Drill bit guide device for high tibial osteotomy
By designing a drill bit guide device for high tibial osteotomy surgery, the problem of low accuracy of K-S-in-insertion position in the prior art is solved, and higher accuracy and safer surgical procedures are achieved.
Patent Information
- Application Number
- CN202421199652.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-29
- Publication Date
- 2025-05-09
- Estimated Expiration
- 2034-05-29
AI Technical Summary
In high tibial osteotomy surgery, the prior art requires repeated X-ray fluoroscopy to determine the insertion position of the Kerry needle, resulting in a long surgery time, heavy damage from X-ray radiation and low accuracy of the insertion position.
A drill bit guide device is designed, including a connecting seat, a guide barrel and a sleeve, which moves the guide barrel to a target position through a robotic arm, and guides and restrains the drill bit through the sleeve to prevent lateral deviation.
It improves the accuracy of Kleiner needle insertion, reduces surgical time and X-ray exposure, and ensures the stability of the tibial structure.
Smart Images
Figure CN222841046U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of medical devices, and in particular to a drill guide device for high tibial osteotomy surgery. Background Art
[0002] High tibial osteotomy is an important surgical method for the treatment of early and middle-stage knee osteoarthritis. It can transfer the force line of the lower limb from the affected compartment to the normal compartment by proximal tibial osteotomy, thereby relieving knee pain and improving knee function. Open wedge high tibial osteotomy is an incomplete osteotomy with the following advantages: simple technique, small incision damage, precise deformity correction, and convenient intraoperative force line adjustment. Due to the high stress conduction in the medial compartment of the knee joint, appropriate methods need to be taken to maintain the stability of the tibial structure.
[0003] When performing osteotomy, it is necessary to combine preoperative imaging examination, preoperative planning, fluoroscopy before osteotomy to insert the Kirschner wire, design the osteotomy position, and finally perform the osteotomy. As a commonly used internal fixation material in orthopedics, the Kirschner wire is used as an osteotomy surface position determiner during osteotomy correction. In order to insert the Kirschner wire into a satisfactory osteotomy position during surgery, clinicians need to determine the insertion position of the Kirschner wire under repeated X-ray fluoroscopy. Doing so not only prolongs the operation time, but also exposes doctors and patients to a large amount of X-ray radiation damage. At the same time, even after multiple X-ray fluoroscopy positioning, the final ideal position of the Kirschner wire cannot be accurately determined. It can only be determined by the clinician's feel and experience when drilling the Kirschner wire, and there is no intuitive measurement data to support the operation. Summary of the invention
[0004] The present application provides a drill guide device for high tibial osteotomy surgery, which solves the problems in the prior art that clinicians need to determine the insertion position of the Kirschner wire under repeated X-ray fluoroscopy, resulting in long operation time, great X-ray radiation damage and low accuracy of the Kirschner wire insertion position.
[0005] The present application provides a drill guide device for high tibial osteotomy surgery, comprising a connecting seat and a guide cylinder, wherein the connecting seat and the guide cylinder are connected via a connecting rod, the connecting seat is mounted at the end of a robotic arm, a sleeve for the drill to pass through is mounted in the guide cylinder, and the inner diameter of the sleeve matches the outer diameter of the drill.
[0006] In the technical solution provided in the present application, the guide sleeve is fixed to the end of the robotic arm by a connecting seat and a connecting rod, and the guide cylinder can be moved to the target position by the robotic arm to improve the accuracy of Kirschner wire insertion; by installing a sleeve in the guide cylinder and guiding and restraining the drill bit by the sleeve, the drill bit can be prevented from lateral displacement during the process of drilling into the tibia, resulting in deviation of the Kirschner wire insertion position or damage to the tibia.
[0007] In some embodiments, the sleeve is installed in the guide cylinder through a positioning frame, the positioning frame includes a connecting arm, two positioning sleeves of different sizes are installed at both ends of the connecting arm, the positioning sleeve is installed in the guide cylinder, and the sleeve is installed in the positioning sleeve; by installing two positioning sleeves of different sizes at both ends of the connecting arm, drill bits of different sizes can be installed to meet different needs.
