Guider and navigation system with same

Abstract

The utility model relates to a guider and a navigation system with the guider, and the guider comprises a holding part which is provided with a holding body which is configured to be suitable for being held by the hand of a user; the guide part is provided with a hollow guide body; the holding part is provided with a first connecting part connected with the guide body, the guide part is provided with a second connecting part connected with the first connecting part, and the first connecting part and the second connecting part are detachably connected. According to the guider provided by the utility model, the holding part which can be repeatedly disinfected and used and the guide section which is not repeatedly used can be conveniently separated, and the sensor can be quickly mounted on the guide section, so that the guider is flexible to use and can meet the requirements of a navigation operation.

Description

TECHNICAL FIELD

[0001] The utility model relates to medical instrument technical field especially is related to a guide and navigation system with the guide. BACKGROUND

[0002] Surgical navigation system is a high-tech system that assists surgeons in performing precise surgical operations, mainly through image guidance, sensors, software algorithms, etc. to achieve real-time tracking and display of the position of surgical instruments or implants and other components. Surgical navigation system includes optical navigation system, electromagnetic navigation system, navigation based on image fusion, etc. Among them, the optical navigation system identifies the surgical instruments and patient reference frame with reflective ball markers through infrared camera, realizes three-dimensional positioning, although the precision is high, but the light requirement is higher, and the field of vision is affected when it is blocked; electromagnetic navigation system uses electromagnetic field and sensor for position tracking, which can navigate in non-line-of-sight range; the navigation based on image fusion is to fuse preoperative CT / MRI with intraoperative images (such as ultrasound) or real-time video, and display the surgical progress in 3D space.

[0003] In orthopedic surgery, such as intramedullary nail implantation surgery, intramedullary nail is generally used to fix the fracture site, and intramedullary nail surgery is a minimally invasive surgical method with little trauma to the patient. The intramedullary nail can be inserted into the medullary cavity, and then a hole is drilled in the bone and a locking screw is installed, forming an interlocking state with the intramedullary nail to stabilize the fracture site. For intramedullary nail surgery, heavy and complex surgical instruments are usually used in conjunction, and the deformation of the intramedullary nail after insertion into the medullary cavity will affect the drilling process, so the drilling process will be difficult and complex. With the development of electromagnetic navigation technology, the application of this technology in intramedullary nail surgery greatly simplifies the surgical process and increases the accuracy of the surgery. For intramedullary electromagnetic navigation, since both the use of other surgical instruments or implants such as locking screws and the placement of sensors need to be considered, the electromagnetic precision needs to be maintained stable during the operation, so a navigation system that meets the above requirements and other requirements needs to be developed. SUMMARY

[0004] The utility model aims at solving at least one of the above problems and / or other problems in the prior art.

[0005] To achieve the above-mentioned purpose, according to one aspect of the utility model, a guide is provided, which comprises:

[0006] The gripping portion has a gripping body configured to be suitable for being gripped by the user's hand;

[0007] The guide portion has a hollow guide body;

[0008] The holding portion has a first connecting portion connected with the guide body, the guide portion has a second connecting portion connected with the first connecting portion, and the first connecting portion and the second connecting portion are detachably connected.

[0009] According to an embodiment of the utility model, the holding body limits first axis, the first connecting portion limits second axis, the guide body limits third axis, and the first axis and the third axis are at an angle.

[0010] According to an embodiment of the utility model, the second axis and the third axis coincide.

[0011] According to an embodiment of the utility model, the first connecting portion and the second connecting portion are detachably connected through threaded connection, or

[0012] The first connecting portion is provided with a first clamping portion, the second connecting portion is provided with a second clamping portion, and the first connecting portion and the second connecting portion are detachably connected through the first clamping portion and the second clamping portion.

[0013] According to an embodiment of the utility model, one of the first clamping portion or the second clamping portion has a hook-shaped portion at one end, and the other of the first clamping portion or the second clamping portion has a structure matched with the hook-shaped portion.

[0014] According to an embodiment of the utility model, one of the first clamping portion or the second clamping portion abuts against an elastic piece at the other end, and / or

[0015] One of the first clamping portion or the second clamping portion has an elastic arm connected with the hook-shaped portion.

