Osteotomy orthopedic operation positioning device based on electromagnetic navigation

Abstract

The invention relates to the field of orthopedic treatment auxiliary equipment, in particular to an osteotomy orthopedic operation positioning device based on electromagnetic navigation, which comprises a bone saw and a multi-angle control component used for positioning the cutting angle of the bone saw, at least four first electromagnetic positioning transmitters are arranged in a grab handle of the bone saw, and the first electromagnetic positioning transmitters are arranged in the grab handle of the bone saw. The plurality of electromagnetic positioning receivers are distributed on the peripheral side of the knee joint, the three first electromagnetic positioning emitters are distributed along the coordinate axis of a Cartesian coordinate, and the remaining first electromagnetic positioning emitter is located at the original point of the Cartesian coordinate; and the first electromagnetic positioning transmitter and the electromagnetic positioning receiver are electrically connected with a data processing device. The cutting position of the bone saw is accurately controlled in an electromagnetic navigation mode, and the accuracy of an operation is ensured.

Description

Technical Field

[0001] This invention relates to the field of orthopedic treatment auxiliary equipment, and more specifically to a positioning device for osteotomy and orthopedic surgery based on electromagnetic navigation. Background Technology

[0002] Knee arthritis caused by prolonged use or injury leading to genu varum or genu valgum requires surgical treatment. Surgical treatments for knee joint conditions typically include knee replacement and knee osteotomy. Knee osteotomy usually involves cutting the bone at the knee joint, preserving a portion of the connecting parts, and then adjusting the angle of the knee joint to achieve the therapeutic goal. During the surgery, precise positioning of the bone cutting angle and depth is crucial. Deviations in the cutting angle cannot guarantee postoperative joint correction; excessive cutting may compromise bone connection and increase the risk of fracture displacement; insufficient cutting depth will not effectively correct the injury. While existing positioning devices can achieve positioning, multiple fluoroscopy sessions are often required during surgery to ensure the precision of the osteotomy, indirectly affecting the surgical process and treatment outcome. Summary of the Invention

[0003] The purpose of this invention is to provide a positioning device for osteotomy and orthopedic surgery based on electromagnetic navigation to solve the above-mentioned problems. By using electromagnetic navigation, the cutting position of the bone saw can be precisely controlled to ensure the accuracy of the surgery.

[0004] To achieve the above objectives, the present invention provides the following solution:

[0005] An electromagnetic navigation-based osteotomy and orthopedic surgery positioning device includes a bone saw, a multi-angle control component for positioning the cutting angle of the bone saw, at least four first electromagnetic positioning transmitters and several electromagnetic positioning receivers installed in the handle of the bone saw, the several electromagnetic positioning receivers being distributed around the knee joint, three of the first electromagnetic positioning transmitters being distributed along the coordinate axes of a Cartesian coordinate system, and the remaining first electromagnetic positioning transmitter being located at the origin of the Cartesian coordinate system, and the first electromagnetic positioning transmitters and electromagnetic positioning receivers being electrically connected to a data processing device.

[0006] Preferably, the multi-angle control component includes a bone connection component, a ball sleeve slidably connected to the bone connection component, a positioning ball rotatably connected inside the ball sleeve, a positioning groove on the positioning ball, the saw head of the bone saw inserted into the positioning groove, a first locking component between the positioning ball and the ball sleeve, and at least four second electromagnetic positioning transmitters inside the positioning ball, three of the second electromagnetic positioning transmitters being distributed along the coordinate axes of the Cartesian coordinate system, and the remaining second electromagnetic positioning transmitter being located at the origin of the Cartesian coordinate system.

[0007] Preferably, the bone connection component includes a guide rod, an installation block is fixedly connected to the outside of the ball sleeve, the installation block is slidably connected to the outside of the guide rod, a second locking screw is threaded onto the installation block, the end of the second locking screw abuts against the guide rod, bone positioning components are rotatably connected to both ends of the guide rod, and the installation block is horizontally slidably disposed along the guide rod.

[0008] Preferably, the first locking component includes a first locking screw threaded onto the ball sleeve, the first locking screw passing through the ball sleeve and abutting against the positioning ball.

[0009] Preferably, the ball sleeve has clearance openings on both the front and rear sides.

[0010] Preferably, the bone positioning component includes a movable connecting rod rotatably connected to both ends of the guide rod, with a vertical guide rail slidably connected to the end of the movable connecting rod away from the guide rod, the movable connecting rod being vertically slidably arranged along the vertical guide rail, and a second locking component being provided between the movable connecting rod and the vertical guide rail.