[0008] In some embodiments, a screw hole is provided on the side wall of the guide cylinder for cooperating with a screw to fix the positioning sleeve in the guide cylinder, thereby improving the stability of the connection between the positioning sleeve and the guide cylinder.
[0009] In certain embodiments, the outer diameter of the sleeve matches the inner diameter of the positioning sleeve, and a retaining ring is provided on the top of the sleeve to prevent the sleeve from slipping out of the positioning sleeve.
[0010] In some embodiments, hollow grooves are provided on the side walls and the connecting arms of the positioning sleeve, which can reduce the weight of the positioning frame on the one hand and improve the aesthetics on the other hand.
[0011] In certain embodiments, a first reference array is installed on the side of the connecting seat, which is used to cooperate with the optical positioning camera to obtain the position information of the end of the robotic arm. The robotic arm can be controlled to move the guide cylinder to the specified position according to the insertion position of the Kirschner wire, thereby improving the accuracy of the Kirschner wire insertion.
[0012] In certain embodiments, the outer wall of the guide cylinder is provided with at least one probe marking point, which is used to cooperate with the optical probe and the optical positioning camera to obtain the position information of the guide cylinder in the first reference array coordinate system; by setting the probe marking point on the outer wall of the guide cylinder, the position of the guide cylinder can be marked, and the position information of the first reference array can be directly obtained through the optical positioning camera subsequently, that is, the position information of the guide cylinder in the optical positioning camera coordinate system can be obtained through matrix transformation calculation, thereby realizing real-time tracking of the guide cylinder position during surgery.
[0013] In some embodiments, the robotic arm is mounted on a medical trolley, which is equipped with a second reference array. The position information of the second reference array can be acquired through an optical positioning camera, thereby obtaining the position information of the medical trolley in the optical positioning camera coordinate system, making it convenient to move the medical trolley to a suitable position.
[0014] In certain embodiments, the first reference array and the second reference array both include an optical support on which at least three reflective markers are asymmetrically arranged.
[0015] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] The drawings in this application are used to illustrate preferred embodiments, so that those skilled in the art can clearly understand various other advantages and benefits, and should not be considered as limitations of this application. In addition, the same reference numerals are used throughout the drawings to represent the same or similar components.
[0017] Figure 1 This is a structural schematic diagram of a drill guide device in one embodiment of the present application;
[0018] Figure 2 This is a schematic diagram of the assembly structure of the sleeve and the positioning frame in one embodiment of the present application;
[0019] Figure 3 This is a structural schematic diagram of a drill guide device installed on a medical trolley in one embodiment of the present application;
[0020] Icons: 1. Connecting seat; 2. Guide cylinder; 3. Connecting rod; 4. Robotic arm; 5. Drill bit; 6. Sleeve; 7. Connecting arm; 8. Positioning sleeve; 9. Screw hole; 10. Retaining ring; 11. Hollow groove; 12. First reference array; 13. Probe marking point; 14. Medical trolley; 15. Second reference array; 16. Electric drill. DETAILED DESCRIPTION
[0021] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with specific embodiments. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.
[0022] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.
[0023] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two (including two), unless otherwise clearly and specifically defined.
[0024] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.
[0025] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.
[0026] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.
[0027] See also Figure 1-Figure 3 The embodiment of the present application provides a drill guide device for high tibial osteotomy surgery, including a connecting seat 1 and a guide cylinder 2, wherein the connecting seat 1 and the guide cylinder 2 are connected by a connecting rod 3, the connecting seat 1 is installed at the end of a mechanical arm 4 (fixed by screw connection), and a sleeve 6 for a drill bit 5 (i.e., a Kirschner wire) to pass through is installed in the guide cylinder 2, and the inner diameter of the sleeve 6 matches the outer diameter of the drill bit 5.