[0016] According to an embodiment of the utility model, the guide body has:

[0017] At least one positioning pin and at least one threaded hole, or

[0018] At least one tooth row having a plurality of teeth

[0019] And / or

[0020] The guide portion has a tapered contact portion at the end of the guide body away from the holding portion, and the contact portion is provided with a sawtooth portion at the end thereof.

[0021] According to an embodiment of the utility model, the guide further comprises a positioning device connected to the guide body, and the positioning device has a guide body connecting member, and the guide body connecting member has:

[0022] a pin hole cooperating with the positioning pin and a hole cooperating with the threaded hole for a threaded connection to pass through; or

[0023] a resilient clamping member for cooperating with the dentition;

[0024] and / or

[0025] a sensor connection member for connecting with a sensor, the sensor connection member being a resilient clip.

[0026] According to an embodiment of the present application, the sensor connection member is configured such that, in a state of use, one of the three orthogonal axes passing through the center of the sensor is parallel to the direction of extension of the guide body, the sheet-shaped body of the sensor is perpendicular to one diameter of the cylindrical guide body passing through the center of the sensor.

[0027] According to another aspect of the present application, there is provided a navigation system comprising a magnetic field generating device, a controller and the above-mentioned guide.

[0028] The guide according to the present application can conveniently separate the reusable handle and the non-reusable guide section, and the guide section can quickly install a sensor, is flexible to use, and can meet the needs of navigation surgery.

[0029] Other structures and advantages of the present application will be described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0030] The features and advantages of the present application will be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings, in which:

[0031] Figure 1 Fig. 1 shows a schematic view of the guide according to an embodiment of the present application.

[0032] Figure 2 Fig. 2 shows a connection mode of the handle and the guide part of the guide according to an embodiment of the present application.

[0033] Figure 3 Fig. 3 shows another connection mode of the handle and the guide part of the guide according to an embodiment of the present application.

[0034] Figure 4 Fig. 4 shows a connection structure of the guide and a sensor according to an embodiment of the present application.

[0035] Figure 5A connection mode of a guide body and a connecting structure of a guide according to an embodiment of the present application is shown.

[0036] Figure 6 Another connection mode of a guide body and a connecting structure of a guide according to an embodiment of the present application is shown.

[0037] Figure 7 A relative position relationship diagram of a sensor and a guide body according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0038] Embodiments of the present application are described herein with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. It will be apparent, however, to one skilled in the art, that the present application can be practiced without some or all of these specific details. In other instances, well known process steps and / or structures have not been described in detail in order to not unnecessarily obscure the present application. It will be understood that the present application is not limited to the particular embodiments described herein. Rather, the scope of the present application is limited only by the claims. Embodiments of the present application can be implemented in any combination of hardware and / or software. Embodiments of the present application can be implemented in one or more computer systems or other processing systems.

[0039] In the following description, terms such as "first", "second", etc. are used to describe various elements, and these terms are only used to distinguish the various elements, and are not used to limit the nature, order or number of the elements. The terms "include" and "have" are used to mean an open-ended inclusion, and refer to the presence of additional elements / components in addition to the listed elements / components.

[0040] Figure 1 A whole schematic diagram of a guide according to an embodiment of the present application is shown. The guide comprises a holding part 1 and a guiding part 2, wherein the holding part 1 is used for being held by a hand of an operator. Preferably, in order to facilitate the holding by a human hand, the outer contour of the holding body 11 has an ergonomic design. Specifically, the outer contour of the holding body 11 has continuous protrusions and recesses, which are used to contact the fingers of the human hand when the human hand holds the holding body 11, and the protrusions are just located between two adjacent fingers.

[0041] The holding part 1 has a holding body 11 and a first connecting part 12 connected with the guiding part 2. Correspondingly, the guiding part 2 has a guiding body 21 and a second connecting part 22 connected with the first connecting part 12 of the holding part 1. The guiding part 2 further has a contact part 23 which is close to a human body during use and is used to contact the human body.