[0011] Preferably, the second locking component includes a worm gear rotatably connected to one side of the movable connecting rod, the worm gear meshing with a worm wheel, the worm wheel shaft being connected to a threaded rod, the worm wheel and the threaded rod being rotatably connected inside the movable connecting rod, a locking sleeve being threadedly fitted to the outer side of the threaded rod, a sliding groove being provided inside the movable connecting rod, the locking sleeve being axially slidably disposed in the sliding groove, and the end of the locking sleeve abutting against the vertical guide rail.

[0012] Preferably, the vertical guide rail has several positioning holes.

[0013] Preferably, the angle control component includes a robotic arm, and the bone saw is mounted on the movable end of the robotic arm.

[0014] The present invention has the following technical effects:

[0015] This invention mounts an electromagnetic positioning transmitter on a bone saw and uses multiple electromagnetic positioning generators to establish a coordinate system. In conjunction with an electromagnetic positioning receiver, the specific angle and position of the bone saw can be determined. Through the precise coordination between the two, it is possible to determine whether the cutting angle of the bone saw meets the requirements of the surgical procedure. Furthermore, by judging the position of the bone saw, it is possible to accurately determine whether the cutting depth of the bone saw is appropriate. This avoids the situation where the depth of the bone saw cannot be judged visually after it has penetrated the bone, thus providing a good foundation for precise surgical treatment. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the angle control component structure according to Embodiment 1 of the present invention;

[0018] Figure 2 This is a schematic diagram of the angle control component and the bone saw working together in Embodiment 1 of the present invention;

[0019] Figure 3 This is a schematic diagram of the bone saw of the present invention;

[0020] Figure 4 This is a schematic diagram of the structure of the second locking component in Embodiment 1 of the present invention;

[0021] Figure 5 This is a schematic diagram of the angle control component structure in Embodiment 2 of the present invention.

[0022] Among them, 1. Ball sleeve; 101. First locking screw; 102. Leaving opening; 2. Positioning ball; 201. Positioning groove; 202. Second electromagnetic positioning transmitter; 3. Mounting block; 301. Second locking screw; 4. Guide rod; 5. Movable connecting rod; 501. Worm gear; 502. Worm wheel; 503. Threaded rod; 504. Slide groove; 505. Locking sleeve; 6. Vertical guide rail; 601. Positioning hole; 7. Bone saw; 701. First electromagnetic positioning transmitter; 8. Robotic arm. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] Example 1:

[0026] Reference Figures 1 to 4As shown, this embodiment provides a positioning device for osteotomy and orthopedic surgery based on electromagnetic navigation, including a bone saw 7, a multi-angle control component for positioning the cutting angle of the bone saw 7, at least four first electromagnetic positioning transmitters and several electromagnetic positioning receivers installed in the handle of the bone saw 7, the several electromagnetic positioning receivers are distributed around the knee joint, three first electromagnetic positioning transmitters 701 are distributed along the coordinate axes of the Cartesian coordinate system, and the remaining first electromagnetic positioning transmitter 701 is located at the origin of the Cartesian coordinate system. The first electromagnetic positioning transmitters 701 and the electromagnetic positioning receivers are electrically connected to a data processing device.

[0027] This invention mounts an electromagnetic positioning transmitter 1101 on a bone saw 11, and uses multiple electromagnetic positioning generators 1101 to position a coordinate system. In conjunction with an electromagnetic positioning receiver, the specific angle and position of the bone saw 11 can be determined. By using the precise coordination between the two, it can be determined whether the cutting angle of the bone saw 11 meets the requirements of the surgical procedure. Furthermore, by judging the position of the bone saw 11, it is possible to accurately determine whether the cutting depth of the bone saw 11 is appropriate. This avoids the situation where the depth of the bone saw 11 cannot be judged visually after it has penetrated the bone, thus providing a good foundation for precise surgical treatment.

[0028] Further optimization of the scheme: the multi-angle control component includes a bone connection component, a ball sleeve 1 is slidably connected to the bone connection component, a positioning ball 2 is rotatably connected inside the ball sleeve 1, a positioning groove 201 is opened on the positioning ball 2, the saw head of the bone saw 7 is inserted into the positioning groove 201, a first locking component is provided between the positioning ball 2 and the ball sleeve 1, and at least four second electromagnetic positioning transmitters 202 are provided inside the positioning ball 2, three of the second electromagnetic positioning transmitters 202 are distributed along the coordinate axes of the Cartesian coordinate system, and the remaining second electromagnetic positioning transmitter 202 is located at the origin of the Cartesian coordinate system.

