Auxiliary positioning device for hip joint replacement prosthesis implantation

Abstract

The invention provides an auxiliary positioning device for hip joint replacement prosthesis implantation, a hip joint replacement prosthesis at least comprises an acetabular cup, the auxiliary positioning device comprises a lining body, a supporting structure and an optical positioning array, the lining body comprises a first surface and a second surface, and the first surface of the lining body is attached to the inner surface of the acetabular cup; one end of the supporting structure is mounted on the second surface of the lining body, and a supporting surface is formed at the other end of the supporting structure; the optical positioning array is installed on the supporting face, and the implantation state of the acetabular cup in the hip replacement surgery is verified based on collected pose data of the optical positioning array. The auxiliary positioning device provided by the invention can be arranged in an acetabular cup in an operation, is compatible with a navigation system of an orthopedic robot, captures pose data in real time, shortens verification time, improves verification precision through data measurement of a three-dimensional space, is simple to operate, and contributes to improving the precision of prosthesis implantation execution of the orthopedic robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical treatment, in particular to an auxiliary positioning device for hip joint replacement prosthesis implantation. BACKGROUND

[0002] Total Hip Arthroplasty (THA) is the gold standard surgical method for treating end-stage hip joint diseases, and its clinical effect is closely related to the accuracy of prosthesis implantation. The three-dimensional spatial positioning parameters (including anteversion angle and abduction angle) and the accuracy of the reconstruction of the center of rotation of the acetabular cup directly determine the long-term survival rate of the prosthesis and the incidence of postoperative complications.

[0003] Modern orthopedic surgical robot systems can theoretically control the implantation accuracy of the acetabular cup to be within 1° and 1mm through preoperative CT three-dimensional reconstruction, virtual planning and intraoperative optical navigation positioning. These systems are usually equipped with six-degree-of-freedom mechanical arms and high-precision optical trackers, and their repeatability positioning accuracy can reach sub-millimeter level.

[0004] In current clinical practice, the verification of the implantation position of the acetabular cup mainly relies on two-dimensional X-ray fluoroscopy and postoperative CT scanning. Although X-ray fluoroscopy is simple to operate, it has low verification accuracy due to the two-dimensional projection characteristics, and there is a risk of radiation exposure. Postoperative CT scanning can only be performed postoperatively and cannot be applied intraoperatively. SUMMARY

[0005] The purpose of the embodiments of the present application is to provide an auxiliary positioning device for hip joint replacement prosthesis implantation, which solves the technical problems of poor accuracy, low real-time performance and complex operation of prosthesis verification in existing hip joint replacement surgery.

[0006] In a first aspect, the present application provides an auxiliary positioning device for hip joint replacement prosthesis implantation, the hip joint replacement prosthesis at least comprising an acetabular cup, and the auxiliary positioning device comprising: an inner lining body comprising a first surface and a second surface, the first surface of the inner lining body being fitted to an inner surface of the acetabular cup; a support structure, one end of the support structure being mounted on the second surface of the inner lining body, and the other end of the support structure being formed with a support surface; an optical positioning array, the optical positioning array being mounted on the support surface, and based on the collected pose data of the optical positioning array, the implantation state of the acetabular cup in the hip joint replacement surgery being verified.

[0007] In an optional embodiment, the second surface of the inner lining body comprises an inner concave surface and a bottom surface, one end of the support structure is mounted on the inner concave surface of the inner lining body, the first surface and the inner concave surface being closed by the bottom surface.

[0008] In an optional embodiment, the support structure comprises a connecting member and a support member, One end of the connecting member is mounted on the inner concave surface of the inner liner body, and the other end of the connecting member is connected with the support member. The support member is formed with a support surface.

[0009] In an optional embodiment, at least three grooves are formed on the support surface of the support member, and the grooves are arranged in an array, The optical positioning array comprises at least three reflectors, each of which is detachably connected in a target groove.

[0010] In an optional embodiment, the optical positioning array comprises at least three light emitters, all of which are arranged on the support member and arranged in an array.

[0011] In an optional embodiment, the optical positioning array further comprises a battery, which is arranged in the support member and electrically connected with the light emitters.

