Tibia punching guide positioner and navigation system for anterior cruciate ligament replacement

Abstract

The utility model discloses a tibia punching guiding positioner and a navigation system for anterior cruciate ligament replacement, and belongs to the technical field of medical instruments, the tibia punching guiding positioner comprises a handle assembly, the handle assembly comprises a grip, the grip is provided with an arc-shaped positioning groove, and the arc-shaped positioning groove is provided with a positioning hole; a hook-shaped sighting device is slidably connected into the arc-shaped positioning groove, a locking nut used for locking the sighting device is arranged at the upper end of the grip, a positioning hook is arranged at the tail end of the sighting device, and the circle center of the arc-shaped positioning groove is the tip end of the positioning hook. A sleeve inserting hole is formed in the lower end of the grip, a guide sleeve is inserted into the sleeve inserting hole, and the axis of the sleeve inserting hole passes through the tip end of the positioning hook; a positioning reference frame is arranged above the sighting device. The front face and the back face of the positioning reference frame are each provided with at least three trackers used for being matched with the navigation camera. The utility model is suitable for both left and right legs and has high positioning accuracy.

Description

Technical Field

[0001] The utility model relates to the technical field of medical instruments, in particular to a tibial drilling guide locator and a navigation system used for anterior cruciate ligament replacement. Background Art

[0002] The anterior cruciate ligament (ACL) is an important part of the knee joint anatomy. ACL injury is common in clinical practice. There have been many research reports on the treatment and rehabilitation of ACL injury in the knee joint at home and abroad. Currently, surgical treatment is the main treatment for ACL injury in clinical practice. The expansion of the tibial tunnel in ACL reconstruction / replacement surgery is particularly important and is closely related to the patient's postoperative knee stability and functional recovery, graft survival, etc.

[0003] In the navigation system for anterior cruciate ligament replacement surgery, after the navigation system fits the tibial bone tunnel, an instrument is required to locate the fitted bone tunnel. The punching tool can extend from the guide structure provided by the instrument to physically cut the fitted bone tunnel, and the instrument should be able to be tracked by the navigation camera to confirm the accuracy of the bone tunnel positioning and physical cutting. After actual research and patent retrieval, such an instrument has not yet appeared in anterior cruciate ligament replacement surgery, which is a deficiency of the existing technology. Utility Model Content

[0004] The technical problem to be solved by the utility model is to provide a tibial drilling guide locator and a navigation system which are suitable for both left and right legs and have high positioning accuracy and are used for anterior cruciate ligament replacement.

[0005] In order to solve the above technical problems, the utility model provides the following technical solutions:

[0006] In one aspect, a tibial drilling guide locator for anterior cruciate ligament replacement is provided, comprising a handle assembly, the handle assembly comprising a grip, wherein:

[0007] The handle is provided with an arc-shaped positioning groove, a hook-shaped sight is slidably connected in the arc-shaped positioning groove, a locking nut for locking the sight is provided at the upper end of the handle, a positioning hook is provided at the end of the sight, and the center of the arc-shaped positioning groove is the tip of the positioning hook;

[0008] A sleeve plug-in hole is provided at the lower end of the grip, a guide sleeve is inserted into the sleeve plug-in hole, and the axis of the sleeve plug-in hole passes through the tip of the positioning hook;

[0009] A positioning reference frame is arranged above the sight, and at least three trackers for cooperating with the navigation camera are arranged on the front and back of the positioning reference frame.

[0010] Furthermore, a scale is provided on the portion of the sight located in the arc-shaped positioning groove, and an observation hole connected to the arc-shaped positioning groove for reading the scale is provided on the handle.

[0011] Furthermore, the handle is provided with a groove on the side of the sleeve insertion hole.

[0012] Furthermore, the lower end of the handle is provided with an instrument clamping through hole penetrating the front and back sides of the handle above the sleeve insertion hole, and a positioning hole located on the side of the instrument clamping through hole and connected to the instrument clamping through hole.

[0013] Furthermore, the guide sleeve includes a sleeve body and a driving knob fixedly arranged at the rear end of the sleeve body, and a beveled surface is arranged at the front end of the sleeve body, and positioning teeth are arranged on the beveled surface.

[0014] Furthermore, a scale is provided on the length direction of the sleeve body;

[0015] and / or, the front portion of the sleeve body is in a frustum shape;

[0016] And / or, the driving knob is provided with a cutting plane on the same side as the beveled surface.

[0017] Furthermore, the positioning reference frame includes a straight rod portion and a triangular bracket portion located at the upper end of the straight rod portion, the three sides of the straight rod portion and the bracket portion are not colinear, and the tracker is provided on the lower part of the straight rod portion and the three corners of the bracket portion.

