Orthopedic surgery robot-assisted positioning improvement device

Abstract

The utility model discloses an orthopedics operation robot auxiliary positioning improved device. The device includes holding portion, sleeve, the sleeve with holding portion perpendicular connection, the sleeve includes one coarse end of the direction of being away from human body and the thin end of being close to the direction of human body, the circular hollow channel of the center position of the round side of coarse end is equipped with one, is used to accommodate mobile tracer and is guided kirschner wire, the thin end is used to enter human body soft tissue incision, the circular hollow channel can insert mobile tracer real -time tracking the position and direction of the device, the center line of sleeve with the center line of mobile tracer keeps on same straight line. The utility model can be based on the advanced positioning ability of robot auxiliary system and improve the problem that the robot arm operation cannot avoid the barrier.

Description

Technical Field

[0001] This utility model belongs to the field of medical equipment technology, and in particular relates to an improved device for robot-assisted positioning in orthopedic surgery. Background Technology

[0002] Precise positioning is crucial in orthopedic surgery, especially in femoral surgery. Traditionally, a honeycomb sleeve with multiple holes was used for positioning, allowing Kirschner wires to pass through. Surgeons needed to repeatedly adjust the selection of the Kirschner wire entry holes, as well as the insertion direction and angle, to ensure accurate positioning. With the development of robot-assisted medical technology, many hospitals have introduced robot-assisted systems to replace the honeycomb sleeve in surgical positioning. These systems intelligently assist surgeons in finding the precise location and angle for placing the needles and screws.

[0003] Robot-assisted systems typically consist of a robotic arm, a navigation system, a main control computer, an imaging system, and a user interface. These components work together to ensure the precision and safety of the surgery: 1. The robotic arm is the execution component of the robot-assisted system, responsible for precisely operating the surgical positioning process according to the planned path. It connects to the main control computer via cables, receiving commands and providing position information. 2. The navigation system tracks the position of surgical instruments and the patient's bones in real time, providing precise spatial positioning. The navigation system consists of an optical camera, a fixed tracker, and a moving tracker. The optical camera captures the positions of the fixed and moving trackers. The fixed tracker is usually installed in a non-surgical area of ​​the patient's bones, such as the distal femur in femoral neck fracture or intertrochanteric surgery, to help the robot-assisted system establish the patient's bone coordinate system. The fixed tracker provides a stable reference point for the navigation system to establish the patient's bone coordinate system, allowing the robot-assisted system to determine the bone's position and orientation, aligning it with preoperative imaging data (such as X-rays), and working in conjunction with the moving tracker to ensure precise manipulation of surgical instruments (such as Kirschner wires). A motion tracker is installed at the end of the robotic arm to track its position and posture in real time. The navigation system connects to the main control computer via wired or wireless means to transmit position data. The main control computer processes data from the navigation system, generates surgical path plans, and controls the movement of the robotic arm. It connects to the robotic arm, navigation system, imaging system, and user interface to coordinate the operation of each component. The imaging system, such as C-arm fluoroscopy, provides image data of the patient's skeleton (e.g., X-rays) for preoperative planning and intraoperative navigation. The user interface connects to the main control computer via a data cable, displays surgical information, receives doctor's instructions, and provides an interactive interface for surgical planning and real-time operation. The doctor monitors and controls the surgical process through this interface.

[0004] In internal fixation surgery with cannulated screws for femoral neck fractures, the ample space outside the body allows the robotic arm to freely adjust its trajectory without being restricted by anatomical structures, and the robot-assisted system can improve operational precision.

[0005] However, existing robot-assisted systems face significant technical bottlenecks during intramedullary nailing surgery for intertrochanteric fractures of the femur: when locating and fixing the insertion point, the patient must lie supine on an orthopedic traction bed with the unaffected side abducted at 15° to maintain the patency of the medullary canal axis. At this time, the positioning axis of the proximal femur coincides with the uneven projection area of ​​the soft tissues of the abdomen and buttocks. When the robotic arm equipped with a motion tracer and surgical tools performs positioning operations along the planned axis, its movement space inevitably interferes with the patient, triggering the human safety protection mechanism of the robot-assisted system and causing the robotic arm movement to be interrupted.

[0006] The root cause of these problems lies in the following technical issues with existing robot-assisted systems: the path planning algorithm does not fully consider the spatial occupancy factors of different soft tissues in the human body, establishing ideal motion trajectories solely based on bony structures; the degree-of-freedom configuration of the robotic arm is not optimized for confined spaces; and the robotic arm equipped with surgical tools and a motion tracer at its end lacks adaptive obstacle avoidance capabilities during positioning operations, thus triggering braking and causing surgical interruptions. To overcome these technical problems, this invention proposes an improved positioning device that leverages the advanced positioning capabilities of robot-assisted systems to address the obstacle avoidance issues encountered by robotic arms. Utility Model Content

[0007] This utility model discloses an improved device for robot-assisted positioning in orthopedic surgery.