[0012] In an optional embodiment, an inertial sensor is further included, which is arranged in the support member.

[0013] In an optional embodiment, the orthopedic robot is controlled based on the target pose data to install the acetabular cup; The inner liner body of the auxiliary positioning device is deployed in the acetabular cup, and the bottom surface of the inner liner body is kept at the same level as the bottom surface of the acetabular cup; The optical positioning array is collected by the optical navigation camera to obtain collected pose data; Based on the conversion of the collected pose data, real-time pose data of the acetabular cup is determined.

[0014] In an optional embodiment, based on the matching degree between the real-time pose data and the target pose data, it is determined whether the position of the acetabular cup needs to be adjusted.

[0015] In an optional embodiment, a target deviation value is calculated based on the real-time pose data and the target pose data. It is determined whether the target deviation value is less than a preset deviation value. If yes, it is determined that the position of the acetabular cup does not need to be adjusted.

[0016] The application provides an auxiliary positioning device for hip joint replacement prosthesis implantation, the hip joint replacement prosthesis at least comprising a acetabular cup, the auxiliary positioning device comprising an inner lining body, a support structure and an optical positioning array, the inner lining body comprising a first surface and a second surface, the first surface of the inner lining body being fitted with an inner surface of the acetabular cup; one end of the support structure being installed on the second surface of the inner lining body, the other end of the support structure being formed with a support surface; the optical positioning array being installed on the support surface, based on the collected pose data of the optical positioning array, verifying the implantation state of the acetabular cup in the hip joint replacement surgery. Through the auxiliary positioning device provided by the application, the device can be arranged in the acetabular cup in the surgery, is compatible with the navigation system of an orthopedic robot, can capture pose data in real time, shortens the verification time, improves the verification accuracy through three-dimensional space data measurement, is simple to operate, and is helpful to improve the accuracy of orthopedic robot prosthesis implantation execution. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments of the application. It should be understood that the following drawings only show some embodiments of the application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0018] Figure 1 A structural schematic view of an auxiliary positioning device for hip joint replacement prosthesis implantation provided by the embodiments of the application; Figure 2 A structural schematic view of another auxiliary positioning device for hip joint replacement prosthesis implantation provided by the embodiments of the application.

[0019] FIG. 1 is a structural schematic view of an auxiliary positioning device for hip joint replacement prosthesis implantation provided by the embodiments of the application. 10-inner lining body, 20-support structure, 30-optical positioning array; 201-connector, 202-support. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the application will be described below with reference to the drawings in the embodiments of the application.

[0021] Figure 1 A structural schematic view of an auxiliary positioning device for hip joint replacement prosthesis implantation provided by the embodiments of the application. The hip joint replacement prosthesis at least comprises an acetabular cup, as shown in Figure 1 The auxiliary positioning device at least comprises an inner lining body, a support structure and an optical positioning array.

[0022] The inner liner body includes a first surface and a second surface, the first surface of the inner liner body is fitted to the inner surface of the acetabular cup. The second surface of the inner liner body includes an inner concave surface and a bottom surface, one end of the support structure is mounted on the inner concave surface of the inner liner body, and the first surface is closed with the inner concave surface through the bottom surface.

[0023] The inner liner body used in conjunction with the acetabular cup here can be a hemispherical cup liner. The inner liner body here can be embedded in the acetabular cup. The material of the inner liner body can be polyethylene, ceramic, titanium alloy metal, etc.

[0024] One end of the support structure is mounted on the second surface of the inner liner body, and the other end of the support structure is formed with a support surface. The support structure includes a connecting piece and a support piece, one end of the connecting piece is mounted on the inner concave surface of the inner liner body, and one end of the connecting piece is connected with the support piece. The support piece is formed with a support surface. The material of the support structure can be polyethylene, ceramic, titanium alloy metal, etc. The connecting piece can be cylindrical or long strip-shaped, etc., and the length can be about 10 cm. The shape of the support piece is not limited.

[0025] An optical positioning array is mounted on the support surface, and based on the collected pose data of the optical positioning array, the implantation state of the acetabular cup in the hip joint replacement surgery is verified.

