CN108403219A - Orthopaedics non-invasive guide pin three-dimensional localization guidance method and guidance system - Google Patents
Orthopaedics non-invasive guide pin three-dimensional localization guidance method and guidance system Download PDFInfo
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- 210000000988 bone and bone Anatomy 0.000 abstract description 4
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- 208000010392 Bone Fractures Diseases 0.000 description 9
- 206010017076 Fracture Diseases 0.000 description 8
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- 238000001727 in vivo Methods 0.000 description 1
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- 238000002324 minimally invasive surgery Methods 0.000 description 1
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- 210000002303 tibia Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
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- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
- A61B17/90—Guides therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/50—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications
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Abstract
A kind of orthopaedics non-invasive guide pin three-dimensional localization guidance method and guidance system, X-axis electric precise ball-screw slide unit is mutually perpendicular to be in horizontally disposed with Y-axis electric precise ball-screw slide unit, and Y-axis electric precise ball-screw slide unit can be moved along X-direction on X-axis electric precise ball-screw slide unit；Z axis electric precise ball-screw slide unit can along Y direction moved on Y-axis electric precise ball-screw slide unit and can be by Z axis centered on line rotate；Interchangeable sleeve is fixed on another electric precise worm and gear turntable by the support bracket fastened other end of sleeve, and replaces that sleeve is logical to be moved along Z-direction and can be rotated centered on sleeve fixing bracket；The guide pin locator is a kind of navigation auxiliary robot, can be by carrying out X-ray examination from any two direction, after solid geometry operation, you can the accurate three-dimensional coordinate for obtaining target point and bone channel.
Description
Technical Field
The invention relates to the field of orthopedic navigation positioning, in particular to an orthopedic noninvasive guide pin three-dimensional positioning and guiding method and a guiding system.
Background
With the continuous progress and improvement of orthopedic technology, minimally invasive orthopedic surgery has become the main direction of orthopedic development. Minimally invasive surgery requires certain equipment and technical support. The in vitro positioning technique for determining the position of a fracture block, a landmark point or a bony passageway in vivo without cutting the skin becomes a key technique of minimally invasive orthopedic surgery.
Currently, the in vitro positioning methods applied to clinic are mainly divided into two types. The first is based on the positioning of the general X-ray irradiation technology, which is much simpler, for example, the doctor can locate the target in the body by placing a metal marker and simply using the C-arm X-ray machine for fluoroscopy. The method can only preliminarily evaluate the position of a target, cannot perform three-dimensional positioning, cannot position a bony channel, and cannot realize positioning in parts needing special projection angles, such as internal fixation of sacroiliac screws, pedicle screws, acetabular anterior column fracture screws and other operations. The second is advanced, which is a computer-aided three-dimensional operation positioning navigation technology, although the technology has high accuracy, the size is large and heavy, the disinfection and the transportation are not easy, in addition, the practicability is poor, the operation is complex and the cost is high, the operation cost is greatly improved, and the technology is not easy to purchase in a common hospital.
Aiming at the defects and shortcomings in the existing orthopedic noninvasive positioning technology, a positioning technology for realizing geometric reconstruction by combining a binocular vision principle and matching a computer and control operation software thereof gradually appears, and the invention is disclosed as 201410056737.5 and is named as an orthopedic robot guide pin positioner, a navigation device and a positioning system. The patent shoots X-ray images from two angles, collects the X-ray images by a special imaging device, establishes a two-dimensional coordinate system by computer image control operation software, and obtains positioning by calculation through a binocular vision distance measurement principle. However, this technique has at least the following drawbacks: 1. because of adopting the binocular vision distance measurement principle, a special X-ray imaging system and computer image control operation are needed, and the cost is high, which is not beneficial to popularization. 2. And the geometrical structure reconstructed by the technology is constrained by the uniqueness and sequence consistency of the matching points, and when the target position is in an area with inconspicuous image gray scale or image characteristic change, accurate three-dimensional positioning cannot be obtained. 3. In the areas with more overlapped bone cortex in the X-ray image, for example, certain acetabulum fractures are difficult to accurately reconstruct.
Disclosure of Invention
In order to solve the technical problems and reduce the use threshold, the invention aims to develop an orthopedic non-invasive three-dimensional positioning system and a guide pin positioner, wherein the guide pin positioner is a navigation auxiliary robot, a coordinate system is constructed by technical equipment such as a worm gear and worm turntable, an electronic compass, an inclination angle sensor and the like, and three-dimensional coordinates of a target point and a bony channel can be accurately acquired by performing X-ray perspective from any two directions and performing solid geometry operation. The other purpose of the invention is to make the used positioning equipment have the characteristics of small and light appearance, simple operation, easy disinfection and low price, thereby achieving the effect of easy popularization.
In order to achieve the above object, the present invention provides an orthopedic non-invasive guide pin three-dimensional positioning and guiding system, which is characterized in that the system comprises a guide pin positioner, the guide pin positioner mainly comprises: the device comprises at least one X-axis precise electric ball screw sliding table, at least one Y-axis precise electric ball screw sliding table, a Z-axis precise electric ball screw sliding table, two precise electric worm and gear rotating tables, a sleeve fixing support and a replaceable sleeve;
the X-axis precision electric ball screw sliding table and the Y-axis precision electric ball screw sliding table are perpendicular to each other and horizontally arranged, and the Y-axis precision electric ball screw sliding table can move on the X-axis precision electric ball screw sliding table along the X-axis direction; one end of the Z-axis precise electric ball screw sliding table is slidably arranged on the Y-axis precise electric ball screw sliding table by virtue of a precise electric worm and gear rotating table, so that the Z-axis precise electric ball screw sliding table can move on the Y-axis precise electric ball screw sliding table along the Y-axis direction and can rotate by taking the Z axis as a central line; the replaceable sleeve is fixed on another precise electric worm and gear rotating table through the other end of the sleeve fixing support, and the precise electric worm and gear rotating table is slidably arranged on the Z-axis precise electric ball screw sliding table, so that the replaceable sleeve can move along the Z-axis direction and can rotate by taking the sleeve fixing support as a center; by means of the structure, the guide pin arranged in the replaceable sleeve can point to any direction from any point in space by taking the guide pin positioning point as a sphere center.
Wherein preferred, accurate electronic ball screw slip table of X axle, accurate electronic ball screw slip table of Y axle and accurate electronic ball screw slip table of Z axle comprise slip table step motor, slip table driver, slip table lead screw, slip table slide rail, slip table slider, slip table base respectively.
Preferably, the precise electric worm and gear rotating table is composed of a rotating table shaft stepping motor, a worm and gear rotating table body and a worm and gear rotating table top.
Preferably, the orthopedic noninvasive guide pin three-dimensional positioning and guiding system further comprises at least one C-shaped arm three-dimensional electronic compass, a C-shaped arm, an operating table and a processing system.