[0018] Furthermore, a guide channel is provided at the end of the sight, and the positioning hook is telescopically arranged in the guide channel.

[0019] Furthermore, a magnet for attracting the positioning hook is provided at the bottom of the guide channel, an adjusting rod is passed through the interior of the sight, a wedge-shaped push block is provided at the front end of the adjusting rod for pushing and cooperating with the inner end surface of the positioning hook, and a button is provided at the rear end of the adjusting rod.

[0020] On the other hand, a navigation system is provided, comprising a navigation camera and the above-mentioned tibial drilling guide locator for anterior cruciate ligament replacement.

[0021] The utility model has the following beneficial effects:

[0022] The utility model of the tibial drilling guide locator and navigation system for anterior cruciate ligament replacement surgery has a positioning reference frame above the sight, and the front and back of the positioning reference frame are provided with at least three trackers for cooperating with the navigation camera, that is, with two sets of trackers, so that physical cutting can be fed according to the bone channel direction fitted by the navigation system, and different positions of the left and right legs can be recognized by the navigation camera, and the navigation camera can accurately navigate through the tracker. Therefore, the utility model is applicable to both left and right legs and has high positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the tibial drilling guide and positioner of the utility model;

[0024] Figure 2 It is a schematic diagram of the structure of the aimer and the positioning reference frame in the utility model;

[0025] Figure 3 This is a schematic diagram of the structure of the handle assembly in the utility model;

[0026] Figure 4 This is a schematic diagram of the structure of the guide sleeve in the utility model;

[0027] Figure 5 It is a schematic diagram of the structure of the tracker in the utility model;

[0028] Figure 6 This is a schematic structural diagram of the improved embodiment of the tibial drilling guide locator of the utility model, in which the positioning hook adopts a retractable structure, wherein the positioning hook in (a) is in a retracted state, and the positioning hook in (b) is in an extended state. DETAILED DESCRIPTION

[0029] In order to make the technical problems to be solved, technical solutions and advantages of the present invention more clear, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0030] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0031] On the one hand, the utility model provides a tibial drilling guide and locator for anterior cruciate ligament replacement, such as Figure 1-5 As shown, it includes a handle assembly 1, and the handle assembly 1 includes a grip 11, wherein:

[0032] The handle 11 is provided with an arc-shaped positioning groove 111, and a hook-shaped sight 2 is slidably connected in the arc-shaped positioning groove 111. A locking nut 12 for locking the sight 2 is provided at the upper end of the handle 11, and a positioning hook 21 is provided at the end of the sight 2. The center of the arc-shaped positioning groove 111 is the tip 211 of the positioning hook 21.

[0033] A sleeve insertion hole 112 is provided at the lower end of the grip 11, and a guide sleeve 3 is inserted into the sleeve insertion hole 112. The axis of the sleeve insertion hole 112 passes through the tip 211 of the positioning hook 21.

[0034] A positioning reference frame 4 is disposed above the sight 2 (the two may be of an integrated design), and at least three trackers 41 for cooperating with the navigation camera are disposed on the front and back of the positioning reference frame 4 .

[0035] When in use, first slide the sight 2 in the arc-shaped positioning groove 111 of the handle 11 to a suitable position as needed, then use the locking nut 12 to fix the sight 2, and then extend the positioning hook 21 of the sight 2 to the exit point of the bone tunnel to be created in the knee joint, and then insert the guide sleeve 3 into the sleeve plug hole 112 at the lower end of the handle 11 and make the front end of the guide sleeve 3 rest against the entrance point of the tibial bone tunnel. Since the front and back of the positioning reference frame 4 are provided with at least three trackers 41 for cooperating with the navigation camera, the navigation camera can navigate accurately, and finally the punching tool is passed through the guide sleeve 3 to drill a hole to create a bone tunnel, so as to ensure that the tip 211 of the positioning hook 21 is reached after drilling.

[0036] At present, there is no tibial guide locator with a tracker in anterior cruciate ligament replacement surgery. During the design process, the inventor has tried to design a single-sided (with a tracker) rotatable tibial guide locator. When the left and right leg procedures are switched, the single-sided guide locator can adjust the angle according to the position of the tracker thereon relative to the camera, so that the tracker can be seen during the left and right leg procedures. However, it is found in engineering practice that this structure requires a positioning structure to limit the position. When the tracker is locked, the positioning structure and the tracker components will be squeezed and deformed, resulting in a millimeter-level deviation between the actual position and the theoretical position of the tracker after locking, making it impossible to perform surgery. After analyzing the causes of the deviation, it is believed that it is necessary to design a fixed tibial guide locator with a double-sided tracker to completely solve this problem.