[0029] The design is further optimized. The bone connection component includes a guide rod 4, a mounting block 3 is fixedly connected to the outside of the ball sleeve 1, the mounting block 3 is slidably connected to the outside of the guide rod 4, a second locking screw 301 is threaded on the mounting block 3, the end of the second locking screw 301 abuts against the guide rod 4, bone positioning components are rotatably connected to both ends of the guide rod 4, and the mounting block 3 is horizontally slidably set along the guide rod 4.

[0030] In a further optimized design, the first locking component includes a first locking screw 101 threaded onto the ball sleeve 1, which passes through the ball sleeve 1 and abuts against the positioning ball 2.

[0031] To further optimize the design, clearance openings 102 are provided on the front and rear sides of the ball sleeve 1.

[0032] The bone positioning component is further optimized by including a movable link 5 rotatably connected to both ends of the guide rod 4. The end of the movable link 5 away from the guide rod 4 is slidably connected to a vertical guide rail 6. The movable link 5 is vertically slidable along the vertical guide rail 6. A second locking component is provided between the movable link 5 and the vertical guide rail 6.

[0033] Further optimizing the scheme, the second locking component includes a worm gear 501 rotatably connected to one side of the movable connecting rod 5. The worm gear 501 meshes with a worm wheel 502. The worm wheel 502 is axially connected to a threaded rod 503. The worm wheel 502 and the threaded rod 503 are rotatably connected inside the movable connecting rod 5. A locking sleeve 505 is threadedly fitted on the outer side of the threaded rod 503. A sliding groove 504 is provided inside the movable connecting rod 5. The locking sleeve 505 is axially slidably disposed in the sliding groove 504. The end of the locking sleeve 505 abuts against the vertical guide rail 6.

[0034] To further optimize the design, several positioning holes 601 are provided on the vertical guide rail 6.

[0035] Data acquisition utilizes MRI imaging data to obtain three-dimensional structural information of the patient's operated joint, generating a three-dimensional data model that includes the distribution of blood vessels, nerves, and bones;

[0036] Based on the three-dimensional data model, the osteotomy angle, osteotomy location, osteotomy depth, and standard coordinate system for the patient's osteotomy are planned.

[0037] The patient's leg at the surgical site is fixed, and a three-dimensional surgical data model of the joint and bone distribution during the operation is obtained by using ultrasound detection equipment.

[0038] The surgical 3D data model is fitted to the surgical 3D data model, and the standard coordinate system is combined to obtain the surgical reference coordinate system. Specifically, in the process of fitting the 3D data model to the surgical 3D data model, the bone to be operated on is selected as the reference bone, the 3D data model and the surgical 3D data model are fitted together, and the standard coordinate system is transformed into the surgical 3D data model as the surgical reference coordinate system.

[0039] The positioning ball 2 is fixed to the bone to be operated on through the positioning hole 601 opened on the vertical guide rail 6. Then the left and right positions of the positioning ball 2 are adjusted and locked with the second locking screw 301. The height of the positioning ball 2 is adjusted and locked with the worm gear 501. The angle of the positioning ball 2 is adjusted and locked with the first locking screw 101.

[0040] The position and angle of the positioning ball 2 are determined by the second electromagnetic positioning transmitter 202;

[0041] Specifically, the determination process uses the coordinate system formed by the four second electromagnetic positioning transmitters 202 as the first variable coordinate system. By adjusting the position and angle of the positioning ball 2, the relative position and angle difference between the first variable coordinate system and the surgical reference coordinate system are used to determine whether the position and angle of the positioning ball 2 meet the requirements of the osteotomy angle and osteotomy position as planned in the early stage.

[0042] The coordinate system formed by the four first electromagnetic positioning transmitters 701 serves as the second variable coordinate system;

[0043] Insert the bone saw 7 into the positioning groove 201 and adjust the cutting depth of the bone saw 7;

[0044] The fitting relationship between the second transformed coordinate system and the surgical reference coordinate system is used to determine whether the cutting depth of the bone saw 7 meets the previously planned osteotomy depth.

[0045] During the bone saw 7 cutting process, the first electromagnetic positioning transmitter 701, located at the origin of the Cartesian coordinate system, is used as the position point. The electromagnetic positioning receiver receives information to determine whether the bone cutting depth of the bone saw 7 meets the requirements.

