Orthopedic implantation operation auxiliary monitoring system based on digital twinning

Abstract

The invention discloses an orthopedic implantation operation auxiliary monitoring system based on digital twinning, and the system comprises an image collection and construction module which is used for collecting a skeleton image of a patient, and constructing a three-dimensional digital model of the skeleton, an implant and surrounding tissues of the patient; the surgical navigation module is used for establishing a relative coordinate with the skeleton of the patient, installing a surgical instrument in the surgical navigation module and performing surgical navigation to obtain a position relationship between the surgical instrument and the three-dimensional digital model; the digital twin display module is used for displaying the three-dimensional digital model of the bones, the implants and the surrounding tissues of the patient in real time, the surgical navigation module and the surgical instruments; a sensor module is installed on the surgical instrument and used for collecting pose and stress data of the surgical instrument. The system can monitor the dynamic state of an operation in real time in an orthopedic implantation operation, dynamically displays the operation process through the three-dimensional digital model, masters the posture and stress condition in the operation process through the sensor module, and facilitates more accurate operation of medical staff.

Description

Technical Field

[0001] The present invention relates to the field of medical auxiliary equipment, and in particular, to an orthopedic implant surgery auxiliary monitoring system based on digital twins. Background Art

[0002] The concept of digital twin was first proposed by Professor Grieves of the University of Michigan in the product design process in 2002, and was initially used mainly for product life cycle management. With the development of technologies such as the Internet of Things, big data, and cloud computing, digital twin technology has gradually been applied to aerospace, automobile manufacturing, energy management, and other fields, and its application scope and depth have been continuously expanded.

[0003] Orthopedic implant surgery based on digital twins has also been used. How to combine digital twins with surgical navigation to enable medical staff to operate more accurately is a technical problem that needs to be solved at present. Summary of the invention

[0004] The purpose of the present invention is to provide an orthopedic implant surgery auxiliary monitoring system based on digital twins. The orthopedic implant surgery auxiliary monitoring system based on digital twins can monitor the surgical dynamics in real time during orthopedic implant surgery, dynamically display the surgical progress through a three-dimensional digital model, and grasp the posture and force conditions during the operation through a sensor module, so as to facilitate more accurate operation by medical staff.

[0005] In order to achieve the above-mentioned objectives, the present invention provides an orthopedic implant surgery auxiliary monitoring system based on digital twins, which includes: an image acquisition and construction module, which is used to acquire the patient's bone images and construct a three-dimensional digital model of the patient's bones, implants and surrounding tissues; a surgical navigation module, which establishes relative coordinates with the patient's bones, installs surgical instruments therein and performs surgical navigation, and obtains the positional relationship between the surgical instruments and the three-dimensional digital model; a digital twin display module, which is used to display the three-dimensional digital model of the patient's bones, implants and surrounding tissues, the surgical navigation module and the surgical instruments in real time; wherein, the surgical instrument is installed with a sensor module, and the sensor module is used to collect the posture and force data of the surgical instrument.

[0006] Preferably, it also includes a data processing and analysis module and an intelligent decision-making and early warning module; the data processing and analysis module is used to receive the posture and force data of the sensor module, and compare the data with the simulation data in the digital twin display module; through the intelligent decision-making and early warning module, according to the value of the data comparison, an abnormal warning is sent to the medical staff, or sensory decision support is provided.

[0007] Preferably, the surgical instrument comprises: a navigation front end frame, and a telescopic part installed at the front end of the navigation front end frame, the end of the telescopic part is rotatably provided with a linkage tube, the front end of the linkage tube is installed with a screwdriver head, and the navigation front end frame is provided with a first driving mechanism for driving the telescopic part to move, and a second driving mechanism for driving the linkage tube to rotate.

[0008] Preferably, the second driving mechanism includes a reduction motor, a side guide of the reduction motor is arranged on the navigation front end frame, the first shaft end of the reduction motor is provided with a first embedding protrusion, the inner end of the linkage tube is provided with a first embedding groove which cooperates with the first embedding protrusion and is inserted into the first embedding protrusion, and the first embedding protrusion and the first embedding groove are electromagnetically attracted and connected.

[0009] Preferably, a mounting plate is provided at the rear end of the navigation front end frame, the first driving mechanism includes a linear motor installed on the mounting plate, the second shaft end of the linear motor is connected to the reduction motor, and the rear end of the telescopic part is provided with a plurality of rods slidably inserted into the navigation front end frame.

