Oral cavity bone sheet positioning clamp integrated with navigation mark

Abstract

The utility model relates to the technical field of medical instruments, and discloses an oral cavity bone sheet positioning clamp integrated with navigation marks, which comprises a clamping module and a navigation module, the clamping module comprises a clamp main body, a movable clamping arm and a fixed clamping arm, a linear guide rail is arranged at the front end of the clamp main body, and one end of the movable clamping arm is slidably connected with the linear guide rail; the movable clamping arm and the linear guide rail form an inclination angle; one end of the fixed clamping arm is fixedly arranged at the end part of the linear guide rail, and the other end is provided with a fixed clamping arm parallel to the movable clamping arm; the opposite sides of the movable clamping arm and the fixed clamping arm are symmetrically provided with clamping grooves used for clamping bone sheets. The navigation module comprises a navigation cylinder which is in a regular octagonal prism shape, and marking codes are arranged on the eight side faces of the navigation cylinder. The central axis of the navigation cylinder is parallel to the movable clamping arm and connected with the clamp body through the connecting column. The clamping module and the navigation module are integrally arranged, so that the risk that a navigation mark falls off in an operation can be eliminated; the operation process is simplified to one-hand one-step operation, and the operation efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, specifically to an oral bone fragment positioning clamp with integrated navigation markers. Background Technology

[0002] In dynamic navigation-assisted oral bone grafting surgery, precise spatial positioning of bone fragments is a core factor affecting implant survival rates. Currently, registration is typically performed using marker points, which establishes a spatial mapping relationship between marker points on medical images and corresponding marker points on the human body.

[0003] Traditional bone forceps, such as the one described in Chinese invention patent CN105105821B (publication date: 2018-03-27), include two handles with gripping and clamping parts, hinged together by a pin. Each clamping part has a clamping end, and anti-slip teeth are formed on the opposing inner surfaces of the clamping ends. When used in oral bone graft surgery, existing technology clamping bone fragments using these clamping ends has the following drawbacks: 1. Separation of markers and clamps: Traditional bone forceps and similar tools lack built-in navigation markers, requiring the additional application of QR codes or reflective balls. During surgery, these markers are easily dislodged due to blood infiltration or instrument collisions, resulting in a navigation interruption rate exceeding 30%. 2. Structural obstruction interference: The clamping robotic arm obstructs the camera's field of view, reducing the navigation system's tracking accuracy to less than 60%, necessitating repeated adjustments to the surgical field. 3. Redundant operational procedures: The need to use clamps to fix bone fragments and install marker supports sequentially increases the time per operation by 5-8 minutes, violating aseptic principles. 4. Poor mechanical stability: Traditional elastic clamps lack geometric self-locking design, and the bone pieces are prone to displacement of more than 0.5mm when subjected to tensile force, resulting in navigation data failure. Utility Model Content

[0004] To address the problems of intraoperative positioning deviation, cumbersome operation, and infection risk caused by the separation of clamps and navigation markers in existing technologies, this utility model provides an oral bone fragment positioning clamp that integrates navigation and clamping, thereby improving the stability and continuity of navigation and positioning.

[0005] To achieve the above-mentioned technical objectives, the technical solution adopted by this utility model is as follows:

[0006] An oral bone fragment positioning fixture with integrated navigation markers includes a clamping module and a navigation module;

[0007] The clamping module includes a clamp body, a movable clamping arm, and a fixed clamping arm. The front end of the clamp body is provided with a linear guide rail. One end of the movable clamping arm is slidably connected to the linear guide rail, and the other end is provided with a movable clamping arm. The movable clamping arm is set at an angle to the linear guide rail. One end of the fixed clamping arm is fixed to the end of the linear guide rail, and the other end is provided with a fixed clamping arm. The fixed clamping arm is parallel to the movable clamping arm. The movable clamping arm and the fixed clamping arm are symmetrically provided with clamping grooves for clamping bone pieces on opposite sides.