[0046] The coordinate system formed by the four second electromagnetic positioning transmitters 202 is used to determine the angle of the first changing coordinate system. Any two second electromagnetic positioning transmitters 202 located on the Cartesian coordinate axis and the second electromagnetic positioning transmitter 202 located at the origin of the Cartesian coordinate system are selected as a plane and compared with the plane in the surgical reference coordinate system to determine the angle of the positioning groove 201, that is, the cutting angle of the bone saw 7.

[0047] The angle of the positioning groove 201 is used to guide the bone saw 7. During the cutting process, the cutting angle of the bone saw 7 is determined by the coordinate system formed by the four first electromagnetic positioning transmitters 701 as the second changing coordinate system angle. Any two first electromagnetic positioning transmitters 701 located on the Cartesian coordinate axis and the first electromagnetic positioning transmitter 701 located at the origin of the Cartesian coordinate are selected as a plane and compared with the plane in the surgical reference coordinate system to determine the cutting angle of the bone saw 7.

[0048] The scheme is further optimized by determining the cutting angle of the bone saw 11 and the signals emitted by all the first electromagnetic positioning transmitters 701. Multiple electromagnetic positioning receivers receive the information from the first electromagnetic positioning transmitters 701.

[0049] For the signal processing of the electromagnetic positioning receiver, the first electromagnetic positioning transmitter 701, and the second electromagnetic positioning transmitter 201, the data processing device can use a PC or other relevant host computer with data calculation function to process the data.

[0050] Example 2:

[0051] Reference Figure 5 As shown, the only difference between this embodiment and Embodiment 1 is that the angle control component includes a robotic arm 8, and the bone saw 7 is installed at the movable end of the robotic arm 8.

[0052] Further optimize the plan and data acquisition, and use MRI imaging data to obtain the patient's preoperative three-dimensional joint structure information, and generate a three-dimensional data model including the distribution of blood vessels, nerves and bones;

[0053] Based on the three-dimensional data model, the osteotomy angle, osteotomy location, osteotomy depth, and standard coordinate system for the patient's osteotomy are planned.

[0054] The coordinate system formed by the four first electromagnetic positioning transmitters 701 serves as the changing coordinate system;

[0055] Control the robotic arm 8 to move the bone saw 7;

[0056] The fitting relationship between the changing coordinate system and the surgical reference coordinate system is used to determine whether the position and angle of the bone saw 7 meet the requirements of the osteotomy angle and osteotomy position;

[0057] During the bone saw 7 cutting process, the first electromagnetic positioning transmitter 701, located at the origin of the Cartesian coordinate system, is used as the position point. The electromagnetic positioning receiver receives information and determines whether the bone cutting depth of the bone saw 7 meets the requirements.

[0058] To further optimize the scheme, the coordinate system formed by the four first electromagnetic positioning transmitters 701 is used as the changing coordinate system. Any two first electromagnetic positioning transmitters 701 located on the Cartesian coordinate axis and the first electromagnetic positioning transmitter 701 located at the origin of the Cartesian coordinate system are selected as a plane and compared with the plane in the surgical reference coordinate system to determine the cutting angle of the bone saw 7.

[0059] In this embodiment, for the angle determination of the bone saw 11, every three bone saws 7 can be considered as a plane. Selecting two bone saws 7 on the coordinate axis and the bone saw 7 at the origin can be considered as a plane in the coordinate system. By comparing the angle with the corresponding plane in the surgical reference coordinate system, the angle of the bone saw 7 in its current state can be obtained, thereby determining whether the angle of the bone saw meets the requirements.

[0060] To further optimize the scheme, when determining the cutting angle of the bone saw 7, all first electromagnetic positioning transmitters 701 transmit signals, and multiple electromagnetic positioning receivers receive the information from the first electromagnetic positioning transmitters 701.

[0061] To determine the position of the bone saw 7, multiple electromagnetic positioning receivers are set up on different planes. By using multiple electromagnetic positioning receivers to receive signals from a first electromagnetic positioning transmitter 701, the specific position of the first electromagnetic positioning transmitter 701 can be determined. Combined with the angle information of the bone saw 7, the data model of the bone saw 7 is also input into the data processing device. This allows the specific cutting position of the bone saw 7 during the operation to be determined, and the cutting depth of the bone saw 7 can be effectively determined. Based on the position and angle of the bone saw 7, the data processing device controls the robotic arm 8 to adjust the corresponding angle and cutting depth of the bone saw 7, thereby increasing the accuracy of the surgical operation.

