Line-driven continuum arthroscope with navigation function

Abstract

The utility model discloses a line-driven continuum arthroscope with a navigation function, which relates to the field of surgical equipment, and comprises an arthroscope arm part, a plurality of channels arranged along the length direction are arranged at the head end, the channels are uniformly distributed along the circumferential direction of the arthroscope arm part, driving ropes are arranged in the channels, and a dent structure is arranged on the peripheral surface of the arthroscope arm part; the image acquisition part is arranged at the tail end of the glasses arm part, and the image acquisition part comprises a tracker; the positioning system is in signal connection with the tracker, and the positioning system is connected with the driving rope through a driving mechanism; according to the arthroscope, the position of the image acquisition part can be automatically adjusted through control of the driving rope and the driving mechanism, the position of the image acquisition part is determined through the tracker, and the position of the image acquisition part can be automatically adjusted in cooperation with other surgical instruments and model reconstruction of preoperative CT and intraoperative positioning of a patient. Patient information such as anatomical structure point locations is rendered and displayed under the view of the image acquisition part, and view augmented reality navigation is achieved.

Description

Technical Field

[0001] This utility model belongs to the field of surgical equipment, and more specifically, relates to a line-driven continuum arthroscope with navigation function. Background Technology

[0002] Reconstructing ligaments that most closely approximate the normal anatomy and biomechanical function of the cruciate ligaments is a key and challenging research area in orthopedic sports medicine both domestically and internationally. Determining the ligament's insertion point, morphology, and bone tunnel location on the bone surface is crucial for successful reconstruction surgery and has been a long-standing challenge for the academic community. The knee joint has a complex anatomy; the intercondylar fossa where the anterior and posterior cruciate ligaments insert varies greatly from person to person; and the posterior femoral condyle is adjacent to important nerves and blood vessels. All of these factors pose significant challenges to the surgeon's precise positioning and stable operation. Currently, in clinical practice, surgeons often use handheld, fixed-size locators to manually locate ligament insertion points under arthroscopic guidance. This method is heavily influenced by the surgeon's subjective factors, and is prone to vibration and deviation during bone tunnel drilling. Furthermore, fixed-size locators cannot meet the individual differences of patients. Utility Model Content

[0003] The purpose of this invention is to address the shortcomings of existing technologies by providing a line-driven continuum arthroscope with navigation functionality. This arthroscope, controlled by a drive rope and drive mechanism, can automatically adjust the position of the image acquisition section and determine its position using a tracker. In conjunction with other surgical instruments and patient preoperative CT and intraoperative positioning model reconstruction, it renders and displays patient information such as anatomical structure points within the field of view of the image acquisition section, achieving augmented reality navigation.

[0004] To achieve the above objectives, this utility model provides a line-driven continuum arthroscopy with navigation function, comprising:

[0005] The temple portion has multiple channels arranged along its length at the head end. These channels are evenly distributed around the circumference of the temple portion. A drive rope is installed inside each channel. The outer circumferential surface of the temple portion has a recessed structure.

[0006] An image acquisition section is located at the tail end of the telescope arm, and the image acquisition section includes a tracker;

[0007] The positioning system is connected to the tracker via a signal, and the positioning system is connected to the drive rope via a drive mechanism.

[0008] Optionally, the dent structure includes a horizontally curved dent portion and a vertically curved dent portion. The horizontally curved dent portion includes a plurality of evenly distributed first dents, and the vertically curved dent portion includes a plurality of evenly distributed second dents. The dent directions of the first dents and the second dents are perpendicular to each other.

[0009] Optionally, the arm portion is a hollow structure, and a channel is provided on the outer peripheral sidewall of the arm portion. Each channel contains a drive rope, and the drive rope is connected to the tail end of the arm portion.

[0010] Optionally, the hollow structure of the arm portion is provided with a power supply harness and a data transmission harness that are connected to the image acquisition portion.

[0011] Optionally, the drive mechanism includes multiple electric winders, each connected to a corresponding drive rope, and the control unit of the drive signal is connected to the motor of the electric winder.

[0012] Optionally, the image acquisition part is a fisheye pinhole lens.

[0013] Optionally, the tracker is a magnetic navigation tracker, and the positioning system is an electromagnetic tracking system.