[0042] The holding body 11 defines a first axis, the first connecting part 12 defines a second axis, and the guiding body 21 defines a third axis. The holding body 11 is fixedly connected with the first connecting part 12, and the first axis of the holding body 11 is at an angle with the second axis of the first connecting part 12, as shown in Figure 1 In the assembled state shown in Figure 1 The third axis of the guiding body 21 coincides with the second axis of the first connecting part 12, so that the guiding body 21 is at an angle with the holding body 11 during use. More specifically, since the holding body 11 is arranged on one side of the guiding body 21, it can be said that the angle between the holding body 11 and the guiding body 21 is obtuse. This angle design makes it easy for the operator to change the angle of the guiding body 21 by operating the holding body 11 during use, and it is also easier to apply force when the contact part 23 contacts the human body.

[0043] The guiding body 21 itself is cylindrical, especially circular cylindrical, and is hollow inside for other components such as locking screws and the like to pass through. The guiding body 21 is provided with a contact part 23 at the end opposite to the second connecting part 22, which is used to contact the human body and can pass through the skin and other tissues of the human body to contact the bone. For this purpose, the contact part 23 is arranged in a conical shape so as to easily penetrate the human tissue and form a smaller incision. The end of the contact part 23 is provided with a sawtooth part which can better contact the bone so that the guide is not easily shaken relative to the bone.

[0044] The holding part 1 and the guiding part 2 are fixed by detachable connection. As a feasible embodiment, Figure 2 A connection mode of the holding part and the guiding part of the guide according to an embodiment of the present application is shown. As Figure 2 shown, an external thread is arranged at the second connecting part 22, and correspondingly an internal thread is arranged at the first connecting part 12. The first connecting part 12 and the second connecting part 22 can be detachably connected by threaded connection.

[0045] As another feasible embodiment, Figure 3 Another connection mode of the holding part and the guiding part of the guide according to an embodiment of the present application is shown. As Figure 3As shown, the second connecting part 22 has a cylindrical connecting part, and a second clamping part 24 is arranged on the outer circumferential surface of the cylindrical connecting part. A first clamping part 121 is arranged on the first connecting part 12. When the cylindrical connecting part of the second connecting part is inserted into a predetermined position inside the first connecting part 12, the first clamping part 121 can be clamped with the second clamping part 24, thereby fixing the second connecting part 22 with the first connecting part 12 and preventing mutual rotation or axial movement. Preferably, the first clamping part 121 has a hook-shaped part at one end, and the other end is in abutment with an elastic member 122. When installed in place, the hook-shaped part of the first clamping part 121 cooperates with the corresponding shape of the second clamping part 24, and the elastic member 122 can apply a force to the first clamping part 121 to prevent the first clamping part 121 from being undesirably separated from the second clamping part 24. When it is necessary to separate the guide part 2 and the holding part 1, the hook-shaped part of the first clamping part 121 can be disengaged from the second clamping part 24 by pressing the part where the first clamping part 121 abuts against the elastic member 122. As another possible way, the elastic member 122 can not be provided, and the first clamping part 121 can be arranged in a structure having an elastic arm connected with the hook-shaped part, and the disengagement from the second clamping part 24 can be achieved by manually lifting the hook-shaped part. In addition, the positions of the first clamping part 121 and the second clamping part 24 can be interchanged.

[0046] As can be seen from the above, in the utility model, the guide part 2 and the holding part 1 are arranged in a separable structure. Since the guide part 2 is generally used as a disposable part, the guide part 2 can be discarded after use, and the holding part 1 can be repeatedly sterilized and used, which reduces the cost. In addition, by arranging the guide part 2 and the holding part 1 in a separable structure, the two can be manufactured, transported and stored separately, and are more flexible in manufacturing, transportation and storage.

[0047] In order to determine the position of the guide 2 in the intramedullary nail implantation operation, a positioning device 3 is further arranged at the position of the guide body 21 close to the contact part 23. The positioning device 3 is arranged as a component of a navigation system and cooperates with other components of the navigation system to determine the position of the guide body 21. Specifically, the positioning device 3 comprises a sensor and a connecting structure for mounting the sensor to the guide body 21. The specific structure of the positioning device 3 will be described below in conjunction with Figure 4 .

