a medical imaging device or a medical positioning device.

[0137] S200: Acquire a three-dimensional model of the patient's tissue and a three-dimensional model of the reduction component.

[0138] The three-dimensional model of the patient tissue includes a first bone model 101b corresponding to the first bone and a second bone model 102b corresponding to the second bone. The three-dimensional model of the reduction assembly 200 includes a first fixing member model 210b corresponding to the first fixing member 210, a second fixing member model 220b corresponding to the second fixing member 220, and an auxiliary reduction device model 230b corresponding to the auxiliary reduction device 230.

[0139] S300, fixing the first fixing member model to the first bone model and the second fixing member model to the second bone model according to the position data obtained by the intraoperative positioning device.

[0140] The first fixing member model 210b and the second fixing member model 220b can be obtained according to a three-dimensional design tool or a three-dimensional scanning device. The first bone model 101b and the second bone model 102b can be obtained according to three-dimensional reconstruction of the patient bone tissue.

[0141] S400, joining the first bone model and the second bone model to realize virtual reduction and obtaining a reduction parameter of the auxiliary reduction device model.

[0142] Virtual reduction refers to restoring the first bone model 101b and the second bone model 102b to the original normal combined state by adjusting the relative positions of the first bone model 101b and the second bone model 102b on the three-dimensional model. At this time, the auxiliary reduction device model 230b with certain degrees of freedom can be adaptively changed to realize auxiliary support and fixation of the first bone model 101b and the second bone model 102b.

[0143] S500, adjusting an orthopedic parameter corresponding to the auxiliary reduction device in actual surgery according to the reduction parameter.

[0144] After the virtual reduction is completed, the corresponding reduction parameter can be used as a reference for adjusting the orthopedic parameter of the auxiliary reduction device 230 in actual surgery to realize actual reduction.

[0145] The bone fracture reduction surgery navigation method provided by the embodiment of the application restores the relative position relationship between the first fixing member 210 and the first bone and the relative position relationship between the second fixing member 220 and the second bone to the virtual model in surgery, and adjusts the virtual model to virtually join the first bone and the second bone, thereby omitting the cumbersome process of repeatedly reducing in actual surgery and verifying one by one by taking X-ray films, and improving the accuracy of bone fracture reduction. The problem that doctors are difficult to quickly and accurately realize reduction of the first bone and the second bone involved in bone fracture is solved.

[0146] The following describes a detailed description of a fracture reduction surgical navigation method. In some embodiments, when the position data acquired by the intraoperative positioning device 300 includes a first bone image 101a, a second bone image 102a, a first fixture image 210a, and a second fixture image 220a acquired based on a medical imaging device, the first fixture model 210b is fixed to the first bone model 101b, and the second fixture model 220b is fixed to the second bone model 102b, specifically including:

[0147] The first bone model 101b is aligned with the first bone image 101a, the second bone model 102b is aligned with the second bone image 102a, the first fixture model 210b is aligned with the first fixture image 210a, and the second fixture model 220b is aligned with the second fixture image 220a. The alignment operation can achieve position alignment and confirmation through comprehensive comparison with multi-angle medical imaging data.

[0148] Then, the aligned first fixture model 210b is fixed to the first bone model 101b, and the aligned second fixture model 220b is fixed to the second bone model 102b. It should be noted that the fixing operation can be achieved by using a specific three-dimensional model tool, which will not be described in detail here.

[0149] In other embodiments, when the position data acquired by the intraoperative positioning device 300 includes the intraoperative position of the first bone, the intraoperative position of the second bone, the intraoperative position of the first fixture 210, and the intraoperative position of the second fixture 220 acquired based on a medical positioning device, fixing the first fixture model 210b to the first bone model 101b and fixing the second fixture model 220b to the second bone model 102b specifically includes:

[0150] The first bone model 101b is positioned at a position corresponding to the intraoperative position of the first bone, the second bone model 102b is positioned at a position corresponding to the intraoperative position of the second bone, the first fixture model 210b is positioned at a position corresponding to the intraoperative position of the first fixture 210, and the second fixture model 220b is positioned at a position corresponding to the intraoperative position of the second fixture 220. The positioning operation can convert the spatial coordinates of the intraoperative position of the first bone, the intraoperative position of the second bone, the intraoperative position of the first fixture 210, and the intraoperative position of the second fixture 220 into a three-dimensional model coordinate system, thereby achieving accurate positioning.

[0151] The positioned first fixture model 210b is fixed to the first bone model 101b, and the positioned second fixture model 220b is fixed to the second bone model 102b.

[0152] The fracture reduction surgery navigation method provided by the above embodiments classifies different intraoperative positioning data according to their characteristics, and distinguishes different processing units, thereby expanding the application scenarios of the fracture reduction surgery navigation method.

[0153] The further operation methods of the above steps, the specific structure of the reduction assembly 200, and the beneficial effects of the embodiments can refer to the corresponding parts of the fracture reduction surgery navigation system, which will not be repeated here.

[0154] The embodiments of the present application also provide a computer device, which comprises a processor, a memory, and computer execution instructions stored in the memory and executable on the processor, and the processor implements the fracture reduction surgery navigation method when executing the computer execution instructions, and thus the details will not be repeated here.

[0155] The embodiments of the present application also provide a computer readable storage medium, which stores computer execution instructions, and the computer execution instructions are used to implement the fracture reduction surgery navigation method when executed by a processor.

[0156] The present application also provides a computer program product, which comprises a computer program, and the computer program is used to implement the fracture reduction surgery navigation method when executed by a processor.

[0157] Those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction related hardware. The foregoing program can be stored in a computer readable storage medium. The program executes to perform the steps of the above-mentioned method embodiments; and the foregoing storage medium includes ROM, RAM, magnetic disc or optical disc and various storage medium that can store program codes.