[0028] In the technical solution provided in the present application, the guide sleeve is fixed to the end of the robotic arm 4 by the connecting seat 1 and the connecting rod 3, and the guide cylinder 2 can be moved to the target position by the robotic arm 4 to improve the accuracy of the Kirschner wire insertion; by installing the sleeve 6 in the guide cylinder 2 and guiding and restraining the drill bit 5 by the sleeve 6, the drill bit 5 can be prevented from being laterally offset during the process of drilling into the tibia, resulting in deviation of the Kirschner wire insertion position or damage to the tibia.
[0029] Please continue reading Figure 1 , Figure 2 In some embodiments, the sleeve 6 is installed in the guide cylinder 2 through a positioning frame, and the positioning frame includes a connecting arm 7. Two positioning sleeves 8 of different sizes are installed at both ends of the connecting arm 7. The positioning sleeves 8 are installed in the guide cylinder 2, and the sleeve 6 is installed in the positioning sleeves 8. By installing two positioning sleeves 8 of different sizes at both ends of the connecting arm 7, drill bits 5 of different sizes can be installed to meet different needs.
[0030] In a specific implementation process, the inner diameters of the two positioning sleeves 8 are 3 mm and 5 mm respectively.
[0031] Please continue reading Figure 1 In some embodiments, a screw hole 9 is provided on the side wall of the guide cylinder 2 for fixing the positioning sleeve 8 in the guide cylinder 2 with the screws, thereby improving the stability of the connection between the positioning sleeve 8 and the guide cylinder 2.
[0032] Please continue reading Figure 2 In some embodiments, the outer diameter of the sleeve 6 matches the inner diameter of the positioning sleeve 8 , and a retaining ring 10 is provided on the top of the sleeve 6 to prevent the sleeve 6 from slipping out of the positioning sleeve 8 .
[0033] Please continue reading Figure 2 In some embodiments, hollow grooves 11 are provided on the side walls of the positioning sleeve 8 and the connecting arm 7, which can reduce the weight of the positioning frame on the one hand and improve the aesthetics on the other hand.
[0034] Please continue reading Figure 1 In some embodiments, a first reference array 12 is installed on the side of the connecting seat 1, which is used to cooperate with the optical positioning camera to obtain the position information of the end of the robotic arm 4. The robotic arm 4 can be controlled to move the guide cylinder 2 to the specified position according to the insertion position of the Kirschner wire, thereby improving the accuracy of the Kirschner wire insertion.
[0035] Please continue reading Figure 1In some embodiments, the outer wall of the guide cylinder 2 is provided with at least one probe marking point 13 (a total of 3 are provided in this embodiment), which is used to cooperate with the optical probe and the optical positioning camera to obtain the position information of the guide cylinder 2 in the coordinate system of the first reference array 12; by setting the probe marking point 13 on the outer wall of the guide cylinder 2, the position of the guide cylinder 2 can be marked, and the position information of the first reference array 12 can be directly obtained through the optical positioning camera later, that is, the position information of the guide cylinder 2 in the coordinate system of the optical positioning camera can be obtained through matrix conversion calculation, thereby realizing real-time tracking of the position of the guide cylinder 2 during surgery.
[0036] Please continue reading Figure 3 In some embodiments, the robotic arm 4 is mounted on a medical trolley 14, and a second reference array 15 is mounted on the medical trolley 14. The position information of the second reference array 15 can be obtained through an optical positioning camera, thereby obtaining the position information of the medical trolley 14 in the optical positioning camera coordinate system, which facilitates moving the medical trolley 14 to a suitable position.
[0037] In some embodiments, the first reference array 12 and the second reference array 15 both include an optical bracket, and at least three reflective markers are asymmetrically arranged on the optical bracket.
[0038] In a specific implementation, the reflective marker may be a reflective sheet or a reflective ball. In this embodiment, reflective balls are used, and the number of reflective balls is 4 (the specific number can be flexibly adjusted according to actual conditions).