[0037] The utility model of the tibial drilling guide locator for anterior cruciate ligament replacement surgery has a positioning reference frame above its sight, and the front and back of the positioning reference frame are both provided with at least three trackers for cooperating with the navigation camera, that is, it has two sets of trackers, so that physical cutting can be fed in the direction of the bone channel fitted by the navigation system, and the different positions of the left and right legs can be recognized by the navigation camera, and the navigation camera can accurately navigate through the tracker. Therefore, the utility model of the tibial drilling guide locator for anterior cruciate ligament replacement surgery is applicable to both left and right legs and has high positioning accuracy.

[0038] like Figure 2-3 As shown, the portion of the sight 2 located in the arc-shaped positioning groove 111 may be provided with an (arc) scale 23, and the handle 11 is provided with an observation hole 113 connected to the arc-shaped positioning groove 111 for reading the scale 23, so as to facilitate flexible adjustment of the angle of the sight 2 as needed during surgery, while also reducing the weight of the handle 11 and improving ease of use.

[0039] A slot 114 may be provided on the side of the sleeve inserting hole 112 on the handle 11 , and the slot 114 allows the sleeve inserting hole 112 to have a certain elasticity, so as to facilitate the insertion of the guide sleeve 3 .

[0040] To facilitate holding by the robotic arm, the lower end of the handle 11 may be provided with an instrument clamping through hole 115 passing through the front and back of the handle 11 and a positioning hole 116 located on the side of the instrument clamping through hole 115 and connected to the instrument clamping through hole 115 above the sleeve insertion hole 112.

[0041] like Figure 4 As shown, the guide sleeve 3 may include a sleeve body 31 and a driving knob 32 fixed at the rear end of the sleeve body 31. The front end of the sleeve body 31 is provided with a chamfered surface 311, and the chamfered surface 311 is provided with positioning teeth (not shown), so that the guide sleeve 3 can be firmly positioned on the tibia to prevent the guide sleeve 3 from rotating with the punching tool.

[0042] In order to facilitate observation of the insertion depth of the guide sleeve 3 in the sleeve insertion hole 112, a scale 312 may be provided in the length direction of the sleeve body 31. The front portion of the sleeve body 31 may be in a frustum shape to reduce tissue interference. The driving knob 32 may be provided with a cutting plane 321 on the same side as the chamfered surface 311 to indicate the direction of the chamfered surface 311.

[0043] like Figure 1-2 As shown, the positioning reference frame 4 may include a straight rod portion 42 and a triangular bracket portion 43 located at the upper end of the straight rod portion 42. The three sides of the straight rod portion 42 and the bracket portion 43 are not colinear. Trackers 41 are provided on the lower part of the straight rod portion 42 and the three corners of the bracket portion 43. This can reduce the number of trackers 41 and improve the positioning accuracy of the navigation camera.

[0044] like Figure 5 As shown, the tracker 41 may include a connecting bowl 411 and a reflective ball 412 that is snapped into the connecting bowl 411. Since the connecting bowl 411 is used, it is possible to avoid accidentally touching the reflective ball 412 during use during surgery and damaging the reflective ball 412, and it is also possible to avoid liquid splashing onto the reflective ball 412 and affecting the reflective effect of the reflective ball 412.

[0045] Since there are a large number of nerves and blood vessels in the knee joint, in order to avoid the tip of the positioning hook 21 from scratching the nerves or blood vessels during the operation, causing unnecessary damage, Figure 6 In the improved embodiment shown, a guide channel 23 may be provided at the end of the sight 2, and the positioning hook 21 may be retractably arranged in the guide channel 23. It should be noted that, for ease of understanding, Figure 6 The middle sight 2 shows only a part of it (i.e. Figure 2 The left half of the handle 11 is located in the slidable part of the arc-shaped positioning groove 111 (i.e. Figure 2 The right half of the figure is not shown.

[0046] The positioning hook 21 preferably adopts a retractable structure. When in use, the positioning hook 21 is first retracted into the guide channel 23, and after reaching the desired position, the positioning hook 21 is extended to achieve the positioning effect.

[0047] Specifically, the retractable structure of the positioning hook 21 is preferably: a magnet 231 for attracting the positioning hook 21 is provided at the bottom of the guide channel 23, an adjusting rod 24 is passed through the interior of the sight 2, a wedge-shaped push block 242 is provided at the front end of the adjusting rod 24 for pushing and cooperating with the inner end surface of the positioning hook 21, and a button 241 is provided at the rear end of the adjusting rod 24.