Preferably, the Y-axis precision electric ball screw sliding table is provided with a Y-axis sliding table base, the C-arm three-dimensional electronic compass is placed on the Y-axis sliding table base and/or the bottom of the C-arm three-dimensional electronic compass is attached to the top of the C-arm radiation end, when the bottom of the C-arm three-dimensional electronic compass is attached to the top of the C-arm radiation end, the Z-axis of the C-arm three-dimensional electronic compass is the central projection line direction of the C-arm 3, the major and minor axes of the C-arm three-dimensional electronic compass are respectively the X-axis and Y-axis directions of the zero position of the Y-axis C-arm three-dimensional electronic compass 2 and the X-axis and Y-axis directions of the guide pin positioner are consistent, and when the C-arm three-dimensional electronic compass is placed on the Y-axis sliding table base.
Preferably, a Y-axis three-dimensional electronic compass clamping groove for accommodating the C-shaped arm three-dimensional electronic compass is arranged on the side surface of the Y-axis sliding table base which does not interfere with the movement of other parts or below the Y-axis sliding table base; and a C-shaped arm three-dimensional electronic compass clamping groove for containing the C-shaped arm three-dimensional electronic compass can be arranged at the top of the C-shaped arm radiating end.
Preferably, the system further comprises a laser rangefinder for illuminating the needle insertion point.
The laser range finder is a spherical holder laser range finding component, a spherical holder base of the spherical holder laser range finding component is fixed at the upper end of a Z-axis precise electric ball screw sliding table to enable a laser range finding module to point to any direction through a spherical holder, the space direction of the laser range finding module is obtained through a laser range finding three-dimensional electronic compass, a laser light source is arranged in the laser range finding module, after locating point coordinates are obtained, the distance is measured after the laser range finding module irradiates to a body surface ideal needle feeding point, the space direction of the laser range finding three-dimensional electronic compass is recorded, the space coordinates of the needle feeding point can be obtained through the laser range finding three-dimensional electronic compass, a straight line where the two points are located is obtained, the axis of the replaceable sleeve is automatically coincided with the straight line, and the head end of the.
Wherein the preferred, accurate electronic ball sliding table of Y axle is connected with accurate electronic worm gear revolving stage through the connecting plate respectively with the accurate electronic ball sliding table of Z axle, and the sleeve mount is connected through also the connecting plate with the accurate electronic ball sliding table of Z axle.
Preferably, the guide pin positioner further comprises an inclination angle sensor for measuring the rotation angle of the precise electric worm and gear rotating table.
The invention also provides a three-dimensional positioning and guiding method of the orthopedic non-invasive guide needle, which comprises the steps of placing a guide needle positioner of any one orthopedic non-invasive three-dimensional positioning system on an operation bed on a diseased side, inserting a guide needle into a replaceable sleeve, taking the direction of an X-axis precise electric ball screw sliding table I as the X-axis direction of the guide needle positioner, taking the direction of a Y-axis precise electric ball screw sliding table I as the Y-axis direction of the guide needle positioner, taking the direction of a Z-axis precise electric ball screw sliding table I as the Z-axis direction of the guide needle positioner, taking the Y-axis direction of a precise electric worm gear rotary table I as a zero value, taking the reading as α, namely the projection of a zero position guide needle on an XOY plane and the angle of an X axis, taking the intersection point of the axis of the replaceable sleeve 12 and the axis of a sleeve fixing bracket as a guide needle positioning point, taking the intersection point of the axis of the replaceable sleeve 12 and the axis of the sleeve as a compass three-dimensional coordinate system, taking the three-dimensional guide needle guide arm as a three-axis coordinate system, taking the three-dimensional compass three-dimensional coordinate system, taking the three-dimensional guide needle guide arm as a coordinate system, taking the axis coordinate system, taking the three-dimensional compass, taking the compass three-axis coordinate system, taking the three-dimensional compass three-dimensional coordinate system, taking the three-dimensional coordinate system, the coordinate system, taking the compass three-dimensional coordinate system, the compass;
when the C-shaped arm obtains a proper X-ray irradiation position, the position is defined as a radioactive source 1, the C-shaped arm three-dimensional electronic compass is used for manually recording the pitch angle α ', the roll angle β ' and the heading angle gamma ', and the cosine values of the included angles between the central projection line of the C-shaped arm 3 and the XYZ positive half shaft of the guide pin positioner are calculated and are respectively the cosine values of the included anglescos φ, cos θ, where:
then, the steps are carried out:
1. adjusting the position of guide pin positioning point, adjusting guide pin angles α and β to make the guide pin point to the target position on the X-ray image, and recording the coordinates (X) of guide pin positioning point1,y1,z1) And replaceable sleeve direction α1、β1；
2. Changing the position of guide pin locating point, making guide pin point to target position again on X-ray image, clicking to confirm and record coordinate (X) of guide pin locating point2,y2,z2) And replaceable sleeve direction α2、β2；
3. The linear equation of the axis of the channel can be obtained through the operation of the processor as follows:
wherein,
cosδ1＝cosα1·cosβ1cosδ2＝cosα2·cosβ2
cosη1＝sinα1·cosβ1，cosη2＝sinα2·cosβ2。
cosμ1＝sinβ1，cosμ2＝sinβ2
preferably, the processing system of the positioning system sets the linear equation of the axis of the channel according to the linear equationβ -90 deg. -theta, and the guide pin positioner is controlled so that the axis of the exchangeable sleeve coincides with the axis of the passage and by adjusting the value of t, the exchangeable sleeve 12 is moved along the axis of the passage to the body surface.
Preferably, the method further comprises the following steps:
the angle of the C-arm was changed and X-ray was irradiated again, the position was defined as the radiation source 2 when the appropriate position was obtained, and the pitch angle α 'of the C-arm three-dimensional electronic compass was manually recorded by the C-arm three-dimensional electronic compass'2β 'transverse roll angle'2And heading angle γ'2And calculating the cosine values of the included angles between the central projection line of the C-shaped arm and the XYZ positive half shafts of the guide pin positioner to be respectivelycosφ2,cosθ2，
Then, adjusting the position of the guide pin positioning point, adjusting guide pin angles α and β to make the guide pin point to the target position on the X-ray image, and recording the coordinates (X) of the guide pin positioning point3,y3,z3) And replaceable sleeve direction α3、β3；
Further, the coordinates (x) of the target point can be obtained by operation4,y4,z4)，
Wherein:
preferably, the coordinate (x) of the target point is obtained4,y4,z4) Setting the coordinates (x, y, z) of the positioning point of the guide pin by adjusting the coordinates and setting the coordinates by the control systemSo that the direction of the guide pin sleeve is always aimed at the target point during the adjustment process.
Preferably, the coordinates (x) of the target point are repeated when the two end points are known and the path of the lead is to be determined4,y4,z4) The method comprises calculating two target end points, and calculating guide pin moving path by a calculation control module of the positioning system to control the guide pin positioner to move.