[0008] The navigation module includes a navigation cylinder, which is in the shape of a regular octagonal prism and has marking codes on all eight sides. The central axis of the navigation cylinder is parallel to the movable clamping arm, and one end is detachably connected to the clamping body through a connecting post.

[0009] As a preferred technical solution, the clamping module further includes an elastic module, which is disposed between the movable clamping arm and the clamping body, and is used to drive the movable clamping arm to move closer to the fixed clamping arm.

[0010] As a preferred technical solution, the elastic module includes a spring, which is sleeved on the linear guide rail. One end of the spring is connected to the clamp body, and the other end is connected to the movable clamping arm.

[0011] As a preferred technical solution, the spring is a pre-compressed cylindrical helical spring.

[0012] As a preferred technical solution, the clamping groove is V-shaped, with an included angle β of 90° and a depth of 3±1mm.

[0013] As a preferred technical solution, the angle α between the fixed clamping arm, the movable clamping arm and the central axis of the linear guide rail is 40°±5°.

[0014] As a preferred technical solution, the side of the movable clamping arm away from the movable clamping arm is also provided with an operating handle, which extends outward along the direction of the vertical linear guide rail.

[0015] As a preferred technical solution, the linear guide rail is provided with an anti-rotation structure, and the movable clamping arm is provided with a through hole that matches the cross-sectional shape of the linear guide rail. The movable clamping arm is sleeved on the linear guide rail.

[0016] As a preferred technical solution, the linear guide rail is in the shape of a square column; or the linear guide rail is provided with an anti-rotation boss or an anti-rotation groove along its length.

[0017] As a preferred technical solution, Aruco codes are printed or pasted on each side wall of the navigation tube.

[0018] The beneficial effects of this utility model are as follows:

[0019] This utility model relates to an integrated navigation marker for locating oral bone fragments. The clamping module and the navigation module are integrated into one unit, eliminating the risk of the navigation marker module falling off during surgery. It can also simplify the surgical procedure to a single-handed, one-step operation, improving operational efficiency. The two clamping arms of the clamping module clamp the bone fragments through clamping grooves, ensuring stability and reliability.

[0020] The oral bone fragment positioning clamp with integrated navigation markers of this utility model has an elastic module in the clamping module that can drive the movable clamping arm to move closer to the fixed clamping arm to ensure clamping stability; the V-shaped clamping groove can realize the self-centering clamping of the bone fragment to ensure the continuity of navigation positioning.

[0021] The oral bone fragment positioning clamp with integrated navigation markers of this utility model has an anti-rotation structure of the linear guide rail that prevents the movable clamping arm from rotating relative to the linear guide rail, thereby ensuring the relative stability of the position of the movable clamping arm and the fixed clamping arm and ensuring the reliability of bone fragment clamping. Attached Figure Description

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present utility model;

[0024] Figure 2 This is an enlarged schematic diagram of the clamping module;

[0025] Figure 3 yes Figure 1 Front view of

[0026] Figure 4 yes Figure 3 Enlarged view of the area within the dashed box.

[0027] Reference numerals: 1-clamping module, 11-clamping body, 12-movable clamping arm, 121-movable clamping arm, 122-operating handle, 13-fixed clamping arm, 131-fixed clamping arm, 14-linear guide rail, 15-spring, 16-clamping groove, 2-navigation module, 21-navigation cylinder, 22-connecting column. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0029] An oral bone fragment positioning fixture with integrated navigation markers, such as Figures 1-4 As shown, the system includes a clamping module 1 and a navigation module 2. The clamping module 1 includes a clamping body 11, a movable clamping arm 12, and a fixed clamping arm 13. The clamping body 11 has a linear guide rail 14 at its front end. One end of the movable clamping arm 12 is slidably connected to the linear guide rail 14, and the other end has a movable clamping arm 121. The movable clamping arm 121 is set at an angle to the linear guide rail 14. One end of the fixed clamping arm 13 is fixed to the end of the linear guide rail 14, and the other end has a fixed clamping arm 131. The fixed clamping arm 131 is parallel to the movable clamping arm 121. The movable clamping arm 121 and the fixed clamping arm 131 have symmetrical clamping grooves 16 for clamping bone pieces on their opposite sides. The navigation module 2 includes a navigation cylinder 21, which is an octagonal prism with marking codes on all eight sides. The central axis of the navigation cylinder 21 is parallel to the movable clamping arm 121, and one end is detachably connected to the clamping body 11 through a connecting post 22.

