Integrated navigation surgical power cutter and surgical navigation system

Abstract

The invention relates to the technical field of surgical tools, and discloses an integrated navigation surgical power cutter and a surgical navigation system.The surgical power cutter comprises a power cutter body and a navigation support which are integrated, and the navigation support is provided with three or more positioning identification pieces; the power cutter body comprises a power assembly, a transmission assembly and a cutter front end, a motor is arranged in the power assembly, a cable is electrically connected to the motor, a cable connector is arranged at the end, away from the motor, of the cable, and a storage chip is electrically connected into the cable connector. The storage chip records space coordinate information of each positioning identification piece and the front end of the cutter. Calibration is completed during production and delivery, calibrated parameters are recorded in a storage chip, each surgical power cutter can be independently calibrated, re-calibration is not needed in the surgical use process, use is easy and convenient, data are more accurate, and the surgical preparation time is shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical tools, and particularly to an integrated navigation surgical power tool and a surgical navigation system. Background Art

[0002] In orthopedic surgeries, medical staff often use surgical power tools such as gouges, drills, burrs, saw blades, etc. to perform surgical treatment on the diseased bone tissue sites of patients. These surgical power tools generally include a power component, a transmission component, and a tool treatment end; during surgery, the power component provides power, and the torque or linear reciprocating motion is transmitted to the tool treatment end through the transmission component, and the diseased site is treated by the tool treatment end. To ensure the correct treatment position, the precise spatial coordinates of the end of the surgical instrument and the lesion site need to be obtained in real time during the surgical operation.

[0003] With the progress of technology, currently orthopedic surgeries begin to use surgical navigation systems to assist in surgeries; surgical navigation combines modern imaging technology, computer technology, and spatial positioning technology, and can track the positions of surgical power tools and the patient's anatomical structure in real time during the surgery and display them on a computer screen, providing intuitive and accurate surgical information for doctors, thereby assisting doctors in performing precise surgical operations.

[0004] Before a surgical navigation surgery, a three-dimensional digital model of the surgical power tool needs to be established; when establishing the three-dimensional digital model, special registration tooling such as a calibration rod and a calibration plate are required for calibration. Currently, the surgical power tool is generally designed as a split type with the navigation component, and the surgical power tool and the navigation component are assembled, calibrated, and debugged at the surgical site; if the calibration fails repeatedly, the tracking ball needs to be replaced and then recalibrated. The whole process is complex in operation, long in preparation time, and very inconvenient to use. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide an integrated navigation surgical power tool and a surgical navigation system, which are calibrated at the time of factory production, record the calibrated parameters in a storage chip, and each surgical power tool can be independently calibrated, without the need for recalibration during the surgical use process, is simple and convenient to use, and has more accurate data, shortening the surgical preparation time.

[0006] The present invention solves the above technical problems through the following technical means:

[0007] In a first aspect, the present invention discloses an integrated navigation surgical power tool, which includes a storage chip, an integrated power tool body, and a navigation bracket. There are ≥3 positioning identification members provided on the navigation bracket, and the positioning identification members can reflect light or actively emit infrared light; the power tool body includes a tool front end, and the storage chip records the spatial coordinate information of each positioning identification member and the tool front end.

[0008] Furthermore, the power tool body further includes a power assembly and a transmission assembly. A motor is provided inside the power assembly, and a cable is electrically connected to the motor. One end of the cable away from the motor is provided with a cable connector, and the storage chip is electrically connected inside the cable connector. In this technical solution, by setting the storage chip inside the cable connector, after the medical staff connects the cable connector to an external host during the surgical operation, the external host can read the calibration information in the storage chip and obtain the three-dimensional digital model of the surgical power tool, which is more convenient. In addition, the storage chip can be set separately, or it can be set in the handle of the tool to achieve the effect of this application.

[0009] Furthermore, the tool front end includes one of a cylindrical cutter head, a spherical cutter head, a circular saw blade, a straight saw blade, and a planing cutter head. The tool front ends with cylindrical cutter heads, spherical cutter heads, circular saw blades, straight saw blades, and planing cutter heads can use suitable cutter heads according to different conditions.

[0010] Furthermore, the storage chip also records the shape information of the power tool body. The shape information of the power tool body is recorded and read simultaneously, which is convenient for medical staff during the operation.

[0011] Furthermore, the positioning identification member includes one of a small ball with retroreflection, a sticker with retroreflection function, and an LED lamp bead with active infrared light emission. These above-mentioned positioning identification members can reflect light or actively emit infrared light, and can all be tracked by an infrared binocular camera, and then the three-dimensional digital model of the surgical tool is established.

[0012] Furthermore, the number of the positioning identification members is 3 or 4. 3 or 4 positioning identification members can not only reduce costs and the risk of occlusion, but also ensure accuracy and meet the tracking requirements.