[0014] Optionally, the positioning system further includes a CT data import module and a patient pose coordinate positioning module.

[0015] Optionally, both the fisheye pinhole lens and the magnetic navigation tracker are positioned on the axis of the telescope arm.

[0016] Optionally, the drive rope is made of stainless steel.

[0017] This invention provides a line-driven continuum arthroscopy with navigation function, the advantages of which are:

[0018] 1. In this line-driven continuum arthroscope with navigation function, the concave structure, driven by the drive rope, enables the image acquisition part to flexibly turn and observe at different angles, thus expanding the field of view.

[0019] 2. When the arthroscope is positioned in a non-contact manner using a magnetic navigation tracker, it can guide doctors to determine the relationship between the arthroscope and the patient's lesion location;

[0020] 3. Under the view of this arthroscopy, the anatomical information that can be obtained from preoperative fluoroscopy can be displayed intuitively, which increases the auxiliary content of intraoperative observation and navigation, and provides a more precise and safe surgical technology solution for arthroscopic surgery.

[0021] Other features and advantages of this invention will be described in detail in the following detailed description section. Attached Figure Description

[0022] The above and other objects, features and advantages of the present invention will become more apparent from the accompanying drawings, in which like reference numerals generally represent like parts.

[0023] Figure 1 A schematic diagram of a line-driven continuum arthroscope with navigation function according to an embodiment of the present invention is shown.

[0024] Explanation of reference numerals in the attached figures:

[0025] 1. Arm section; 2. Drive rope; 3. Horizontal bending indentation section; 4. Vertical bending indentation section; 5. Fisheye pinhole lens; 6. Magnetic navigation tracker. Detailed Implementation

[0026] Preferred embodiments of the present invention will now be described in more detail. While preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0027] This invention provides a line-driven continuum arthroscopy with navigation function, comprising:

[0028] The temple has multiple channels along its length at the head end, which are evenly distributed around the circumference of the temple. A drive rope is installed inside the channel, and the outer circumferential surface of the temple has a recessed structure.

[0029] The image acquisition section is located at the tail end of the telescope arm and includes a tracker.

[0030] The positioning system is connected to the tracker's signal and is connected to the drive rope via a drive mechanism.

[0031] Specifically, the arthroscope has multiple channels on its arm, with drive ropes threaded through these channels. Driven by a mechanism, the length of each drive rope can be changed, allowing the arm to bend at different angles. This enables precise adjustment of the image acquisition unit's pose to meet individual patient needs. Once the arthroscope is inside the patient, a positioning system locates the tracker connected to the image acquisition unit. Based on the patient's spatial position in the operating room, the positional relationship between the arthroscope and the lesion can be determined. This allows the arthroscope to work in conjunction with other surgical instruments, and also provides information on the patient's internal anatomy, enabling augmented reality navigation.

[0032] Optionally, the dent structure includes a horizontally curved dent portion and a vertically curved dent portion. The horizontally curved dent portion includes a plurality of evenly distributed first dents, and the vertically curved dent portion includes a plurality of evenly distributed second dents. The dent directions of the first dents and the second dents are perpendicular to each other.

[0033] Specifically, horizontal and vertical bending indentations are provided on the outer surface of the arm section. These indentations accommodate the deformation caused by bending in both directions. Since the inward length of the first and second indentations is half the circumference of the arm section, the lateral bending angle of the arm section under the drive cable is greater. Furthermore, taking the horizontal bending indentation as an example, multiple first indentations are divided into two parts within this area. When the arm section bends horizontally, one part of the first indentation is located on the inner side of the horizontal bend, and the other part is located on the outer side. The two parts of the first indentations are also staggered in height. This means that the drive cable does not need to apply excessive force when bending the arm section, effectively ensuring the service life of the drive cable.

[0034] Optionally, the arm portion is a hollow structure, and a channel is provided on the outer peripheral sidewall of the arm portion. A drive rope is provided in each channel, and the drive rope is connected to the tail end of the arm portion.

[0035] Optionally, the hollow structure of the telescope arm is equipped with a power supply harness and a data transmission harness connected to the image acquisition unit.