[0008] This application provides an improved orthopedic surgical robot-assisted positioning device, which includes a grip and a sleeve. The sleeve is perpendicularly connected to the grip and includes a thick end away from the human body and a thin end closer to the human body. A circular hollow channel is formed at the center of the circular side of the thick end to accommodate a motion tracker and guide Kirschner wires. The thin end is used to enter the soft tissue incision and has a sharp edge at its end. The circular hollow channel allows the motion tracker to be inserted to track the position and orientation of the device in real time. The centerline of the sleeve is kept on the same straight line as the centerline of the motion tracker.

[0009] In one specific implementation, the grip portion is ergonomically designed with a surface textured for anti-slip grip.

[0010] In one specific implementation, the grip is detachable and can be adapted to sleeves of different lengths, or the grip and the sleeve are integrally formed.

[0011] In one specific implementation, the sleeve is made of a metal material.

[0012] In one specific implementation, the thinner end is located at the end of the sleeve closer to the human body and has a smaller diameter.

[0013] This utility model discloses an improved positioning device for orthopedic surgical robots, including a gripping part and a sleeve. It solves the technical problem that when the robotic arm of a robot-assisted system is connected to or holding surgical tools, the operation is easily interrupted due to obstacle avoidance when assisting in positioning in orthopedic surgeries such as intertrochanteric fractures of the femur. It can play a role in precise positioning. Attached Figure Description

[0014] Figure 1 A schematic diagram of the combined structure of the improved positioning device for orthopedic surgical robots and the motion tracer.

[0015] Figure 2 Schematic diagram of an improved positioning device for orthopedic surgical robots;

[0016] Figure 3 Side view of an improved positioning device for orthopedic surgical robots;

[0017] Figure 4 This is a schematic diagram of a mobile tracker;

[0018] Figure 5 This is a block diagram of a robot-assisted system. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely intended to explain the present utility model and not to limit it. For those skilled in the art, the present utility model can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this disclosure by illustrating examples of the present utility model.

[0020] The improved orthopedic surgical robot-assisted positioning device proposed in this invention can be used to perform surgery for intertrochanteric fractures of the femur.

[0021] Example 1

[0022] like Figure 1The diagram shows a combined structure 1 of an improved orthopedic surgical robot-assisted positioning device and a motion tracker. This invention designs an improved orthopedic surgical robot-assisted positioning device that can be used in combination with a motion tracker of a robot-assisted system. The robot-assisted system can be the TiRobot Advance orthopedic surgical navigation and positioning system from Tianzhihang. Figure 2 The diagram shown is a schematic of an improved positioning device for orthopedic surgery robot assistance. This device includes a gripping part 2 and a sleeve 4 connected perpendicularly to the gripping part 2. The sleeve 4 is perpendicularly connected to the gripping part 2 and is used to guide Kirschner wires or other surgical instruments into the patient's bone. Figure 2 As shown, the sleeve 4 includes a thicker end 6 away from the human body and a thinner end 7 closer to the human body. The thicker end 6 is located at the end of the sleeve 4 away from the human body, as shown... Figure 3 As shown, a circular hollow channel 3 is opened at the center of its circular side. The thin end 7, closer to the human body, can enter the patient's incision. Therefore, the end of the thin end 7 is designed with a sharp edge 5 to facilitate positioning on the bone after entering the patient's surgical incision and to prevent slippage. The motion tracer 8 has a tip 9, which is mounted on the sleeve 4 for real-time tracking of the position and orientation of the device. During installation, the thick end 6 of the sleeve 4 can be pushed in to stably hold it in the circular hollow channel 3 of the sleeve 4. The axis passing through the circular hollow channel 3 is the center line of the sleeve 4. The center line 12 of the motion tracer 8 is kept on the same straight line as the center line of the sleeve 4, so that the direction indicated by the motion tracer 8 is consistent with the guiding direction of the sleeve 4. Figure 4 The diagram shows a motion tracker 8 with a tip 9 and a support 10. An optical marker ball 11 is mounted on the support 10 to help the system accurately track the patient's bone position. The centerline of the motion tracker 8 is determined by a navigation system. After the motion tracker 8 is installed on the sleeve 4 and calibrated, its spatial position data is collected by a robot-assisted system to fit the centerline, which coincides with the centerline (axis) of the sleeve.