Preferably, the target position is displayed in the center of the image, i.e. on the central projection line, when the C-arm perspective is used.
Preferably, the laser range finder is adopted to irradiate the needle feeding point in the positioning of the target point, the axis of the replaceable sleeve is automatically coincided with the straight line, and the head end of the replaceable sleeve moves to the needle feeding point along the straight line and is close to the body surface, so that the operation path is determined.
Preferably, the guide pin positioner comprises an inclination angle sensor for measuring the rotation angle of the precise electric worm and gear rotating table.
The laser range finder is a spherical pan-tilt laser range finding component, a spherical pan-tilt base of the spherical pan-tilt laser range finding component is fixed at the upper end of a Z-axis precise electric ball screw sliding table, a laser range finding module can point to any direction through the spherical pan-tilt and acquire the space direction through a laser range finding three-dimensional electronic compass, a laser light source is arranged in the laser range finding module, after a locating point coordinate is acquired, the distance is measured after the laser range finding module irradiates to a body surface ideal needle feeding point, the space direction of the laser range finding three-dimensional electronic compass is recorded, the space coordinate of the needle feeding point can be acquired through the laser range finding three-dimensional electronic compass, a straight line where the two points are located is acquired, the axis of the replaceable sleeve is automatically coincided with the straight line, the head end of the replaceable sleeve moves to the.
With the help of the device and the method, the orthopedic noninvasive three-dimensional positioning system, the guide pin positioner and the positioning method thereof construct a coordinate system by using technical equipment such as a navigation auxiliary robot (guide pin positioner), a worm gear and worm turntable, an electronic compass, an inclination angle sensor and the like, and can accurately acquire three-dimensional coordinates of a target point and a bony channel by performing X-ray perspective from any two directions and performing solid geometry operation. The operation path can be determined by irradiating the needle point with a laser range finder in the positioning of the target point. The positioning device has the advantages of small and light appearance, simple operation, easy disinfection and low price, thereby being easy to popularize.
Drawings
FIG. 1 is a schematic view of the system;
FIG. 2 is a schematic view of a guide pin locator;
FIG. 3 is a schematic view of an X-axis precision electric ball screw sliding table I;
FIG. 4 is a Y-axis precision electric ball screw slide (1204 Mini slide);
FIG. 5Z-axis precision electric ball screw slide (1204 Mini slide);
FIG. 6 is a precise electric worm gear and worm rotary table I (ZX 110-100);
FIG. 7 is a precision electric worm gear rotary table II (ZX 110-60);
FIG. 8 is a sleeve mount bracket;
FIG. 9 is a connecting plate I;
FIG. 10 connecting plate II;
FIG. 11 connecting plate III;
FIG. 12, FIG. 13, FIG. 14, FIG. 15 are schematic coordinate diagrams of the present invention;
FIG. 16 is a general schematic diagram of another embodiment of the present invention having a laser ranging assembly;
FIG. 17 is a schematic diagram of a lead locator with another embodiment of a laser ranging assembly in accordance with the present invention;
FIG. 18 is a schematic view of another laser ranging assembly of a ball-shaped pan/tilt head according to the present invention;
FIG. 19 is a schematic view of a laser ranging assembly connection plate having another embodiment of a laser ranging assembly of the present invention;
in the figure:
1 guide pin locator 2C type arm three-dimensional electronic compass
3C type arm 4 operating table
5X-axis precise electric ball screw sliding table I6X-axis precise electric ball screw sliding table II
7Y-axis precise electric ball screw sliding table and 8Z-axis precise electric ball screw sliding table
9 accurate electronic worm gear revolving stage I10 accurate electronic worm gear revolving stage II
11 sleeve fixing support 12 replaceable sleeve
13 connecting plate I and 14 connecting plate II
Stepping motor with 15-connecting plate and III 16X-axis sliding table
17X axle slip table driver 18X axle slip table lead screw
19X axle slip table slide rail 20X axle slip table slider
21X axle slip table base 22Y axle slip table step motor
23Y-axis sliding table driver 24Y-axis sliding table wire
25Y axle slip table slide rail 26Y axle slip table slider
27Y axle slip table base 28Z axle slip table step motor
29Z axle slip table driver 30Z axle slip table lead screw
31Z axle slip table slide rail 32Z axle slip table slider
33Z axle slip table base 34 revolving stage I axle step motor
35I fuselage of worm gear revolving stage I mesa of 36 worm gear revolving stages
37 revolving stage II shaft stepping motor 38 worm gear revolving stage II machine body
39 worm gear and worm rotary table II table top
181 spherical holder base 182 spherical holder
183 spherical holder spherical clamping groove 184 spherical holder locking rod of positioner
185 laser ranging three-dimensional electronic compass 186 spherical pan-tilt ranging module.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
As shown in fig. 1, an orthopedic noninvasive three-dimensional positioning system of the present invention comprises: a guide pin positioner 1, a C-shaped arm three-dimensional electronic compass 2, a C-shaped arm 3, an operating table 4 and a processing system (not shown in the figure).
Fig. 2 is a schematic view of a guide pin locator of the present invention, and fig. 3-9 are schematic views of components of the guide pin locator of the present invention, wherein the guide pin locator 1 mainly comprises: accurate electronic ball slip table of X axle I5, accurate electronic ball slip table of X axle II 6, the accurate electronic ball slip table of Y axle 7, the accurate electronic ball slip table of Z axle 8, accurate electronic worm gear revolving stage I9, accurate electronic worm gear revolving stage II 10, sleeve fixed bolster 11 and removable sleeve 12(2.0/2.5/3.0 removable sleeve), still contain three connecting plate in addition: connecting plate I13, connecting plate II 14, connecting plate III 15.
Please refer to fig. 3 and fig. 4, which are schematic structural diagrams of the X-axis precision electric ball screw sliding table i 5, the X-axis precision electric ball screw sliding table ii 6, and the Y-axis precision electric ball screw sliding table 7. The three structures are the same and respectively comprise an X-axis sliding table stepping motor 16, an X-axis sliding table driver 17, an X-axis sliding table lead screw 18, an X-axis sliding table slide rail 19, an X-axis sliding table slide block 20, an X-axis sliding table base 21, a Y-axis sliding table stepping motor 22, a Y-axis sliding table driver 23, a Y-axis sliding table lead screw 24, a Y-axis sliding table slide rail 25, a Y-axis sliding table slide block 26 and a Y-axis sliding table base 27.
Please refer to fig. 5, which is a schematic structural diagram of the Z-axis precision electric ball screw sliding table 8. The method comprises the following steps: a Z-axis sliding table stepping motor 20, a Z-axis sliding table driver 29, a Z-axis sliding table screw rod 30, a Z-axis sliding table slide rail 31, a Z-axis sliding table slide block 32 and a Z-axis sliding table base 33.