[0030] Furthermore, the clamping module 1 also includes an elastic module, which is disposed between the movable clamping arm 12 and the clamping body 11, and is used to drive the movable clamping arm 12 closer to the fixed clamping arm 13. Preferably, the elastic module includes a spring 15, which is sleeved on the linear guide rail 14. One end of the spring 15 is connected to the clamping body 11, and the other end is connected to the movable clamping arm 12. Preferably, the spring 15 is a pre-compressed cylindrical helical spring with a stiffness coefficient of 25 N / mm and an initial pre-compression of 4 mm (corresponding to a pre-force of 10 N). When clamping bone fragments, the total compression of the spring is controlled within the range of 4-5 mm, the locking force range is 10-12.5 N, and the thickness tolerance of the bone fragments is ±0.5 mm, ensuring that the clamping force fluctuation is less than 20% and does not damage the bone tissue.

[0031] Preferably, the clamping groove 16 is V-shaped, with an included angle β of 90° and a depth of 3.5 mm. The included angle α between the fixed clamping arm 131, the movable clamping arm 121 and the central axis of the linear guide rail 14 is 40°±5°.

[0032] Furthermore, an operating handle 122 is provided on the side of the movable clamping arm 121 away from the movable clamping arm 121, and the operating handle 122 extends outward along the direction of the vertical linear guide rail 14. When a bone fragment needs to be placed, pressing the operating handle 122 causes the movable clamping arm 12 to compress the spring 15, thereby increasing the distance between the movable clamping arm 121 and the fixed clamping arm 131, making it easier to place the bone fragment; after placement, releasing the operating handle 122, under the elastic force of the spring 15, pushes the movable clamping arm 12 back to its original position and closer to the fixed clamping arm 13, thereby clamping the bone fragment between the fixed clamping arm 131 and the movable clamping arm 121.

[0033] Furthermore, the linear guide rail 14 is provided with an anti-rotation structure, and the movable clamping arm 12 has a through hole adapted to the cross-sectional shape of the linear guide rail 14, and the movable clamping arm 12 is sleeved on the linear guide rail 14. Preferably, the linear guide rail 14 is square columnar; another preferred embodiment is that the linear guide rail 14 is provided with an anti-rotation boss or an anti-rotation groove along its length.

[0034] Furthermore, Aruco codes are printed or pasted on each side wall of the navigation tube 21. The Aruco codes conform to the OpenCV 4.5 standard and have a side length of 12mm. A mathematical model of the geometric parameters (angle, depth) of the clamping groove 16 and the coordinates of the Aruco codes can be established through preoperative calibration. When used in conjunction with an optical navigation system, the bone fragments can be directly positioned and tracked with sub-millimeter precision.

[0035] The specific operation process of this embodiment is as follows:

[0036] S1. Preoperative marking:

[0037] Enter the Aruco code of the clamp into the navigation system (such as TARS-GEN1), and input the included angle (90°) and depth (3.5mm) of the V-shaped clamping groove 16; the navigation system automatically generates the coordinate transformation matrix of the bone fragment centerline.

[0038] S2. Intraoperative procedures:

[0039] Step 1: The operator presses the operating handle 122 with one hand, and the movable clamping arm 121 moves down 10mm to open the clamping groove;

[0040] Step 2: Place a bone piece (thickness ≤ 15mm) between the movable clamping arm 121 and the fixed clamping arm 131, release the operating handle 122, and the spring 15 will return to lock the clamping.