[0036] Specifically, in addition to the first and second indentations on the outer periphery of the arm, the interior of the arm is designed as a hollow structure. The power supply and data transmission cables pass through the hollow cavity and connect to the image acquisition unit. No matter how the arm is bent, the length of the cables in the hollow position will not change much, thus ensuring the normal transmission operation of the image acquisition unit. Channels are opened on the side wall of the arm, and the channels are interconnected at the positions of the first and second indentations. Each channel has a drive rope connected to the tail end of the arm. When the arm needs to be bent, the length of the drive rope can be adjusted accordingly, thereby changing the orientation of the tail end of the arm and the image acquisition unit, thus passing through different bone passage positions.

[0037] Optionally, the drive mechanism includes multiple electric winders, each connected to a corresponding drive rope, and the control unit of the drive signal is connected to the motor of the electric winder.

[0038] Specifically, each drive rope is connected to an electric rope winder. When the arthroscope is inserted into the patient's body, the length of the drive rope is adjusted by controlling each electric rope winder based on the images acquired by the image acquisition part and the preoperative CT images. In this way, the tail end of the arthroscope arm can drive the image acquisition part to turn, avoiding bones and organs in the body to reach the lesion.

[0039] Optionally, the image acquisition section is a fisheye pinhole lens.

[0040] Optionally, the tracker is a magnetic navigation tracker, and the positioning system is an electromagnetic tracking system.

[0041] Optionally, the drive rope is made of stainless steel.

[0042] Specifically, the arthroscope uses a fisheye pinhole lens for image acquisition, which increases the image acquisition angle and allows for the acquisition of more images inside the body. The small size of the fisheye pinhole lens also facilitates the arthroscope's passage through the patient's body. A magnetic navigation tracker is used as the tracker, and the positioning system uses electromagnetic forces to locate the fisheye pinhole lens. This non-contact positioning method helps doctors understand the positional relationship between the arthroscope and the patient's lesion. The drive rope is typically made of materials that do not easily deform due to elasticity, such as stainless steel wire.

[0043] Optionally, the positioning system also includes a CT data import module and a patient pose coordinate positioning module.

[0044] Specifically, in addition to identifying the location of the image acquisition section, the positioning system can also import the patient's preoperative CT image information through the import module and locate the patient's position through the positioning module. In this way, the positioning system can determine the location of the lesion in the CT image and unify it with the actual location of the patient, and then send it to the drive mechanism. Based on the positioning position of the image acquisition section, the system can determine how the scope arm should be bent and adjusted. Furthermore, the image acquisition section can also display the condition of the patient's internal structures.

[0045] Optionally, both the fisheye pinhole lens and the magnetic navigation tracker are positioned on the axis of the telescope arm.

[0046] Specifically, both the fisheye pinhole lens and the magnetic navigation tracker are positioned on the axis of the telescope arm. This allows the magnetic navigation tracker to quickly and accurately determine the position and orientation of the fisheye pinhole lens, as well as to understand the patient's internal information, thus enabling augmented reality navigation. Example

[0047] like Figure 1 As shown, this utility model provides a line-driven continuum arthroscopy with navigation function, comprising:

[0048] The head end of the telescope arm 1 has multiple channels arranged along the length direction. The channels are evenly distributed around the circumference of the telescope arm 1. A drive rope 2 is installed in the channel. The outer circumferential surface of the telescope arm 1 has a recessed structure.

[0049] The image acquisition section is located at the tail end of the telescope arm section 1, and the image acquisition section includes a tracker;

[0050] The positioning system is connected to the tracker's signal and is connected to the drive rope 2 via a drive mechanism.

[0051] In this embodiment, the dent structure includes a horizontally curved dent portion 3 and a vertically curved dent portion 4. The horizontally curved dent portion 3 includes a plurality of evenly distributed first dents, and the vertically curved dent portion 4 includes a plurality of evenly distributed second dents. The dent directions of the first dents and the second dents are perpendicular to each other.

[0052] In this embodiment, the arm portion 1 is a hollow structure, and a channel is provided on the outer peripheral sidewall of the arm portion 1. A drive rope 2 is provided in each channel, and the drive rope 2 is connected to the tail end of the arm portion.

[0053] In this embodiment, the hollow structure of the arm portion 1 is provided with a power supply harness and a data transmission harness connected to the image acquisition portion.

[0054] In this embodiment, the drive mechanism includes multiple electric winders, each connected to a drive rope 2 in a one-to-one correspondence, and the control unit of the drive signal is connected to the motor of the electric winder.