[0062] In embodiments of the present invention, the data processing device may be a computer or other related equipment with data processing capabilities to process the data of the electromagnetic positioning transmitter 1101 and the electromagnetic positioning receiver.

[0063] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0064] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A positioning device for osteotomy and orthopedic surgery based on electromagnetic navigation, characterized in that, Includes a bone saw (7), a multi-angle control component for positioning the cutting angle of the bone saw (7), at least four first electromagnetic positioning transmitters and several electromagnetic positioning receivers are installed in the handle of the bone saw (7), several of the electromagnetic positioning receivers are distributed around the knee joint, three of the first electromagnetic positioning transmitters (701) are distributed along the coordinate axes of the Cartesian coordinate system, and the remaining one first electromagnetic positioning transmitter (701) is located at the origin of the Cartesian coordinate system. The first electromagnetic positioning transmitters (701) and the electromagnetic positioning receivers are electrically connected to a data processing device.

2. The positioning device for osteotomy and orthopedic surgery based on electromagnetic navigation according to claim 1, characterized in that, The multi-angle control component includes a bone connection component, on which a ball sleeve (1) is slidably connected. A positioning ball (2) is rotatably connected inside the ball sleeve (1). A positioning groove (201) is provided on the positioning ball (2). The saw head of the bone saw (7) is inserted into the positioning groove (201). A first locking component is provided between the positioning ball (2) and the ball sleeve (1). At least four second electromagnetic positioning transmitters (202) are provided inside the positioning ball (2). Three of the second electromagnetic positioning transmitters (202) are distributed along the coordinate axes of the Cartesian coordinate system, and the remaining second electromagnetic positioning transmitter (202) is located at the origin of the Cartesian coordinate system.

3. The positioning device for osteotomy and orthopedic surgery based on electromagnetic navigation according to claim 2, characterized in that, The bone connection component includes a guide rod (4), and an mounting block (3) is fixedly connected to the outside of the ball sleeve (1). The mounting block (3) is slidably connected to the outside of the guide rod (4). A second locking screw (301) is threaded onto the mounting block (3). The end of the second locking screw (301) abuts against the guide rod (4). Bone positioning components are rotatably connected to both ends of the guide rod (4). The mounting block (3) is horizontally slidably arranged along the guide rod (4).

4. The positioning device for osteotomy and orthopedic surgery based on electromagnetic navigation according to claim 2, characterized in that, The first locking component includes a first locking screw (101) threaded onto the ball sleeve (1), the first locking screw (101) passing through the ball sleeve (1) and abutting against the positioning ball (2).

5. A positioning device for osteotomy and orthopedic surgery based on electromagnetic navigation according to claim 2, characterized in that, The ball sleeve (1) has clearance openings (102) on both the front and rear sides.

6. The positioning device for osteotomy and orthopedic surgery based on electromagnetic navigation according to claim 3, characterized in that, The bone positioning component includes a movable connecting rod (5) rotatably connected to both ends of the guide rod (4). A vertical guide rail (6) is slidably connected to one end of the movable connecting rod (5) away from the guide rod (4). The movable connecting rod (5) is vertically slidably arranged along the vertical guide rail (6). A second locking component is provided between the movable connecting rod (5) and the vertical guide rail (6).

7. The positioning device for osteotomy and orthopedic surgery based on electromagnetic navigation according to claim 6, characterized in that, The second locking component includes a worm gear (501) rotatably connected to one side of the movable connecting rod (5). The worm gear (501) meshes with a worm wheel (502). The worm wheel (502) is axially connected to a threaded rod (503). The worm wheel (502) and the threaded rod (503) are rotatably connected within the movable connecting rod (5). A locking sleeve (505) is threaded onto the outer side of the threaded rod (503). A sliding groove (504) is provided within the movable connecting rod (5). The locking sleeve (505) is axially slidably disposed within the sliding groove (504). The end of the locking sleeve (505) abuts against the vertical guide rail (6).

8. A positioning device for osteotomy and orthopedic surgery based on electromagnetic navigation according to claim 7, characterized in that, The vertical guide rail (6) has several positioning holes (601).

9. A positioning device for osteotomy and orthopedic surgery based on electromagnetic navigation according to claim 1, characterized in that, The angle control component includes a robotic arm (8), and the bone saw (7) is mounted on the movable end of the robotic arm (8).

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