[0026] The auxiliary positioning device for hip joint replacement prosthesis implantation provided by the embodiments of the present application is used in conjunction with the acetabular cup to be detected, and the optical positioning array is extended through the support structure to facilitate the three-dimensional data collection of the optical positioning array by the optical navigation camera. Compared with the verification method of X-ray CT scanning in the prior art, the verification can be performed at any time during the prosthesis implantation process, is compatible with the navigation system of the orthopedic robot, captures the pose data in real time, shortens the verification time, improves the verification accuracy through the three-dimensional space data measurement, is simple to operate, and is helpful to improve the accuracy of the orthopedic robot prosthesis implantation execution. And the whole process has no radiation risk.

[0027] In a feasible implementation manner, the doctor pre-enters the target pose data to be implanted by the prosthesis in the operation system of the orthopedic robot, which can include the anteversion angle, the abduction angle, the rotation center point, the depth, etc. The doctor can control the orthopedic robot to install the acetabular cup based on the target pose data, and complete the implantation of the acetabular cup under the assistance of the orthopedic robot.

[0028] Then the inner liner body of the auxiliary positioning device can be deployed in the acetabular cup, and the bottom surface of the inner liner body is kept at the same horizontal plane as the bottom surface of the acetabular cup. Here, the inner liner body can be connected with the acetabular cup. For example, the first surface of the inner liner body can be interference-fitted with the inner surface of the acetabular cup. The inner liner body can also be provided with a connecting piece to fix the inner liner body in the acetabular cup. The connecting piece can be a buckle or a magnetic buckle, etc. That is, the inner liner body here can be reused.

[0029] In a feasible embodiment, the inner lining body can be fixedly held by hand to fit in the acetabular cup, which is particularly suitable for positioning the general acetabular cup.

[0030] After the auxiliary positioning device is fixed, the optical positioning array can be collected by the optical navigation camera to collect the pose data. The pose data can be uploaded to the controller and converted based on the collected pose data to determine the real-time pose data of the acetabular cup. The controller here can be the same controller as the controller of the orthopedic robot. The orthopedic robot can be configured with a mobile electronic device or a fixed electronic device, and the controller is located in the electronic device.

[0031] The collected pose data here can include the three-dimensional coordinates of each marker point and the pitch angle, etc. After conversion, the real-time anteversion angle, abduction angle and rotation center point, depth, etc. of the acetabular cup can be determined. The real-time pose data is compared with the pre-set target pose data, and based on the matching degree between the real-time pose data and the target pose data, it is determined whether the position of the acetabular cup needs to be adjusted.

[0032] Specifically, the target deviation value can be calculated based on the real-time pose data and the target pose data. It is determined whether the target deviation value is less than the pre-set deviation value. If yes, it is determined that the position of the acetabular cup does not need to be adjusted.

[0033] For example, it is determined whether the deviation value of the anteversion angle is less than 5°. If yes, it is determined that the position of the acetabular cup does not need to be adjusted. If not, the implantation angle of the acetabular cup needs to be adjusted.

[0034] Further, the deviation of the pose data can also be displayed through the mobile electronic device or the fixed electronic device. For example, the deviation of the real-time pose data of the acetabular cup and the target pose data can be intuitively displayed in a numerical and graphical manner (such as a deviation table, color coding, 3D model superposition comparison), and it is judged whether the deviation is within the clinically acceptable tolerance range.

[0035] In an embodiment of the present application, the pose data of the marker points is collected based on optical principles between the optical positioning array and the optical navigation camera.

[0036] In a feasible embodiment, at least three grooves are formed on the support surface of the support, and the grooves are arranged in an array. The optical positioning array includes at least three reflectors, each of which is detachably connected in a target groove. The reflector here can be a reflective ball, and a plurality of semispherical grooves can be pre-set on the support, and the reflective ball is detachably mounted in the groove.

[0037] For example, when there are three grooves, they can be arranged in a triangular shape. For example, Figure 1 and Figure 2When the number of the recesses is five, the recesses can be arranged in a cross shape.