Please refer to fig. 6 and 7, which illustrate two rotating tables: schematic diagrams of a precision electric worm gear and worm rotating table I9 and a precision electric worm gear and worm rotating table II 10. The device is composed of a step motor 34 of a rotating platform I shaft, a machine body 35 of a worm and gear rotating platform I, a table surface 36 of a worm and gear rotating platform I, a step motor 37 of a rotating platform II shaft, a machine body 38 of a worm and gear rotating platform II and a table surface 39 of a worm and gear rotating platform II. The Y-axis precision electric ball screw sliding table 7 and the Z-axis precision electric ball screw sliding table 8 are respectively connected with a precision electric worm gear rotary table i 9 through connecting plates (13, 14) shown in fig. 9-10, and the sleeve fixing frame 11 and the Z-axis precision electric ball screw sliding table 8 are connected through a connecting plate iii 15 shown in fig. 11.
Referring to fig. 2 and fig. 4-6, 9 and 10, the Y-axis precision electric ball screw sliding table 7 is fixed on the X-axis sliding table sliding blocks of the X-axis precision electric ball screw sliding table i 6 and the X-axis precision electric ball screw sliding table ii 7 by the Y-axis sliding table base 27, so that the Y-axis precision electric ball screw sliding table 7 can move along the X-axis direction by the rotation of the X-axis sliding table stepping motor at a designated distance; the one end of the accurate electronic ball of Z axle slip table 8 is connected with Y axle slip table slider 26 of the accurate electronic ball of Y axle slip table 7 through accurate electronic worm gear revolving stage I9 with the help of I13 connecting plate II 14 of connecting plate to make the accurate electronic ball of Z axle slip table 8 can remove according to appointed distance along the Y axle direction with the help of the rotation of Y axle slip table step motor 22, also can use the Z axle to rotate appointed angle as the center level with the help of the rotation of I axle step motor 34 of revolving stage simultaneously.
Referring to fig. 2 and fig. 5, 7, 8 and 11, one end of the sleeve fixing support 11 is connected to a Z-axis sliding table slider 32 of the Z-axis precision electric ball screw sliding table 8 through a precision electric worm and gear rotary table ii 10 and a connecting plate iii 15, so that the sleeve fixing support 11 and the replaceable sleeve 12 fixed to the other end thereof can move along the Z-axis direction by a specified distance by the rotation of the Z-axis sliding table stepping motor 28, and can also rotate by a specified angle in a direction perpendicular to a plane (XOY plane) formed by X, Y axes by the rotation of the rotary table ii-axis stepping motor 37.
In summary, the above-mentioned precision electric ball screw sliding table forms X, Y, Z three-directional moving tracks, and the control device in the processing system drives the corresponding sliding table stepping motor (16/22/28) to rotate, so as to drive the positioning point of the guide pin to move arbitrarily in three-dimensional direction, thereby reaching any point in space.
Referring to fig. 2, the lead pin can be rotated by a corresponding angle by driving a corresponding rotating table shaft stepping motor (9/10), wherein the projection of the lead pin on the XOY plane and the angle of the X axis (zero value in the Y axis direction) are read to be α, and when the precision electric worm gear rotating table ii 10 rotates, the value of the XOY plane is zero and the reading of the included angle between the lead pin and the XOY plane is β.
Fig. 8 is a schematic view of the replaceable sleeve 12 and the sleeve fixing frame 11, wherein the distance between the axis of the replaceable sleeve 12 and the axis of the Z-axis sliding table lead screw 34 is L.
By means of the structures, the guide pin can point to any direction from any point in the space by taking the positioning point of the guide pin as the sphere center. Meanwhile, for convenience and practicability, in the invention, a remote control device can be arranged to control the corresponding motor to rotate, the rotation angle can be measured by adopting an inclination angle sensor, and the linear displacement can be recorded by adopting a stepping motor signal or can be measured by adopting a displacement sensor.
In addition, the orthopedic noninvasive three-dimensional positioning system further comprises at least one C-shaped arm three-dimensional electronic compass 2, and in the specific embodiment, a Y-axis three-dimensional electronic compass clamping groove can be formed in the side surface or the lower surface of the Y-axis sliding table base and the top of the C-shaped arm radiating end, so that the movement of other parts is not hindered; wherein, as can be understood by those skilled in the art, the C-arm three-dimensional electronic compass 2 can be respectively arranged in a C-arm three-dimensional electronic compass card slot and a Y-axis three-dimensional electronic compass card slot at the top of the C-arm radiation end, so as to establish the vector relationship between the C-arm and the guide pin positioner according to the measured three-dimensional parameters, zero plane and heading angle zero value during the work; preferably, only one C-shaped arm three-dimensional electronic compass 2 can be arranged, the initial value is firstly measured on the Y-axis three-dimensional electronic compass clamping groove, and then the C-shaped arm three-dimensional electronic compass clamping groove at the top of the C-shaped arm radiating end is arranged to measure the pitch angle, the roll angle and the heading angle during working, so that interference is eliminated, the precision is improved, and the cost is reduced.
When the C-arm three-dimensional electronic compass 2 is placed in a Y-axis three-dimensional electronic compass clamping groove on a Y-axis sliding table base 27, the XOY plane is taken as a zero plane, and the Y-axis direction is taken as a heading angle zero value; when the C-arm three-dimensional electronic compass is used, the bottom of the C-arm three-dimensional electronic compass 2 is pasted on the top of the radiation end of the C-arm, the Z axis of the C-arm three-dimensional electronic compass is the central projection line direction of the C-arm 3, and the long axis and the short axis of the C-arm three-dimensional electronic compass are respectively the X axis and the Y axis of the C-arm three-dimensional electronic compass 2.
With the help of the guide pin positioner 1, the C-shaped arm 3 and the corresponding sensor, the orthopedic noninvasive three-dimensional positioning system can realize the establishment of bony channels and the confirmation of needle feeding points and operation paths under various complex conditions.
The application method of the orthopedic noninvasive three-dimensional positioning system is explained in detail in the following by combining with a specific use scene:
specifically, in the orthopedic noninvasive three-dimensional positioning system, the direction of an X-axis precise electric ball screw sliding table I5 is taken as the X-axis direction of the guide pin positioner, the direction of a Y-axis precise electric ball screw sliding table 7 is taken as the Y-axis direction of the guide pin positioner, and the direction of a Z-axis precise electric ball screw sliding table 8 is taken as the Z-axis direction of the guide pin positioner.
In addition, the precision electric worm and gear rotating platform I9 takes the Y-axis direction as a zero value, the reading is α, namely the angle between the projection of the guide pin on the XOY plane and the X axis, and the precision electric worm and gear rotating platform II 10 takes the XOY plane as a zero value, the reading is β, namely the included angle between the guide pin and the XOY plane.