[0010] Preferably, a guide slot is provided on the side of the navigation front end frame, and a slider which slides in the guide slot is provided on the side of the reduction motor.

[0011] Preferably, a distance measuring sensor is provided at the front end of the navigation front end frame, and the distance measuring sensor is used to measure the distance of the telescopic part, and a gyroscope is installed at the rear end of the navigation front end frame.

[0012] Preferably, the telescopic part and the linkage tube are installed through a bearing; the front end of the linkage tube is provided with a second embedding groove, and the rear end of the screwdriver head is provided with a second embedding protrusion that cooperates with and inserts into the second embedding groove; the front end of the screwdriver head is provided with a bit socket or a bit protrusion.

[0013] Preferably, a plane is provided on the outer side surface of the front end of the linkage tube, a side through hole is provided on the plane, a screw hole corresponding to the side through hole is provided on the side surface of the second embedded protrusion, and a screw threaded into the screw hole is inserted into the side through hole.

[0014] According to the above technical scheme, the orthopedic implant surgery auxiliary monitoring system based on digital twins in the present invention can monitor the surgical dynamics in real time during orthopedic implant surgery, dynamically display the surgical progress through a three-dimensional digital model, and grasp the posture and force conditions during the surgery through the sensor module, so as to facilitate more accurate operation by medical staff.

[0015] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention, but do not constitute a limitation of the present invention. In the accompanying drawings:

[0017] Figure 1 This is the system architecture diagram of the orthopedic implant surgery auxiliary monitoring system;

[0018] Figure 2 It is a schematic diagram of the overall structure from a first-view perspective of a preferred embodiment of the surgical instrument;

[0019] Figure 3 It is a schematic diagram of the overall structure of a preferred embodiment of the surgical instrument from a second perspective.

[0020] Description of Reference Numerals

[0021] 1-navigation front end frame; 2-guide slide groove; 3-slider; 4-reduction motor; 5-linear motor; 6-mounting plate; 7-second shaft end; 8-first shaft end; 9-first embedded protrusion; 10-bearing; 11-linkage tube; 12-screwdriver head; 13-screw; 14-first embedded groove; 15-telescopic part; 16-insertion rod; 17-gyroscope; 18-distance sensor; 19-plane; 20-tool socket or tool head protrusion. DETAILED DESCRIPTION

[0022] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0023] In the present invention, unless otherwise stated, directional words contained in terms such as "up, down, left, right, front, back, inside, outside" merely represent the orientation of the terms in normal usage, or are common names understood by those skilled in the art, and should not be regarded as limitations on the terms.

[0024] See also Figure 1-3 The orthopedic implant surgery auxiliary monitoring system based on digital twin is shown, and the orthopedic implant surgery auxiliary monitoring system includes: an image acquisition and construction module, which is used to acquire the patient's bone image and construct a three-dimensional digital model of the patient's bones, implants and surrounding tissues; a surgical navigation module, which establishes relative coordinates with the patient's bones, installs surgical instruments therein and performs surgical navigation, and obtains the positional relationship between the surgical instruments and the three-dimensional digital model; a digital twin display module, which is used to display the three-dimensional digital model of the patient's bones, implants and surrounding tissues, the surgical navigation module and the surgical instruments in real time; wherein, a sensor module is installed on the surgical instrument, and the sensor module is used to collect the posture and force data of the surgical instrument.

[0025] The working method of the orthopedic implant surgery auxiliary monitoring system based on digital twin is as follows: first, the patient's bone image is collected through the image acquisition and construction module, and a three-dimensional digital model of the patient's bone, implant and surrounding tissue is constructed, and the relative coordinates with the patient's bone are established by using the navigation module. The surgical instrument is installed in it and surgical navigation is performed to obtain the positional relationship between the surgical instrument and the three-dimensional digital model. Through the positional relationship between the established three-dimensional digital models, combined with the digital twin display module, simulated experimental operations are performed in the system to obtain simulated experimental data. During the operation, the simulated experimental process is followed, and actual data is collected through the sensor module. The simulated experimental data is compared with the actual data during the operation. When the actual data deviation exceeds the range, a reminder is issued.

[0026] The orthopedic implant surgery auxiliary monitoring system based on digital twin can monitor the surgical dynamics in real time during orthopedic implant surgery, dynamically display the surgical progress through a three-dimensional digital model, and grasp the posture and force conditions during the surgery through the sensor module, making it easier for medical staff to operate more accurately.