[0055] In this embodiment, the image acquisition part is a fisheye pinhole lens 5.

[0056] In this embodiment, the tracker is a magnetic navigation tracker 6, and the positioning system is an electromagnetic tracking system.

[0057] In this embodiment, the positioning system also includes a CT data import module and a patient pose coordinate positioning module.

[0058] In this embodiment, both the fisheye pinhole lens 5 and the magnetic navigation tracker 6 are mounted on the axis of the arm portion 1.

[0059] In this embodiment, the drive rope 2 is made of stainless steel.

[0060] In summary, this line-driven continuum arthroscopy with navigation function employs a hollow tubular structure for the arm portion 1. The tubular wall has staggered first and second indentations, and four channels are provided for placing the drive ropes 2. This allows the arm portion to move bidirectionally in two perpendicular directions. When the arthroscopy is inserted into the patient's body, based on preoperative CT images and patient posture data, the control unit drives each electric winding device to rotate, thereby tightening one drive rope 2 and preventing loosening of the opposite drive rope 2, thus achieving bending motion towards the tightened side. Through the same... The three-dimensional coordinates of the magnetic navigation tracker 6 in the world coordinate system and the chessboard pose coordinates captured by the fisheye lens are used for hand-eye calibration to obtain the intrinsic parameters of the fisheye lens and the extrinsic parameters relative to the electromagnetic tracking coordinate system. The positional information of the bone tissue on both sides of the patient's joint is tracked using the electromagnetic tracking system. Combined with the extrinsic parameters of the fisheye pinhole lens 5, the relative positional relationship between the camera imaging system and the human anatomical structure is obtained. The projection relationship of the human anatomical structure in the arthroscopic field of view is obtained using the lens intrinsic parameters. The arthroscopic image is output after augmented reality projection rendering, presenting more accurate anatomical information in the arthroscopic field of view.

[0061] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A line-driven continuum arthroscopy with navigation function, characterized in that, include: The temple portion has multiple channels arranged along its length at the head end. These channels are evenly distributed around the circumference of the temple portion. A drive rope is installed inside each channel. The outer circumferential surface of the temple portion has a recessed structure. An image acquisition section is located at the tail end of the telescope arm, and the image acquisition section includes a tracker; The positioning system is connected to the tracker via a signal, and the positioning system is connected to the drive rope via a drive mechanism.

2. The line-driven continuum arthroscope with navigation function according to claim 1, characterized in that, The dent structure includes a horizontally curved dent portion and a vertically curved dent portion. The horizontally curved dent portion includes a plurality of evenly distributed first dents, and the vertically curved dent portion includes a plurality of evenly distributed second dents. The dent directions of the first dents and the second dents are perpendicular to each other.

3. The line-driven continuum arthroscope with navigation function according to claim 1, characterized in that, The arm portion is a hollow structure, and a channel is provided on the outer peripheral sidewall of the arm portion. A drive rope is provided in each channel, and the drive rope is connected to the tail end of the arm portion.

4. The line-driven continuum arthroscope with navigation function according to claim 3, characterized in that, The hollow structure of the telescope arm contains a power supply harness and a data transmission harness that are connected to the image acquisition section.

5. The line-driven continuum arthroscope with navigation function according to claim 1, characterized in that, The drive mechanism includes multiple electric winders, each connected to a corresponding drive rope, and the control unit of the drive signal is connected to the motor of the electric winder.

6. The line-driven continuum arthroscope with navigation function according to claim 1, characterized in that, The image acquisition component is a fisheye pinhole lens.

7. The line-driven continuum arthroscope with navigation function according to claim 6, characterized in that, The tracker is a magnetic navigation tracker, and the positioning system is an electromagnetic tracking system.

8. The line-driven continuum arthroscope with navigation function according to claim 7, characterized in that, The positioning system also includes a CT data import module and a patient pose coordinate positioning module.

9. The line-driven continuum arthroscope with navigation function according to claim 7, characterized in that, Both the fisheye pinhole lens and the magnetic navigation tracker are mounted on the axis of the telescope arm.

10. The line-driven continuum arthroscope with navigation function according to claim 1, characterized in that, The drive rope is made of stainless steel.

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