The system sets the intersection point of the axis of the replaceable sleeve 12 and the axis of the sleeve fixing support 11 as a guide pin positioning point, if a three-dimensional coordinate system is established by taking the guide pin positioning point when each axis is in a zero position as an original point, and records that the point is (X, Y, Z), the distance between the axis of the replaceable sleeve 12 and the axis of the Z-axis sliding table screw 34 is L, the displacement of the X-axis precise electric ball screw sliding table I5 and the X-axis precise electric ball screw sliding table II 6 is X ', the displacement of the Y-axis precise electric ball screw sliding table 7 is Y', and the displacement of the Z-axis precise electric ball screw sliding table 8 is Z ', and the X' -X-L-cos α, Y '-Y-L-sin α and Z' -Z are set, so that the guide pin positioning point can be used as the spherical center to point to any direction in space.
When the guide pin positioner is placed on the operation bed on the affected side, the X-axis and Y-axis directions of the zero position of the C-arm three-dimensional electronic compass 2 are the same as the X-axis and Y-axis directions of the guide pin positioner, that is, when the guide pin positioner is placed on the Y-axis sliding table base 27 (in this embodiment, the guide pin positioner is positioned by means of the Y-axis clamping grooves formed in the side edges or bottom edges of the Y-axis sliding table base 27), the XOY plane is taken as the zero position plane, and the Y-axis direction is taken as the heading angle zero value. In the using process, the bottom of the C-shaped arm three-dimensional electronic compass 2 is adhered to a C-shaped arm three-dimensional electronic compass clamping groove at the top of the C-shaped arm radiating end, the Z axis of the C-shaped arm three-dimensional electronic compass is the central projection line direction of the C-shaped arm 3, and the long axis and the short axis of the C-shaped arm three-dimensional electronic compass are respectively the X axis and the Y axis of the C-shaped arm three-dimensional electronic compass 2. And in order to reduce errors, the target position should be presented in the center of the image, namely on the central projection line, when the C-shaped arm is used for perspective.
Summarizing, the types of the orthopedic noninvasive positioning technology can be divided into the following three types:
1. locating a target point using example scene 1;
the target is as follows: positioning the collapsed fracture block into a guide pin positioner coordinate system;
this type is a massive fracture that needs to be targeted, such as a collapsed tibial plateau fracture, a pilon fracture at the distal tibia, and the like. It is characterized by targeting a point, exemplified by a tibial plateau collapse fracture. After the affected limb is disinfected, the affected limb is drawn by the quick repositor for treating the long tubular bone fracture of the limbs, which is named by the patent number 201310614751.8, the guide pin positioner is placed on the operation bed at the affected side, and the guide pin is inserted into the replaceable sleeve 12.
When a suitable X-ray irradiation position is obtained by irradiating X-rays from an arbitrary angle using the C-arm 3, the position is defined as the radiation source 1, and the pitch angle manually recorded by the C-arm three-dimensional electronic compass 2, that is, the angle α ' between the X ' axis and the XOY plane '1Transverse roll angle, i.e. the angle β ' between its y ' axis and the XOY plane '1And the heading angle is the included angle gamma ' between the X-axis direction and the perpendicular projection of the X ' -axis direction of the heading angle on the XOY plane '1. The cosine values of the included angles between the central projection line of the C-shaped arm 3 and the positive half shafts XYZ of the guide pin positioner can be calculatedcosφ,cosθ。
The calculation process is as follows:
1) establishing a coordinate system of origin, as shown in fig. 12, establishing a spatial rectangular coordinate system xyz (i.e. coordinate axis when the pitch angle and roll angle of the C-arm three-dimensional electronic compass 2 are zero) and two three-dimensional rectangular coordinate axes XYz (i.e. coordinate axis of the guide pin locator) and x ' y ' z ' (i.e. coordinate axis of the C-arm three-dimensional electronic compass 2), with the point O as the origin, knowing that the pitch angle of the C-arm three-dimensional electronic compass 2 is ∠ x ' Ox, i.e. α '1The transverse roll angle is ∠ A ' OB ', namely β '1The heading angle is ∠ IOG (gamma)'1. The cosine value of the included angle between the positive Z' half axis and the positive XYZ half axis is calculated, that iscosφ,cosθ。
∠BAO＝∠AOD＝∠x'Ox＝α'1When the unit length of AB is "a", BO is atan α'1，
Let ∠ EOG be σ and ∠ HOE be ε, then
Then
cosφ＝cos∠HOY＝-cos(σ-γ)·cosε，
Substituting sigma and epsilon to obtain
2) Step 1, adjusting (controlling corresponding synchronous motor to rotate) the position of the guide pin positioning point through a remote controller, adjusting guide pin angles α and β to enable the guide pin to point to a target position (namely on a C-shaped arm central projection line) on an X-ray image, and clicking to confirm and record coordinates (X) of the guide pin positioning point1,y1,z1) And replaceable sleeve direction α1、β1；
Step 2, changing the position of the guide pin positioning point, enabling the guide pin to point to the target position again on the X-ray image, and clicking to confirm and record the coordinate (X) of the guide pin positioning point2,y2,z2) And replaceable sleeve direction α2、β2. The linear equation of the target point and the radioactive source 1 can be obtained through the operation of the processor (see the details below).