[0027] In this embodiment, a data processing and analysis module and an intelligent decision and warning module are also included; the data processing and analysis module is used to receive the posture and force data of the sensor module, and compare the data with the simulation data in the digital twin display module; the intelligent decision and warning module sends abnormal warnings to medical staff or provides sensory decision support based on the data comparison value. For example, when the simulated experimental data deviates greatly from the actual data, the intelligent decision is made whether the operation should continue.

[0028] In this embodiment, in order to further provide a surgical instrument, the surgical instrument includes: a navigation front-end frame 1, and a telescopic part 15 installed at the front end of the navigation front-end frame 1, the end of the telescopic part 15 is rotatably provided with a linkage tube 11, the front end of the linkage tube 11 is provided with a screwdriver head 12, and the navigation front-end frame 1 is provided with a first driving mechanism for driving the telescopic part 15 to move, and a second driving mechanism for driving the linkage tube 11 to rotate. When in use, the navigation front-end frame 1 follows the navigation robot and has universal adjustment capability. When the navigation front-end frame 1 is brought close to the surgical site, the telescopic part 15 is driven by the first driving mechanism to drive the linkage tube 11 to move forward, and then the linkage tube 11 is driven by the second driving mechanism to drive the screwdriver head 12 to rotate, and the screwdriver head 12 cooperates with the pedicle screw, thereby rotating the pedicle screw to fix the implant at the implantation position.

[0029] In this embodiment, the second driving mechanism includes a reduction motor 4, the side guide of the reduction motor 4 is arranged on the navigation front frame 1, the first shaft end 8 of the reduction motor 4 is provided with a first embedding protrusion 9, the inner end of the linkage tube 11 is provided with a first embedding groove 14 which is inserted into and cooperates with the first embedding protrusion 9, and the first embedding protrusion 9 is electromagnetically connected with the first embedding groove 14. Through such a setting, the first embedding protrusion 9 and the first embedding groove 14 can be embedded with each other under the push of the first driving mechanism, and are electromagnetically attracted together, so as to link the linkage tube 11 to rotate.

[0030] In this embodiment, in order to further provide a first driving mechanism, a mounting plate 6 is provided at the rear end of the navigation front frame 1, the first driving mechanism includes a linear motor 5 mounted on the mounting plate 6, the second shaft end 7 of the linear motor 5 is connected to the reduction motor 4, and a plurality of insertion rods 16 are provided at the rear end of the telescopic portion 15 for slidingly inserting into the navigation front frame 1. The insertion rods 16 play a guiding role when the reduction motor 4 moves, so that the telescopic portion 15 does not rotate with the rotation of the linkage tube 11.

[0031] In this embodiment, a guide slot 2 is provided on the side of the navigation front frame 1, and a slider 3 is provided on the side of the reduction motor 4 and slides in the guide slot 2. With such a configuration, when the reduction motor 4 moves forward and backward, the slider 3 is located in the guide slot 2 and slides and guides.

[0032] In this embodiment, a distance sensor 18 is provided at the front end of the navigation front frame 1, and the distance sensor 18 is used to measure the distance of the telescopic part 15. A gyroscope 17 is installed at the rear end of the navigation front frame 1. The distance of the telescopic part 15 advancing or retracting is measured by the distance sensor 18, and the posture data in all directions is measured by the gyroscope 17, so as to provide data support for the surgery.

[0033] In this embodiment, the telescopic portion 15 is installed with the linkage tube 11 through a bearing 10; the front end of the linkage tube 11 is provided with a second embedding groove, the rear end of the screwdriver head 12 is provided with a second embedding protrusion that cooperates with and inserts into the second embedding groove; the front end of the screwdriver head 12 is provided with a tool head socket or a tool head protrusion 20. Through such an implementation, the linkage tube 11 can rotate more smoothly.

[0034] In this embodiment, a plane 19 is provided on the outer side of the front end of the linkage tube 11, a side through hole is provided on the plane 19, a screw hole corresponding to the side through hole is provided on the side of the second embedded protrusion, and a screw 13 screwed into the screw hole is inserted into the side through hole. The screwdriver head 12 can be effectively fixed after installation by multiple screws 13, so that it can be detached and replaced.

[0035] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, a variety of simple modifications can be made to the technical solution of the present invention, and these simple modifications all belong to the protection scope of the present invention.