[0013] Furthermore, a connecting rod is provided on the navigation bracket, and the power assembly includes a housing. One end of the connecting rod away from the navigation bracket is fixedly connected to the housing. The setting of the connecting rod makes the space between the navigation bracket and the navigation tool body larger, which is convenient for medical staff to operate.

[0014] Furthermore, the navigation bracket includes support rods equal in number to the positioning identification members, and the positioning identification members are detachably fixed to the ends of the support rods.

[0015] Further, an arc-shaped reinforcing rod is provided between two adjacent ones of the support rods. The provision of the arc-shaped reinforcing rod can enhance the stability of the navigation bracket.

[0016] In a second aspect, the present invention also discloses a surgical navigation system, including the above-mentioned surgical power tool and an infrared binocular camera, where the infrared binocular camera is used to track the spatial position of the positioning identification member on the surgical power tool.

[0017] Advantages of the present invention:

[0018] 1. When the surgical power tool of the present invention is produced, the power tool body and the navigation bracket are fixed as a whole through a connecting rod, and calibration is completed at the factory before leaving the factory. Then, the spatial coordinate information of each corresponding positioning identification member, the tip of the tool, and the shape of the power tool body and other information are stored in the storage chip in the cable connector. Each navigation surgical power tool has unique calibration information; during the surgical use by medical staff, after connecting the cable connector to an external host, the external host can read the calibration information in the storage chip and read out the three-dimensional digital model of the surgical power tool, without the need for on-site calibration during the operation, which is simple and convenient to use and shortens the operation preparation time; moreover, the calibration data is calibrated by professionals at the manufacturer, which is more accurate than hasty calibration on-site during the operation.

[0019] 2. The navigation surgical power tool of the present invention corresponds to a storage chip. For high-value surgical instruments, they can be recycled after disinfection; for low-cost surgical instruments, medical staff can directly discard them after one-time use, without the need to disinfect the surgical instruments again, which reduces the workload of the hospital and also avoids cross-infection that may be caused by incomplete disinfection.

[0020] 3. Since the navigation surgical power tool of the present invention is calibrated with spatial information during production and before leaving the factory, there is no need to purchase registration tooling such as calibration rods and calibration plates when purchasing the navigation surgical power tool, which can save the cost of material procurement. Description of the Drawings

[0021] Figure 1 is a schematic structural view of an integrated navigation surgical power tool in Embodiment 1 of the present invention Figure 1 ;

[0022] Figure 2 is a schematic structural view of an integrated navigation surgical power tool in Embodiment 1 of the present invention Figure 2 ;

[0023] Figure 3 is a schematic structural view of an integrated navigation surgical power tool in Embodiment 2 of the present invention;

[0024] Figure 4 It is a schematic structural diagram of an integrated navigation surgical power tool in Embodiment 3 of the present invention;

[0025] Figure 5 It is a schematic diagram of the tool front end being a cylindrical tool bit in the present invention;

[0026] Figure 6 It is a schematic diagram of the tool front end being an annular saw blade in the present invention;

[0027] Figure 7 It is a schematic diagram of the tool front end being a straight saw blade in the present invention;

[0028] Figure 8 It is a schematic diagram of the tool front end being a spherical tool bit in the present invention;

[0029] Figure 9 It is a schematic diagram of the tool front end being a planing tool bit in the present invention.

[0030] Among them, the power tool body 1, the power component 101, the transmission component 102, the tool front end 103, the cable 104, the cable connector 105, the storage chip 106, the navigation bracket 2, the positioning identification member 201, the support rod 202, the arc-shaped reinforcing rod 203, the connecting rod 3, and the infrared binocular camera 4. Specific embodiments

[0031] The present invention will be described in detail below with reference to the accompanying drawings:

[0032] Embodiment 1,

[0033] This embodiment is an integrated navigation surgical power tool. As shown in Figure 1 and Figure 2 , it includes a power tool body 1 and a navigation bracket 2. A positioning identification member 201 is detachably arranged on the navigation bracket 2. The positioning identification member 201 of the present invention can be one of a retroreflective small ball, a sticker with retroreflective function, and an LED lamp bead with active infrared light emission; in this embodiment, a retroreflective small ball is shown. In order to reduce costs, reduce the occlusion risk, and ensure accuracy to meet the tracking requirements, the number of the positioning identification members 201 in this embodiment is 4. It should be noted that in actual use, the number of the positioning identification members 201 can also be other numbers greater than or equal to 3 according to the comprehensive evaluation of the type of surgical operation, instrument design, and system performance. The final number scheme can be verified clinically to ensure the balance between accuracy and practicability.