Step 3, changing the angle of the C-type arm 3 and irradiating X-ray again, defining the position as the radioactive source 2 when the proper position is obtained, and manually recording the pitch angle α 'of the C-type arm three-dimensional electronic compass 2 through the C-type arm three-dimensional electronic compass 2'2β 'transverse roll angle'2And heading angle γ'2. The cosine values of the included angles between the central projection line of the C-shaped arm 3 and the positive half shafts XYZ of the guide pin positioner can be calculatedcosφ2,cosθ2。
The derivation process is the same ascosφ,cosθ。
Step 4, adjusting the position of the guide pin positioning point through a remote controller, adjusting guide pin angles α and β to enable the guide pin to point to a target position on the X-ray image, and clicking to confirm and record coordinates (X) of the guide pin positioning point3,y3,z3) And replaceable sleeve direction α3、β3. The coordinates (x) of the target point can be obtained by the operation of the processor4,y4,z4)。
The calculation process is as follows:
as shown in fig. 13, the guide pin positioning point when each axis of the guide pin positioner is at the zero position is the origin, i.e., point O, the direction of the X-axis precision electric ball screw sliding table i 5 is the X-axis direction, the direction of the Y-axis precision electric ball screw sliding table 7 is the Y-axis direction, and the direction of the Z-axis precision electric ball screw sliding table 8 is the Z-axis direction. And establishing a space rectangular coordinate system. There is an arbitrary point A (guide pin locating point) in space, and the coordinate of the known point A is (x)1,y1,z1) Point D is the target point, point M is any point on the straight line B' D, connecting AM, the angle between the straight line AM and the positive half shaft of x, y and z is delta1,η1,μ1According to α1、β1Can obtain cos delta1＝cosα1·cosβ1，cosη1＝sinα1·cosβ1，cosμ1＝sinβ1. The coordinate of the known point G (guide pin positioning point) is (x)2,y2,z2) The point H is any point on a straight line B' D and is connected with GH, and the angles of the straight line GH and positive half shafts of x, y and z are delta2,η2,μ2According to α2、β2Can obtain cos delta2＝cosα2·cosβ2，cosη2＝sinα2·cosβ2，cosμ2＝sinβ2. The radioactive source 1, namely a point B ', respectively performs central projection on a point G and a point H, and respectively projects the point G and the point H into a point I and a point M' on a projection plane xoy; a light source point B ' respectively performs central projection on the point A and the point M, and the point A ' and the point M ' are respectively projected on a projection plane xoy; the line segment AM ' and the line segment IM ' intersect at a point M '; joining the projection lines B ' I, B ' M ' to form a plane B ' IM '; connecting the projection lines B ' A ', B ' M ' to form a plane B ' A ' M ', the angles of the projection lines B ' M ' and the positive half axes x, y and z are respectivelyPhi and theta. In plane B 'IM', a line segment GH passing through point G and parallel to line segment IM0Cross-cast the shadow line B 'M' at the point H0. In the plane B 'A' M ', a line AM passing through the point A and parallel to the line A' M0Cross-cast the shadow line B 'M' at the point M0. Any straight line EF exists in the space, and the coordinate of the known point E (guide pin positioning point) is (x)3,y3,z3) And the angles between the straight line EF and the positive half axes x, y and z are delta3,η3,μ3According to α3、β3Can obtain cos delta3＝cosα3·cosβ3，cosη3＝sinα3·cosβ3，cosμ3＝sinβ3. The radiation source 2, i.e. point B, is projected toward the line segment EF to form a plane BEF, and the angles between the known straight line BD and the positive half axes of x, y and z are respectivelyφ1,θ1. And (4) proving: the coordinates of the intersection point D of the straight line B 'M' with the plane BEF. And (3) proving that: if the line AM is not parallel to the line A 'M', the extension lines of the line AM and the line A 'M' intersect at the point N. As shown in fig. 14, the plane MNM 'intersects the plane xoy at a straight line NM'. In the planar MNM', the known straight line AM is positive with x, y, zThe half-axes having angles respectively delta1,η1,μ1The unit vector of the linear AM direction vector isGiven that the angle between the straight line B 'M' and the positive half axis x, y, z isPhi, theta, the unit vector of the vector in the direction of the straight line B 'M' isThe line AM and the line B ' M ' are both on the plane MNM ', and the line AM and the line B ' M ' intersect and pass through the point A (x)1,y1,z1) And orientation vector with plane MNMThe parallel plane MNM' is uniquely determined. So the equation for the point equation of the plane yields:
solving this determinant yields the general equation for the planar MNM':
if the line segment AM0Parallel to line segment a 'M', as shown in fig. 15:
the plane B ' a ' M ' intersects the plane xoy at the straight line a ' M '. Known straight line AM0In a plane B ' A ' M ' and a straight line AM0The angles with positive half axes x, y and z are delta respectively1,η1,μ1Then straight line AM0The unit vector of the direction vector isGiven that the angle between the straight line B 'M' and the positive half axis x, y, z isPhi, theta, the unit vector of the vector in the direction of the straight line B 'M' isStraight line AM0And the straight line B ' M ' is on the plane B ' A ' M ', the straight line AM0Intersects with the straight line B 'M' at a point M0Then pass through point A (x)1,y1,z1) And an orientation vector with the plane B 'A' MThe parallel planes B ' a ' M ' are uniquely defined. So the equation for the point equation of the plane yields:
solving this determinant yields the general equation for plane B ' A ' M ':
therefore, the line AM is not parallel or parallel to the line A ' M ', and the general equation for the plane B ' A ' M ' is the same.
General equation for plane xoy: and z is 0.
The general equation for the plane B ' a ' M ' in conjunction with the general equation for the plane xoy yields the equation for the straight line a ' M ':
in the same way, the point equation of the plane B 'IM' can be obtained:
solving this determinant yields the general equation for plane B 'IM':
general equation for plane xoy: and z is 0.
The general equations of the plane B ' IM ' and the plane xoy are combined to derive the equation for the straight line IM ':
in the plane xoy, the straight line a 'M' intersects the straight line IM 'at the point M', then the equation is simultaneous:
obtaining by solution:
wherein,
therefore, in the rectangular spatial coordinate system, the coordinates of the point M' are:
on the straight line B ' M ', the straight line B ' M is knownThe unit vector of the direction vector isAnd the coordinates of the point M ' on the line B ' M ', the parameter equation of the line B ' M ' is (i.e. the linear equation of the target point and the radioactive source)
Let 2 parameters:
given that the angle between the straight line EF and the positive half-axes x, y, z is δ3,η3,μ3The unit vector of the direction vector of the straight line EF isThe angle between the known straight line BD and the positive x, y, z half-axes isφ1,θ1The unit vector of the linear BD direction vector isThe straight line EF and the straight line BD are both on the plane BEF, and the straight line EF and the straight line BD intersect to pass through the point E (x)3,y3,z3) And an orientation vector with the plane BEFThe parallel plane BEF is uniquely determined. So the equation for the point equation of the plane yields:
solving this determinant yields the general equation for the planar BEF:
finally, the parameter equation of the straight line B 'M' is
And the general equation for plane BEF:
the coordinate of the calculation point D is the intersection point of the calculation line B 'M' and the plane BEF. These two equations are coupled and solved:
so point D, i.e. the coordinates of the target point, is:
namely:
after positioning:
by adjusting the coordinates (x, y, z) of the guide pin location point, the replaceable sleeve 12 is brought to the desired position.
Setting up
The replaceable sleeve 12 is constantly aimed at the target point during adjustment, and the surgical path can be determined by irradiating the needle insertion point with a laser range finder during positioning of the target point.
2. Using example scenario 2: the narrow bony channel is positioned and,
the bone screw is mainly suitable for sacroiliac screws, acetabular anterior column fracture screw internal fixation, pedicle screws, intramedullary nail distal locking screws and the like, and has a clear and narrow bone channel or metal channel (namely, a linear target channel is used).