[0048] Figure 4 The connecting structure of the guide of one embodiment of the utility model and the connection of the sensor are shown in the schematic view. Referring to Figure 4The sensor 33 has a sheet-like structure, one end of which is connected to the connecting structure, and the other end of which is connected to the cable 42 of the signal transmission device 4. Preferably, the sensor 33 is a magnetic sensor, and correspondingly, the navigation system is an electromagnetic navigation system. The electromagnetic navigation system has a magnetic field generating device, which can generate a specific magnetic field, and when the sensor 33 is in the magnetic field, the position information of the sensor 33 can be determined. By relatively fixing the magnetic sensor with the guide body 21, the position information of the guide body 21 can be determined by the position information of the magnetic sensor. In order to quickly connect the sensor 33 with the guide body, the positioning device 3 has a guide body connecting member 31 for connecting with the guide body 21 and a sensor connecting member 32 for connecting with the sensor 33, and the guide body connecting member 31 is fixed or integrated with the sensor connecting member 32. In this way, on the one hand, the guide body connecting member 31 can be connected with the guide body 21, and on the other hand, the sensor connecting member 32 can be connected with the sensor 33, so that the sensor 33 can be relatively fixed with the position of the guide body 21.

[0049] Figure 4 A specific structure of the sensor connecting member is shown in FIG. 1, that is, the sensor connecting member adopts an elastic clamp 32, so that the sensor 33 can be quickly clamped to be fixed relative to the guide body connecting member 31, and on the other hand, the sensor 33 can be directly removed from the elastic clamp 32 to quickly separate the sensor 33 from the guide body connecting member 31 and the guide body 21.

[0050] Figure 5 A connection mode of the guide body and the guide body connecting member of the guide according to an embodiment of the present application is shown. Referring to FIG. 1, Figure 5 The positioning pin 25 and the threaded hole 26 are arranged on the guide body 21. Correspondingly, the positioning pin hole for accommodating the positioning pin and the threaded hole for accommodating the threaded connecting piece are arranged on the guide body connecting member 31. In this way, when the guide body connecting member is connected with the guide body, first, the positioning pin on the guide body 21 is inserted into the positioning pin hole on the guide body connecting member 31, and then the threaded connecting piece such as a screw or the like passes through the threaded hole on the guide body connecting member 31 to be connected with the threaded hole 26 on the guide body 21, thereby realizing the connection of the guide body and the guide body connecting member. In this way, the guide body connecting member 31 can be accurately installed on the guide body 21. Figure 5 One positioning pin and three threaded holes are shown in FIG. 1, and those skilled in the art know that the number and relative position of the positioning pin and the threaded hole can be set as needed, as long as the guide body connecting member 31 can be accurately installed on the guide body 21.

[0051] Figure 6 Another connection mode of the guide body and the guide body connecting member of the guide according to an embodiment of the present application is shown. Referring to FIG. 2,Figure 6 On the guide body 21, a toothed portion 27 is provided, which preferably has two rows of teeth parallel to each other and spaced apart, and each tooth in the toothed rows has the same shape. The guide body connecting member can have a groove in which two elastic clamping members, such as pawls or elastic pieces, are arranged to cooperate with the two rows of teeth, respectively. Thus, when the guide body connecting member is moved from one direction along the extension direction of the toothed rows, the elastic clamping members in the groove start to contact the toothed rows and achieve clamping. The length of the toothed rows can be set as needed, and the guide body connecting member can be positioned at the desired position by the elastic clamping members.

[0052] By reserving a mounting interface for the sensor on the guide section, the installation of the sensor can be quickly realized to meet the use requirements.

[0053] Figure 7 A schematic diagram of the relative position relationship between the sensor and the guide body according to an embodiment of the present application is shown. The sensor 33 can be a suitable type of magnetic sensor, such as a Hall sensor, a magnetoresistance sensor, etc., which measures the strength of the magnetic field in a certain direction. As shown, for a sensor 33 having a sheet or plate structure, three mutually orthogonal axes are defined, one of which is parallel to the third axis defined by the guide body 21. In addition, the sheet body of the sensor 33 is perpendicular to a diameter of the cylindrical guide body 21, and the diameter passes through the center of the sensor 33. Preferably, as shown, the diameter is parallel to the thickness direction of the sensor 33. Figure 7 Figure 7 As shown, the diameter is parallel to the thickness direction of the sensor 33.