[0034] The power tool body 1 includes a power component 101, a transmission component 102, and a tool front end 103. A connecting rod 3 is fixed on the navigation bracket 2, and the lower end of the connecting rod 3 is fixedly connected to the housing of the power component 101. A motor is installed in the power component 101, and a cable 104 is electrically connected to the motor. One end of the cable 104 away from the motor is provided with a cable connector 105, and a storage chip 106 is electrically connected in the cable connector 105. The storage chip 106 records the spatial coordinate information of each positioning identification member 201 and the tool front end 103, as well as the shape information of the power tool body 1. It should be noted that the power tool body 1 in this application uses the power tools in the prior art, which is not the main innovation point of this application. Regarding the specific structure of the power tool body 1, this application will not be elaborated further.

[0035] According to different conditions, such as Figures 5 - 9 As shown, the tool front end 103 can be one of a cylindrical cutter head, a spherical cutter head, an annular saw blade, a straight saw blade, and a planing cutter head. The navigation bracket 2 includes support rods 202 equal in number to the positioning identification members 201, and the positioning identification members 201 are detachably fixed to the ends of the support rods 202; to improve stability, an arc-shaped reinforcing rod is provided between adjacent support rods 202. The setting of the arc-shaped reinforcing rod can improve the stability of the navigation bracket 2.

[0036] When the surgical power tool of this embodiment is produced, the power tool body 1 and the navigation bracket 2 are fixed as a whole through the connecting rod 3, and calibration is completed at the factory before leaving the factory. Then, the spatial coordinate information of each corresponding positioning identification member 201, the tool front end 103, and the shape information of the power tool body 1 are stored in the storage chip 106 in the cable connector 105. Each navigation surgical power tool has unique calibration information; during the surgical use process by medical staff, after connecting the cable connector 105 to an external host, the external host can read the calibration information in the storage chip 106 and read out the three-dimensional digital model of the surgical power tool, without the need for on-site calibration during the operation, which is simple and convenient to use and shortens the operation preparation time; moreover, the calibration data is calibrated by professionals at the manufacturer, which is more accurate than the hasty calibration on the surgical site.

[0037] Embodiment 2

[0038] Compared with Embodiment 1, as Figure 3 shown, the only difference is that the positioning identification member 201 in this embodiment is a sticker with retroreflective function.

[0039] Embodiment 3,

[0040] Compared with Embodiment 1, the only difference is that the positioning identification member 201 in this embodiment is an LED lamp bead that actively emits infrared light (not shown separately in the drawings).

[0041] Example 4

[0042] This embodiment is a surgical navigation system. As Figure 4 shown, it includes the surgical power tool of the above Embodiment 1 and an infrared binocular camera 4. The infrared binocular camera 4 is used to track the spatial position of the positioning marker 201 on the surgical power tool.

[0043] The above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention. The technologies, shapes, and structures not described in detail in the present invention are all well-known technologies.

Claims

1. An integrated navigation surgical power tool, characterized in that: It includes a storage chip, an integrated power tool body, and a navigation bracket. There are ≥3 positioning identification parts arranged on the navigation bracket, and the positioning identification parts can reflect light or actively emit infrared light. The power tool body includes a tool front end, and the storage chip records the spatial coordinate information of each positioning identification part and the tool front end.

2. The one-piece navigation surgical power tool according to claim 1, wherein: The power tool body further includes a power component and a transmission component. A motor is arranged in the power component, and a cable is electrically connected to the motor. One end of the cable away from the motor is provided with a cable connector, and the storage chip is electrically connected in the cable connector.

3. The one-piece navigation surgical power tool according to claim 1, wherein: The tool front end includes one of a cylindrical cutter head, a spherical cutter head, a circular saw blade, a straight saw blade, and a planing cutter head.

4. The one-piece navigation surgical power tool according to claim 1, characterized in that: The storage chip also records the shape information of the power tool body.

5. The one-piece navigation surgical power tool according to claim 1, wherein: The positioning identification part includes one of a small ball with retroreflection, a sticker with retroreflection function, and an LED lamp bead that actively emits infrared light.

6. The one-piece navigation surgical power tool according to claim 1, wherein: The number of the positioning identification parts is 3 or 4.

7. An integrated navigation surgical power tool according to any one of claims 1-6, characterized in that: A connecting rod is arranged on the navigation bracket. The power component includes a housing, and one end of the connecting rod away from the navigation bracket is fixedly connected to the housing.

8. The one-piece navigation surgical power tool according to claim 7, characterized in that: The navigation bracket includes support rods equal in number to the positioning identification parts, and the positioning identification parts are detachably fixed at the ends of the support rods.

9. The one-piece navigation surgical power tool according to claim 8, wherein: An arc-shaped reinforcing rod is arranged between adjacent two support rods.

10. A surgical navigation system, characterized in that: It includes the surgical power tool according to any one of claims 1-9 and an infrared binocular camera, and the infrared binocular camera is used to track the spatial position of the positioning identification parts on the surgical power tool.

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