[0041] Step 3: The navigation system tracks the 21-position pose of the navigation tube in real time, calculates the three-dimensional coordinates of the bone fragments, and projects them onto the surgical field monitor;

[0042] Step 4: Hold the navigation tube and follow the navigation guide to accurately implant the bone fragment into the preset position (error <0.3mm).

[0043] Of course, there may be other embodiments of this utility model. Without departing from the spirit and essence of this utility model, those skilled in the art can make various corresponding changes and modifications based on this utility model, but these corresponding changes and modifications should all fall within the protection scope of the appended claims of this utility model.

Claims

1. A positioning fixture for oral bone fragments with integrated navigation markers, characterized in that: It includes a clamping module (1) and a navigation module (2); The clamping module (1) includes a clamp body (11), a movable clamping arm (12), and a fixed clamping arm (13). The clamp body (11) has a linear guide rail (14) at its front end. One end of the movable clamping arm (12) is slidably connected to the linear guide rail (14), and the other end has a movable clamping arm (121). The movable clamping arm (121) is inclined to the linear guide rail (14). One end of the fixed clamping arm (13) is fixed to the end of the linear guide rail (14), and the other end has a fixed clamping arm (131). The fixed clamping arm (131) is parallel to the movable clamping arm (121). The movable clamping arm (121) and the fixed clamping arm (131) have symmetrical clamping grooves (16) for clamping bone pieces on opposite sides. The navigation module (2) includes a navigation cylinder (21), which is an octagonal prism with marking codes on all eight sides. The central axis of the navigation cylinder (21) is parallel to the movable clamping arm (121), and one end is detachably connected to the clamp body (11) via a connecting post (22).

2. The oral bone fragment positioning fixture with integrated navigation markers according to claim 1, characterized in that: The clamping module (1) also includes an elastic module, which is located between the movable clamping arm (12) and the clamp body (11) and is used to drive the movable clamping arm (12) to move closer to the fixed clamping arm (13).

3. The oral bone fragment positioning fixture with integrated navigation markers according to claim 2, characterized in that: The elastic module includes a spring (15), which is sleeved on the linear guide rail (14). One end of the spring (15) is connected to the clamp body (11), and the other end is connected to the movable clamping arm (12).

4. The oral bone fragment positioning fixture with integrated navigation markers according to claim 3, characterized in that: The spring (15) is a pre-compressed cylindrical helical spring.

5. The oral bone fragment positioning fixture with integrated navigation markers according to claim 1, characterized in that: The clamping groove (16) is V-shaped with an included angle β of 90° and a depth of 3±1mm.

6. The oral bone fragment positioning fixture with integrated navigation markers according to claim 5, characterized in that: The angle α between the fixed clamping arm (131), the movable clamping arm (121) and the central axis of the linear guide rail (14) is 40°±5°.

7. The oral bone fragment positioning fixture with integrated navigation markers according to claim 1, characterized in that: The movable clamping arm (12) is also provided with an operating handle (122) on the side away from the movable clamping arm (121), and the operating handle (122) extends outward along the direction of the vertical linear guide rail (14).

8. The oral bone fragment positioning fixture with integrated navigation markers according to claim 1, characterized in that: The linear guide (14) is provided with an anti-rotation structure, and the movable clamping arm (12) is provided with a through hole that matches the cross-sectional shape of the linear guide (14). The movable clamping arm (12) is sleeved on the linear guide (14).

9. The oral bone fragment positioning fixture with integrated navigation markers according to claim 8, characterized in that: The linear guide (14) is in the shape of a square column; or the linear guide (14) is provided with an anti-rotation boss or an anti-rotation groove along its length.

10. The oral bone fragment positioning fixture with integrated navigation markers according to claim 1, characterized in that: The navigation tube (21) has Aruco codes printed or pasted on each side wall.

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