[0054] It can be known from Figure 1 and Figure 7 that since the sensor 33 is not installed at one end of the guide portion 2, the position information measured by the sensor 33 is not the position information of the tip of the contact portion 23. Figure 7 The intersection S of the plane where each sawtooth tip of the contact portion 23 is located and the third axis is shown in

[0055] Returning to Figure 1 , the sensor 33 in the positioning device 3 is connected with the signal transmission device 4. Specifically, the signal transmission device 4 has a cable 42 in communication connection with the sensor 33, and the cable 42 is connected with an interface 41 at the other end, which can be connected with a controller with a computer program built-in, so as to determine the position information of the sensor 33 and the guide body 21 according to the signal sent by the sensor 33. In addition, a memory can also be provided to store the signal sent by the sensor 33.

[0056] ​Various modifications and changes can be made to the embodiments disclosed in the foregoing without departing from the scope or spirit of the present application. Other embodiments of the present application will be apparent to those of ordinary skill in the art from the disclosure of this specification. It is contemplated that the application disclosed in this specification and its equivalents can be practiced without specific reference to the above examples. It is intended to include all such variations and modifications within the scope of the present application. The specification and examples given should be considered exemplary only, with the true scope of the application being indicated by the following claims.

Claims

1. A guide, comprising: a holding part (1) having a holding body (11) configured to be held by a user with a hand; a guiding part (2) having a hollow guiding body (21); characterized in that the holding part has a first connecting part (12) connected to the guiding body, the guiding part has a second connecting part (22) connected to the first connecting part, and the first connecting part and the second connecting part are detachably connected.

2. The guide according to claim 1, characterized in that the holding body (11) defines a first axis, the first connecting part (12) defines a second axis, and the guiding body (21) defines a third axis, and the first axis forms an angle with the third axis.

3. The guide according to claim 2, characterized in that the second axis coincides with the third axis.

4. The guide according to any one of claims 1-3, characterized in that the first connecting part (12) and the second connecting part (22) are detachably connected by a threaded connection; or a first clamping part (121) is provided on the first connecting part (12), and a second clamping part (24) is provided on the second connecting part (22), and the first connecting part (12) and the second connecting part (22) are detachably connected by the first clamping part and the second clamping part.

5. The guide according to claim 4, characterized in that one of the first clamping part (121) or the second clamping part (24) has a hook-shaped part at one end, and the other of the first clamping part (121) or the second clamping part (24) has a structure cooperating with the hook-shaped part.

6. The guide according to claim 5, characterized in that one of the first clamping part (121) or the second clamping part (24) abuts against a resilient member (122) at the other end; and / or one of the first clamping part (121) or the second clamping part (24) has a resilient arm connected to the hook-shaped part.

7. The guide according to any one of claims 1-3, characterized in that the guiding body (21) has: at least one positioning pin (25) and at least one threaded hole (26); or at least one toothed array having a plurality of teeth; and / or the guiding part (2) has a tapered contact part (23) at the end of the guiding body away from the holding part, and the contact part is provided with a sawtooth part at the end thereof.

8. The guide according to claim 7, characterized in that the guide further comprises a positioning device (3) connected to the guiding body (21), and the positioning device has a guiding body connecting member (31) having: a pin hole cooperating with the positioning pin and a hole cooperating with the threaded hole for a threaded connection to pass through; or a resilient clamping member for cooperating with the toothed array; and / or a sensor connecting member (32) for connecting a sensor (33), and the sensor connecting member is a resilient clip.

9. The guide according to claim 8, characterized in that The sensor connection member is configured such that, in the state of use, one of the three orthogonal axes passing through the center of the sensor is parallel to the direction of extension of the guide body, the sheet-shaped body of the sensor is perpendicular to one diameter of the cylindrical guide body passing through the center of the sensor.

10. A navigation system characterized by comprising: Comprising: a magnetic field generating device, a controller and a guide according to any one of claims 1 to 9.

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