[0048] In this way, Figure 6 As shown in (a), when the button 241 is pulled backward to pull the adjusting rod 24 out of the wedge-shaped push block 242, the positioning hook 21 is retracted in the guide channel 23 under the attraction of the magnet 231; Figure 6 As shown in (b), when the button 241 is pushed forward / pressed, the adjusting rod 24 pushes the wedge-shaped push block 242, and the positioning hook 21 extends out of the guide channel 23 under the pushing action of the wedge-shaped push block 242 to achieve the positioning effect. This structural mode is simple to implement and easy to adjust.

[0049] On the other hand, the utility model provides a navigation system, including a navigation camera and the above-mentioned tibial drilling guide locator for anterior cruciate ligament replacement. Since the structure of the tibial drilling guide locator is the same as above, it will not be described here.

[0050] The navigation system of the utility model has a positioning reference frame above the sight of the tibial drilling guide locator, and the front and back of the positioning reference frame are both provided with at least three trackers for cooperating with the navigation camera, that is, with two sets of trackers, so that physical cutting can be fed in the direction of the bone channel fitted by the navigation system, and different positions of the left and right legs can be recognized by the navigation camera, and the navigation camera can accurately navigate through the tracker. Therefore, the utility model is applicable to both left and right legs and has high positioning accuracy.

[0051] The above is a preferred embodiment of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A tibial drilling guide and locator for anterior cruciate ligament replacement, characterized in that: A handle assembly is included, the handle assembly including a grip, wherein: The handle is provided with an arc-shaped positioning groove, a hook-shaped sight is slidably connected in the arc-shaped positioning groove, a locking nut for locking the sight is provided at the upper end of the handle, a positioning hook is provided at the end of the sight, and the center of the arc-shaped positioning groove is the tip of the positioning hook; A sleeve plug-in hole is provided at the lower end of the grip, a guide sleeve is inserted into the sleeve plug-in hole, and the axis of the sleeve plug-in hole passes through the tip of the positioning hook; A positioning reference frame is arranged above the sight, and at least three trackers for cooperating with the navigation camera are arranged on the front and back of the positioning reference frame.

2. The tibial drilling guide and locator for anterior cruciate ligament replacement according to claim 1, characterized in that: The portion of the sight located in the arc-shaped positioning groove is provided with a scale, and the handle is provided with an observation hole connected with the arc-shaped positioning groove for reading the scale.

3. The tibial drilling guide and locator for anterior cruciate ligament replacement according to claim 1, characterized in that: The handle is provided with a slot on the side of the sleeve inserting hole.

4. The tibial drilling guide and locator for anterior cruciate ligament replacement according to claim 1, characterized in that: The lower end of the handle is provided with an instrument clamping through hole which penetrates the front and back sides of the handle and a positioning hole which is located on the side of the instrument clamping through hole and communicates with the instrument clamping through hole above the sleeve insertion hole.

5. The tibial drilling guide and locator for anterior cruciate ligament replacement according to claim 1, characterized in that: The guide sleeve comprises a sleeve body and a driving knob fixedly arranged at the rear end of the sleeve body. The front end of the sleeve body is provided with a chamfered surface, and the chamfered surface is provided with positioning teeth.

6. The tibial drilling guide and locator for anterior cruciate ligament replacement according to claim 5, characterized in that: The sleeve body is provided with scales in the length direction; and / or, the front portion of the sleeve body is in a frustum shape; And / or, the driving knob is provided with a cutting plane on the same side as the beveled surface.

7. The tibial drilling guide and locator for anterior cruciate ligament replacement according to any one of claims 1 to 6, characterized in that: The positioning reference frame includes a straight rod portion and a triangular bracket portion located at the upper end of the straight rod portion. The three sides of the straight rod portion and the bracket portion are not colinear. The tracker is provided on the lower part of the straight rod portion and the three corners of the bracket portion.

8. The tibial drilling guide and locator for anterior cruciate ligament replacement according to claim 7, characterized in that: A guide channel is arranged at the end of the sight, and the positioning hook is telescopically arranged in the guide channel.

9. The tibial drilling guide and locator for anterior cruciate ligament replacement according to claim 8, characterized in that: A magnet for attracting the positioning hook is provided at the bottom of the guide channel, an adjusting rod is passed through the interior of the sight, a wedge-shaped push block which pushes and cooperates with the inner end surface of the positioning hook is provided at the front end of the adjusting rod, and a button is provided at the rear end of the adjusting rod.

10. A navigation system, characterized in that: The invention comprises a navigation camera and a tibial drilling guide locator for anterior cruciate ligament replacement as described in any one of claims 1-9.

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