[0036] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations.

[0037] In addition, various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the present invention, they should also be regarded as the contents disclosed by the present invention.

Claims

1. An orthopedic implant surgery auxiliary monitoring system based on digital twins, characterized in that: The orthopedic implant surgery auxiliary monitoring system comprises: An image acquisition and construction module, which is used to acquire the patient's bone images and construct a three-dimensional digital model of the patient's bones, implants, and surrounding tissues; The surgical navigation module establishes relative coordinates with the patient's bones, installs surgical instruments in it and performs surgical navigation, and obtains the positional relationship between the surgical instruments and the three-dimensional digital model; Digital twin display module, used to display the 3D digital model of the patient's bones, implants and surrounding tissues, surgical navigation module and surgical instruments in real time; Wherein, a sensor module is installed on the surgical instrument, and the sensor module is used to collect the posture and force data of the surgical instrument.

2. The orthopedic implant surgery auxiliary monitoring system based on digital twin according to claim 1 is characterized in that: It also includes data processing and analysis modules as well as intelligent decision-making and early warning modules; The data processing and analysis module is used to receive the posture and force data of the sensor module and compare the data with the simulation data in the digital twin display module; Through the intelligent decision-making and early warning module, abnormal warnings are sent to medical staff based on the values ​​of data comparison, or sensory decision support is provided.

3. The orthopedic implant surgery auxiliary monitoring system based on digital twin according to claim 1 is characterized in that: The surgical instrument comprises: a navigation front-end frame (1), and a telescopic portion (15) mounted on the front end of the navigation front-end frame (1); a linkage tube (11) is rotatably provided at the end of the telescopic portion (15); a screwdriver head (12) is installed at the front end of the linkage tube (11); and a first driving mechanism for driving the telescopic portion (15) to move and a second driving mechanism for driving the linkage tube (11) to rotate are provided on the navigation front-end frame (1).

4. The orthopedic implant surgery auxiliary monitoring system based on digital twin according to claim 3 is characterized in that: The second driving mechanism comprises a reduction motor (4), the side guide of the reduction motor (4) is arranged on the navigation front end frame (1), the first shaft end (8) of the reduction motor (4) is provided with a first embedding protrusion (9), the inner end of the linkage tube (11) is provided with a first embedding groove (14) which is inserted into and cooperates with the first embedding protrusion (9), and the first embedding protrusion (9) and the first embedding groove (14) are electromagnetically attracted and connected.

5. The orthopedic implant surgery auxiliary monitoring system based on digital twin according to claim 4 is characterized in that: The rear end of the navigation front frame (1) is provided with a mounting plate (6), the first driving mechanism comprises a linear motor (5) mounted on the mounting plate (6), the second shaft end (7) of the linear motor (5) is connected to the reduction motor (4), and the rear end of the telescopic part (15) is provided with a plurality of insertion rods (16) which are slidably inserted into the navigation front frame (1).

6. The orthopedic implant surgery auxiliary monitoring system based on digital twin according to claim 4 is characterized in that: A guide slot (2) is provided on the side of the navigation front-end frame (1), and a slider (3) sliding in the guide slot (2) is provided on the side of the reduction motor (4).

7. The orthopedic implant surgery auxiliary monitoring system based on digital twin according to claim 1 is characterized in that: A distance measuring sensor (18) is arranged at the front end of the navigation front end frame (1), and the distance measuring sensor (18) is used to measure the distance of the telescopic part (15). A gyroscope (17) is installed at the rear end of the navigation front end frame (1).

8. The orthopedic implant surgery auxiliary monitoring system based on digital twin according to claim 1 is characterized in that: The telescopic part (15) and the linkage tube (11) are installed via a bearing (10); The front end of the linkage tube (11) is provided with a second embedding groove, and the rear end of the screwdriver head (12) is provided with a second embedding protrusion that cooperates with and inserts into the second embedding groove; The front end of the screwdriver head (12) is provided with a head socket or a head protrusion (20).

9. The orthopedic implant surgery auxiliary monitoring system based on digital twin according to claim 8, characterized in that: The front end outer side surface of the linkage tube (11) is provided with a plane (19), a side through hole is provided on the plane (19), a screw hole corresponding to the side through hole is provided on the side surface of the second embedded protrusion, and a screw (13) screwed into the screw hole is inserted into the side through hole.

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