Taking sacroiliac screw as an example, when the orthopedic noninvasive three-dimensional positioning method is adopted, a hand baffle plate can be fixed on the affected side, and a guide pin positioner is arranged on an operation bed and the hand baffle plate on the affected side, X-ray is irradiated from the axial position of the pedicle of vertebral arch of sacrum 1 (namely the axial position of a bony channel) by using the C-shaped arm 3, the bony channel of the sacroiliac screw is circular at the moment, the pitch angle α ', the roll angle β ' and the course angle gamma ' of the C-shaped arm three-dimensional electronic compass 2 are recorded by the C-shaped arm three-dimensional electronic compass 2, and the cosine values of the included angles between the central projection line of the C-shaped arm 3 and the XYZ positive half shaft of the guide pin positioner are respectively the cosine valuescosφ,cosθ。
Adjusting the position of guide pin locating point by remote controller, adjusting guide pin angles α and β to make the guide pin point to the target position (i.e. on the projection line of C-shaped arm center) on the X-ray image, and clicking to confirm and record the coordinate (X) of guide pin locating point1,y1,z1) And replaceable sleeve direction α1、β1(ii) a Changing the location point of guide pin and pointing the guide pin to the target position again, and clicking to confirm and record the coordinate (x) of the location point of guide pin2,y2,z2) And replaceable sleeve direction α2、β2. The linear equation of the axis of the pedicle bony channel obtained by the processor operation is as follows:
wherein
cosδ1＝cosα1·cosβ1cosδ2＝cosα2·cosβ2
cosη1＝sinα1·cosβ1， cosη2＝sinα2·cosβ2
cosμ1＝sinβ1cosμ2＝sinβ2
Derivation method same as example scenario 1
After obtaining the linear equation, setting the linear equation in the processing systemβ is 90 DEG-theta, the axis of the replaceable sleeve 12 is made to coincide with the axis of the pedicle bony passage, and the value t is adjusted to move the replaceable sleeve 12 along the axis of the pedicle bony passage to the body surface.
Using example scenario 3: locating the thicker bony channel (target: locating both ends of the channel);
for example, with a femoral neck fracture, the surgical path may need to be set knowing the distal and proximal ends of the desired location of the screws.
The system and method of the present invention can now be used to obtain a surgical path by repeatedly using the method of example scenario 1 to determine the distal and proximal coordinates of the expected position of the screw, respectively.
In order to achieve the precision of positioning and operation, as shown in fig. 16, in another embodiment of the present invention, a laser distance measuring assembly can be added to the structure of the above-mentioned embodiment, and referring to fig. 17-19, in this embodiment of the present invention, by means of the laser distance measuring assembly, a laser distance meter is used to irradiate a needle point in positioning a target point, so as to automatically make the axis of the replaceable sleeve coincide with the straight line, and the head end of the replaceable sleeve moves to the needle point along the straight line, i.e. to be close to the body surface, i.e. to determine the operation path.
In this embodiment, the laser range finder for irradiating a needle insertion point of the system includes: the device comprises a positioner spherical tripod head base 181, a positioner spherical tripod head 182, a positioner spherical tripod head spherical clamping groove 183, a positioner spherical tripod head locking rod 184, a laser ranging three-dimensional electronic compass 185 and a spherical tripod head ranging module 186. Wherein, the spherical cloud platform base of spherical cloud platform laser rangefinder subassembly is fixed in Z axle precision electric ball screw slip table upper end, its accessible spherical cloud platform makes laser rangefinder module point to arbitrary direction, and acquire its space direction through laser rangefinder three-dimensional electronic compass, laser light source is equipped with in the laser rangefinder module, after acquireing the setpoint coordinate, shine to the body surface ideal entering needle point after survey the distance, and record laser rangefinder three-dimensional electronic compass space direction, borrow this and obtain the space coordinate of entering needle point, thereby obtain the straight line that two points are located, and automatic make removable telescopic axis and this sharp coincidence, and removable sleeve head moves along this straight line and to entering needle point and press close to the body surface promptly, obtain the operation route promptly.
Although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the invention.
Claims (20)
1. The orthopedic non-invasive guide pin three-dimensional positioning and guiding system is characterized by comprising a guide pin positioner, wherein the guide pin positioner mainly comprises: the device comprises at least one X-axis precise electric ball screw sliding table, at least one Y-axis precise electric ball screw sliding table, a Z-axis precise electric ball screw sliding table, two precise electric worm and gear rotating tables, a sleeve fixing support and a replaceable sleeve;
the X-axis precision electric ball screw sliding table and the Y-axis precision electric ball screw sliding table are perpendicular to each other and horizontally arranged, and the Y-axis precision electric ball screw sliding table can move on the X-axis precision electric ball screw sliding table along the X-axis direction; one end of the Z-axis precise electric ball screw sliding table is slidably arranged on the Y-axis precise electric ball screw sliding table by virtue of a precise electric worm and gear rotating table, so that the Z-axis precise electric ball screw sliding table can move on the Y-axis precise electric ball screw sliding table along the Y-axis direction and can rotate by taking the Z axis as a central line; the replaceable sleeve is fixed on another precise electric worm and gear rotating table through the other end of the sleeve fixing support, and the precise electric worm and gear rotating table is slidably arranged on the Z-axis precise electric ball screw sliding table, so that the replaceable sleeve can move along the Z-axis direction and can rotate by taking the sleeve fixing support as a center;
by means of the structure, the guide pin arranged in the replaceable sleeve can point to any direction from any point in space by taking the guide pin positioning point as a sphere center.
2. The orthopedic non-invasive guide pin three-dimensional positioning and guiding system according to claim 1, wherein the X-axis, Y-axis, and Z-axis precision electric ball screw slides are respectively composed of a slide stepper motor, a slide driver, a slide screw, a slide rail, a slide block, and a slide base.
3. The orthopedic non-invasive guide pin three-dimensional positioning and guiding system according to claim 1, wherein the precision electric worm gear rotary table is composed of a rotary table shaft stepping motor, a worm gear rotary table body and a worm gear rotary table top respectively.
4. The system of claim 1, further comprising at least one C-arm three-dimensional electronic compass, a C-arm, an operating table, and a processing system.
5. The orthopedic noninvasive type guide pin three-dimensional positioning and guiding system according to claim 4, characterized in that the Y-axis precision electric ball screw sliding table is provided with a Y-axis sliding table base, the C-arm three-dimensional electronic compass is placed on the Y-axis sliding table base and/or the bottom is pasted on the top of the C-arm radiation end, when the bottom of the C-arm three-dimensional electronic compass is pasted on the top of the C-arm radiation end, the Z-axis is the central projection line direction of the C-arm 3, the major and minor axes are respectively the X-axis of the C-arm three-dimensional electronic compass 2 and the X-axis and Y-axis directions of the zero position of the Y-axis C-arm three-dimensional electronic compass 2 and the X-axis and Y-axis directions of the guide pin positioner are consistent, when the C-arm three-dimensional electronic compass is placed on the Y-axis sliding table base, the XOY plane is taken as the zero position plane, and.
6. The orthopedic non-invasive guide pin three-dimensional positioning and guiding system according to claim 5, wherein a Y-axis three-dimensional electronic compass card slot for accommodating the C-arm three-dimensional electronic compass is provided on a side surface or a lower surface of the Y-axis sliding table base that does not interfere with the activities of other components;
and a C-shaped arm three-dimensional electronic compass clamping groove for containing the C-shaped arm three-dimensional electronic compass is arranged at the top of the C-shaped arm radiation end.
7. An orthopedic non-invasive lead three-dimensional positioning and guiding system as claimed in claim 3, further comprising a laser range finder for illuminating the needle insertion point.