[0039] The working process of the drill guide device in this embodiment is as follows:
[0040] Firstly, an optical probe is used in conjunction with an optical positioning camera (i.e., an NDI camera) to mark the three probe marking points 13 on the guide cylinder 2. The optical positioning camera is used to simultaneously obtain the position information of the optical probe and the first reference array 12 in the NDI camera coordinate system, and the position information of the guide cylinder 2 and the end of the robotic arm 4 in the NDI camera coordinate system is obtained. Then, the position information of the guide cylinder 2 in the coordinate system of the first reference array 12 is obtained by matrix transformation calculation. In the subsequent surgical process, the position information of the first reference array 12 is obtained through the NDI camera, and combined with the position information of the guide cylinder 2 in the coordinate system of the first reference array 12, the position information of the guide cylinder 2 in the NDI camera coordinate system is tracked in real time.
[0041] Then, through the auxiliary positioning of X-ray transmission, the target position and direction of the Kirschner wire drilling into the tibia are obtained quickly and accurately; then, according to the target position and direction of the Kirschner wire, the mechanical arm 4 is controlled to move the guide cylinder 2, the guide cylinder 2 is moved to the target position, and the direction is adjusted; then, the positioning sleeve 8 equipped with the sleeve 6 is inserted into the guide cylinder 2, and finally, the Kirschner wire is installed on the electric drill 16, and the electric drill 16 is held to pass the Kirschner wire through the sleeve 6, and the Kirschner wire is driven into the tibia through the electric drill 16. During the drilling process of the Kirschner wire, the guide cylinder 2 can constrain and guide the drilling direction of the Kirschner wire to prevent the drilling position from being offset; the sleeve 6 can also protect the Kirschner wire to prevent the Kirschner wire from colliding with foreign objects and being damaged.
[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some or all of the technical features therein can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no contradiction or conflict, the various technical features mentioned in the embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.
Claims
1. A drill guide device for high tibial osteotomy, characterized in that: The invention comprises a connecting seat (1) and a guide cylinder (2), wherein the connecting seat (1) and the guide cylinder (2) are connected via a connecting rod (3), the connecting seat (1) is mounted at the end of a mechanical arm (4), a sleeve (6) for a drill bit (5) to pass through is mounted in the guide cylinder (2), and the inner diameter of the sleeve (6) matches the outer diameter of the drill bit (5); A first reference array (12) is installed on the side of the connecting seat (1) for cooperating with an optical positioning camera to obtain position information of the end of the robot arm (4); the outer wall of the guide cylinder (2) is provided with at least one probe marking point (13) for cooperating with an optical probe and an optical positioning camera to obtain position information of the guide cylinder (2) in the coordinate system of the first reference array (12).
2. A drill guide device for high tibial osteotomy according to claim 1, characterized in that: The sleeve (6) is installed in the guide cylinder (2) via a positioning frame, the positioning frame comprises a connecting arm (7), two ends of the connecting arm (7) are installed with two positioning sleeves (8) of different sizes, the positioning sleeve (8) is installed in the guide cylinder (2), and the sleeve (6) is installed in the positioning sleeve (8).
3. A drill guide device for high tibial osteotomy according to claim 2, characterized in that: The side wall of the guide cylinder (2) is provided with a screw hole (9) for cooperating with the screw to fix the positioning sleeve (8) in the guide cylinder (2).
4. A drill guide device for high tibial osteotomy according to claim 2, characterized in that: The outer diameter of the sleeve (6) matches the inner diameter of the positioning sleeve (8), and a retaining ring (10) is provided on the top of the sleeve (6).
5. A drill guide device for high tibial osteotomy according to claim 2, characterized in that: The side wall of the positioning sleeve (8) and the connecting arm (7) are both provided with hollow grooves (11).
6. A drill guide device for high tibial osteotomy according to claim 1, characterized in that: The robotic arm (4) is mounted on a medical trolley (14), and a second reference array (15) is mounted on the medical trolley (14).
7. A drill guide device for high tibial osteotomy according to claim 6, characterized in that: The first reference array (12) and the second reference array (15) both comprise an optical support, on which at least three reflective markers are asymmetrically arranged.