[0158] Finally, it should be noted that: those skilled in the art, after considering the specification and practicing the invention disclosed herein, will easily think of other embodiments of the present application. The present application is intended to cover any variations, uses or adaptations of the present application that follow the general principles of the present application and include common knowledge or conventional technical means in the art that are not disclosed in the present application, and is not limited to the precise structure described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the present application is only limited by the appended claims.

Claims

1. A fracture reduction surgical navigation system, characterized in that: include: A reduction assembly comprising a first fixing member, a second fixing member, and an auxiliary reduction device; wherein the first fixing member is fixedly connected to a first bone, the second fixing member is fixedly connected to a second bone, and the first bone and the second bone are at least partially separated; the auxiliary reduction device is movably connected between the first fixing member and the second fixing member, and the auxiliary reduction device comprises a plurality of movably connected components; the total degree of freedom of the kinematic pairs formed by the first fixing member, the second fixing member, and the plurality of said components is at least 6; The kinematic pairs formed between the first fixing member, the second fixing member, and the plurality of components can provide at least three degrees of rotational freedom, so that at least part of the components can rotate about the first axis, the second axis, and the third axis, and the auxiliary reducer can follow the first fixing member and the second fixing member to move in a 360° space, and the first axis, the second axis, and the third axis are perpendicular to each other. an intraoperative positioning device, configured to obtain position data of the first bone, position data of the second bone, position data of the first fixing member, and position data of the second fixing member; a three-dimensional model acquisition module, configured to acquire a three-dimensional model of the patient's tissue and a three-dimensional model of the reduction assembly; the three-dimensional model of the patient's tissue comprising a first bone model corresponding to the first bone and a second bone model corresponding to the second bone; and the three-dimensional model of the reduction assembly comprising a first fixture model corresponding to the first fixture, a second fixture model corresponding to the second fixture, and an auxiliary reducer model corresponding to the auxiliary reducer; a simulation fixation module, configured to fix the first fixture model to the first bone model and the second fixture model to the second bone model according to the position data acquired by the intraoperative positioning device; The simulation reduction module is used to connect the second bone model with the first bone model to achieve virtual reduction, and obtain the reduction parameters of the auxiliary reduction device model to guide actual reduction.

2. The fracture reduction surgical navigation system according to claim 1, characterized in that: At least one of the plurality of members is movable along at least one of the first axis, the second axis, and the third axis to provide at least one translational degree of freedom.

3. The fracture reduction surgical navigation system according to claim 1, characterized in that: The three-dimensional model of the patient tissue includes at least one of a pre-operative three-dimensional tissue model and an intra-operative three-dimensional tissue model.

4. The fracture reduction surgical navigation system according to claim 3, characterized in that: When the three-dimensional model of the patient tissue is the preoperative three-dimensional model of the tissue, the fracture reduction surgery navigation system further includes: The pre-reset module is used to determine the virtual reset position between the first bone model and the second bone model according to the preoperative tissue three-dimensional model; the simulation reset module is used to realize virtual reset according to the virtual reset position.

5. The fracture reduction surgical navigation system according to any one of claims 1 to 4, characterized in that: The intraoperative positioning device includes at least one of a medical imaging device and a medical positioning device; The medical imaging device is used to obtain intraoperative imaging data of the first bone, intraoperative imaging data of the second bone, intraoperative imaging data of the first fixture, and intraoperative imaging data of the second fixture; The medical positioning device is used to obtain intraoperative position data of the first bone, intraoperative position data of the second bone, intraoperative position data of the first fixture, and intraoperative position data of the second fixture.

6. The fracture reduction surgical navigation system according to claim 5, characterized in that: The intraoperative image data includes at least two transmission images at different angles.

7. The fracture reduction surgical navigation system according to claim 6, characterized in that: The intraoperative image data includes a coronal plane transmission image and a sagittal plane transmission image.

8. The fracture reduction surgical navigation system according to any one of claims 1 to 4, characterized in that: The plurality of movable connected components include: a first connecting member, rotatably connected to the first fixing member; a second connecting member, rotatably connected to the second fixing member so as to rotate about the first axis; an intermediate connecting member, movably connected between the first connecting member and the second connecting member, and capable of rotating relative to the first connecting member around the second axis and relative to the second connecting member around the third axis; The first connecting member slides along the first fixing member and / or the second connecting member slides along the second fixing member; the intermediate connecting member moves axially along the second axis and / or the intermediate connecting member moves axially along the third axis.

9. The fracture reduction surgical navigation system according to claim 8, characterized in that: The first connecting member, the second connecting member and the intermediate connecting member are all provided with angle scale lines, at least one of the first fixing member and the second fixing member is provided with length scale lines, and at least one of the first connecting member, the second connecting member and the intermediate connecting member is provided with length scale lines.

10. The fracture reduction surgical navigation system according to claim 8, characterized in that: The first connecting member includes a main body and a connecting portion connected to each other, the main body is rotatably connected to the first fixing member, and the connecting portion is rotatably connected to the intermediate connecting member; The second connecting member includes a rotating portion and a guide portion connected to each other, the rotating portion is rotatably connected to the second fixing member, and the guide portion extends in a direction away from the second fixing member; The intermediate connecting member includes a guide sleeve and a guide shaft connected to each other. The guide sleeve is sleeved on the guide portion, and the guide shaft is rotatably connected to the connecting portion.

11. The fracture reduction surgical navigation system according to claim 10, characterized in that: The rotating portion is a semi-arc plate, and the semi-arc plate is attached to the outer wall surface of the second fixing member.

12. The fracture reduction surgical navigation system according to claim 8, characterized in that: The first connecting member, the second connecting member and the middle connecting member are all provided with a locking portion.

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