[0038] In use, the number of the reflective balls can be selected according to actual needs, and installed in the corresponding recesses, so as to ensure more accurate positioning. The reflective balls can reflect the light source of the optical navigation camera, so that the optical navigation camera can locate the six-degree-of-freedom pose data of each reflective ball, which can include X-axis coordinate, Y-axis coordinate, Z-axis coordinate, pitch, yaw, and roll.

[0039] In another possible implementation, the optical positioning array can include at least three light emitters, all of which are arranged on the support and arranged in an array. The optical positioning array further includes a battery arranged in the support, and the battery is electrically connected with the light emitters.

[0040] The light emitters can be infrared LED balls, which are fixed on the support surface of the support in an array. The battery is used to power the infrared LED balls. A power switch can also be arranged on the connecting piece, which is used to control the opening and closing of power supply.

[0041] The number of the reflectors or light emitters is preferably 5 or 6, so as to ensure the accuracy of positioning.

[0042] In an embodiment of the present application, in order to further improve the accuracy of the position recognition of the acetabular cup and avoid the shielding and position limitation, the auxiliary positioning device can further include an inertial sensor and a communicator. The inertial sensor can be arranged in the support. The communicator can be arranged in the support or the connecting piece, and is used to send the data of the inertial sensor to the controller.

[0043] The controller can determine the real-time pose data of the acetabular cup based on the pose data collected by the inertial sensor and the optical positioning array, so as to improve the accuracy of the verification of the implantation angle.

[0044] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some communication interfaces, and can be electrical, mechanical or other forms.

[0045] In addition, the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, i.e. may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present application.

[0046] Furthermore, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0047] It should be noted that if the function is realized in the form of a software function module and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, and various program code storage media.

[0048] In this paper, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations.

[0049] The above is only an embodiment of the present application and does not limit the protection scope of the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An auxiliary positioning device for hip replacement prosthesis implantation, wherein the hip replacement prosthesis includes at least an acetabular cup, characterized in that, The auxiliary positioning device includes: The liner includes a first surface and a second surface, wherein the first surface of the liner is fitted to the inner surface of the acetabular cup; A support structure, one end of which is mounted on the second surface of the inner liner, and the other end of which forms a support surface; An optical positioning array is mounted on the support surface. Based on the pose data collected by the optical positioning array, the implantation status of the acetabular cup during hip replacement surgery is verified.

2. The auxiliary positioning device according to claim 1, characterized in that, The second surface of the liner includes a concave surface and a bottom surface, and one end of the support structure is mounted on the concave surface of the liner. The first surface and the concave surface are closed by the bottom surface.

3. The auxiliary positioning device according to claim 2, characterized in that, The supporting structure includes connectors and supports. One end of the connector is installed on the concave surface of the inner liner, and the other end of the connector is connected to the support. The support component forms a support surface.

4. The auxiliary positioning device according to claim 3, characterized in that, The support surface of the support member has at least three grooves, and the grooves are arranged in an array. The optical positioning array includes at least three reflectors, each of which is detachably connected to a target recess.

5. The auxiliary positioning device according to claim 3, characterized in that, The optical positioning array includes at least three emitters, all of which are arranged on a support and in an array.

6. The auxiliary positioning device according to claim 5, characterized in that, The optical positioning array also includes a battery, which is housed within a support and electrically connected to the emitter.

7. The auxiliary positioning device according to claim 6, characterized in that, It also includes inertial sensors, which are arranged inside the support structure.

8. The auxiliary positioning device according to claim 1, characterized in that, The orthopedic robot is controlled to install the acetabular cup based on the target pose data; Deploy the liner of the auxiliary positioning device inside the acetabular cup, and keep the bottom surface of the liner and the bottom surface of the acetabular cup at the same level. The optical positioning array acquires pose data through an optical navigation camera; Based on the collected pose data, the real-time pose data of the acetabular cup is determined.

9. The auxiliary positioning device according to claim 8, characterized in that, Based on the matching degree between real-time pose data and target pose data, it is determined whether the position of the acetabular cup should be adjusted.

10. The auxiliary positioning device according to claim 8, characterized in that, Calculate the target deviation value based on real-time pose data and target pose data; Determine whether the target deviation value is less than the preset deviation value; If so, then the position of the acetabular cup does not need to be adjusted.

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