[0023] Optionally, the grip 2 is designed in an ergonomic manner, and the surface may be textured with a non-slip texture to facilitate a secure grip by doctors or robotic arms.

[0024] Optionally, the gripping part 2 can be designed to be detachable, so as to facilitate the replacement of different lengths of sleeve 4 according to different surgical needs. The connection between the gripping part 2 and the sleeve can also be designed to be integrally formed to improve the rigidity of the positioning device.

[0025] Optionally, the thick end 6 of the sleeve 4 may be provided with a rubber buckle at the entrance of the circular hollow channel 3, so that the moving tracer 8 can be more securely inserted into the circular hollow channel 3.

[0026] Optionally, the inner diameter of the circular hollow channel 3 can be designed to different specifications according to surgical needs, so as to accommodate Kirschner wires of different diameters or mobile tracers of different specifications.

[0027] Optionally, the outer diameter of the thin end 7 is smaller, which can better adapt to the size of the surgical incision.

[0028] Alternatively, the sleeve 4 may be made of metal.

[0029] Optionally, the mobile tracker 8 can be designed for wireless transmission to reduce cable interference during surgery.

[0030] Taking the workflow of a robot-assisted intertrochanteric surgery as an example, the operation method of the above-mentioned improved orthopedic surgical robot-assisted positioning device is illustrated.

[0031] Example 2

[0032] like Figure 5 As shown, a robot-assisted system that can use an improved orthopedic surgical robot-assisted positioning device comprises a robot arm, a navigation system, a main control computer, an imaging system, and a user interface. The navigation system includes an optical camera, a fixed tracker, and a moving tracker. The moving tracker can be used in conjunction with the improved orthopedic surgical robot-assisted positioning device.

[0033] Example 3

[0034] Based on the robot-assisted system of Embodiment 2, the method of using the improved orthopedic surgical robot-assisted positioning device of Embodiment 1 includes the following steps:

[0035] Step 1: Insert the motion tracer 8 into the thick end 6 of the sleeve 4 of the positioning improvement device;

[0036] Step 2: Connect the mobile tracker 8 to the optical navigation system, register the mobile tracker 8 in the navigation system, and complete the device calibration;

[0037] Step 3: Obtain imaging data of the patient's bones through an imaging system, such as X-ray images, for preoperative path planning and intraoperative navigation;

[0038] Step 4: Based on the image data, plan the insertion path for Kirschner wire positioning and determine the ideal angle and position of the sleeve 4 in the positioning improvement device;

[0039] Step 5: Adjust the patient's position to be suitable for surgery, such as supine position, and install a fixed tracer in the non-surgical area of ​​the patient's bones to provide reference points for the navigation system;

[0040] Step six: The doctor holds the gripping part 2 of the sleeve 4, aligns the thin end 7 with the incision, and prepares to insert it into the surgical incision to reach the greater trochanter of the femur. The doctor uses the navigation system to see on the user interface whether the center line of the moving tracker and the surgical marker point are consistent with the preoperative plan. If they are inconsistent, the doctor continues to adjust the angle and position of the sleeve 4 to ensure that it is consistent with the preoperative plan.

[0041] Step 7: Remove the mobile tracer 8 of the positioning improvement device, insert the Kirschner wire through the circular hollow channel 3 of the sleeve 4, and push it into the target bone to complete the precise positioning.

[0042] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein, and such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. An improved positioning device for orthopedic surgical robots, characterized in that, The improved positioning device for orthopedic surgical robots includes a grip (2) and a sleeve (4). The sleeve (4) is perpendicularly connected to the grip (2). The sleeve (4) includes a thick end (6) away from the human body and a thin end (7) close to the human body. A circular hollow channel (3) is opened at the center of the circular side of the thick end (6) to accommodate a motion tracer (8) and guide Kirschner wires. The thin end (7) is used to enter the soft tissue incision of the human body. The end of the thin end (7) is designed with a sharp edge (5). The circular hollow channel (3) can be used to insert the motion tracer (8) to track the position and orientation of the device in real time. The center line of the sleeve (4) and the center line of the motion tracer (8) are kept on the same straight line.

2. The apparatus according to claim 1, characterized in that, The grip (2) adopts an ergonomic design and has an anti-slip texture on its surface.

3. The apparatus according to claim 1 or 2, characterized in that, The grip (2) is detachable and can be adapted to sleeves (4) of different lengths, or the grip (2) and sleeve (4) are integrally formed.

4. The apparatus according to claim 1 or 2, characterized in that, The sleeve (4) is made of metal.

5. The apparatus according to claim 3, characterized in that, The thin end (7) is located at the end of the sleeve (4) closer to the human body, and its diameter is smaller than that of the thick end.

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