8. The orthopedic non-invasive lead three-dimensional positioning and guiding system of claim 7, wherein the laser range finder is a ball pan-tilt laser range finder assembly, the spherical holder base of the spherical holder laser ranging assembly is fixed at the upper end of the Z-axis precision electric ball screw sliding table so as to enable the laser ranging module to point to any direction through the spherical holder, the space direction is obtained through a laser ranging three-dimensional electronic compass, a laser light source is arranged in a laser ranging module, after the coordinates of the positioning points are obtained, the distance is measured after the positioning points are irradiated to the ideal needle entering points on the body surface, and the space direction of the laser ranging three-dimensional electronic compass is recorded, so that the space coordinates of the needle entering points can be obtained, thereby obtaining a straight line where the two points are positioned, automatically enabling the axis of the replaceable sleeve to coincide with the straight line, and enabling the head end of the replaceable sleeve to move to the needle feeding point along the straight line to be close to the body surface.
9. The orthopedic non-invasive lead three-dimensional positioning and guiding system of claim 3, wherein the lead positioner further comprises an inclination sensor for measuring the rotation angle of the precision electric worm and gear rotary table.
10. The orthopedic non-invasive guide pin three-dimensional positioning and guiding system according to claim 5, wherein the Y-axis precision electric ball screw sliding table and the Z-axis precision electric ball screw sliding table are respectively connected with the precision electric worm gear rotary table through a connecting plate, and the sleeve fixing frame and the Z-axis precision electric ball screw sliding table are connected through a connecting plate.
11. A three-dimensional positioning and guiding method for orthopedic non-invasive guide needle is characterized in that a guide needle positioner of the orthopedic non-invasive three-dimensional positioning system of any claim is placed on a patient-side operating bed, a guide needle is inserted into a replaceable sleeve, the direction of an X-axis precise electric ball screw sliding table I is taken as the X-axis direction of the guide needle positioner, the direction of a Y-axis precise electric ball screw sliding table is taken as the Y-axis direction of the guide needle positioner, the direction of a Z-axis precise electric ball screw sliding table is taken as the Z-axis direction of the guide needle positioner, a Y-axis direction of a precise electric worm gear rotating table I is taken as a zero value, the reading is α, namely the projection of the guide needle on an XOY plane and the angle of the X axis, a precise electric worm gear rotating table II is taken as a zero value, the reading is β, namely the included angle between the guide needle and the XOY plane, the intersection point of the axis of the replaceable sleeve fixing support is set as a guide needle positioning point, a three-dimensional coordinate system is constructed by taking the positioning point when all axes are in zero positions, the zero value, the point is recorded as an X, then, a perspective coordinate system is obtained, and a three-dimensional coordinate is obtained through any two-.
12. The method of claim 11, wherein the distance between the axis of the replaceable sleeve and the axis of the screw of the Z-axis slide table is L, the displacements of the X-axis precise electric ball screw slide table i and the X-axis precise electric ball screw slide table ii are X ', the displacement of the Y-axis precise electric ball screw slide table is Y', and the displacement of the Z-axis precise electric ball screw slide table is Z ', and X' ═ X-L · cos α, Y '═ Y-L · sin α, Z' ═ Z is set, so that the lead can be controlled to point to any direction from any point in space with the lead positioning point as the center, the C-arm three-dimensional electronic compass is fixed in the Y-axis slot, the X-axis Y-axis direction of the C-arm three-dimensional electronic compass is consistent with the X-axis Y-axis direction of the lead positioner, and after being powered on, the current direction of the lead is automatically recorded and set as the zero position, i.e., the XOY-axis plane is taken as the zero-position, and the C-axis electronic compass is set as the C-axis three-dimensional electronic compass, and the C-axis electronic compass is set as the C-axis three-dimensional coordinate value of the C-axis electronic compass when the C-axis compass is set, the C-axis electronic compass is set up, and the C-axis electronic compass is set up the three-dimensional electronic compass three;
when the C-shaped arm irradiates X-ray, the position is defined as a radiation source 1, the C-shaped arm three-dimensional electronic compass records the pitching angle α ', the roll angle β ' and the heading angle gamma ' of the C-shaped arm three-dimensional electronic compass, and cosine values of the included angle between the central irradiation line of the C-shaped arm 3 and the positive half shaft of the XYZ guide pin positioner are calculated and are respectivelycos φ, cos θ, where:
then, the steps are carried out:
1) adjusting the position of guide pin positioning point, adjusting guide pin angles α and β to make the guide pin point to the target position on the X-ray image, and recording the coordinates (X) of guide pin positioning point1,y1,z1) And replaceable sleeve direction α1、β1；
2) Changing the position of guide pin locating point, making guide pin point to target position again on X-ray image, clicking to confirm and record coordinate (X) of guide pin locating point2,y2,z2) And replaceable sleeve direction α2、β2；
3) The linear equation of the axis of the channel can be obtained through the operation of the processor as follows:
wherein,
cosδ1＝cosα1·cosβ1cosδ2＝cosα2·cosβ2
cosη1＝sinα1·cosβ1，cosη2＝sinα2·cosβ2。
cosμ1＝sinβ1，cosμ2＝sinβ2
13. an orthopedic department according to claim 12The method for three-dimensional positioning and guiding of the non-invasive guide needle is characterized in that a processing system of the positioning system sets according to a linear equation of the axis of the channelβ -90 deg. -theta, and the guide pin positioner is controlled so that the axis of the exchangeable sleeve coincides with the axis of the passage and by adjusting the value of t, the exchangeable sleeve 12 is moved along the axis of the passage to the body surface.
14. The method of claim 12, further comprising the steps of:
changing the angle of the C-type arm and irradiating X-ray again, defining the position as a radioactive source 2, and recording the pitch angle α 'of the C-type arm three-dimensional electronic compass through the C-type arm three-dimensional electronic compass'2β 'transverse roll angle'2And heading angle γ'2And calculating the cosine values of the included angles between the central projection line of the C-shaped arm and the XYZ positive half shafts of the guide pin positioner to be respectively
Then, adjusting the position of the guide pin positioning point, adjusting guide pin angles α and β to make the guide pin point to the target position on the X-ray image, and recording the coordinates (X) of the guide pin positioning point3,y3,z3) And replaceable sleeve direction α3、β3；
Further, the method can be used for preparing a novel materialThe coordinates (x) of the target point can be obtained by calculation4,y4,z4)，
Wherein:
15. the method of claim 14, wherein the method comprises deriving coordinates (x) of the target point according to the three-dimensional positioning and guiding of the orthopedic non-invasive lead4,y4,z4) Setting the coordinates (x, y, z) of the positioning point of the guide pin by adjusting the coordinates and setting the coordinates by the control systemSo that the direction of the guide pin sleeve is always aimed at the target point during the adjustment process.
16. An orthopedic non-invasive lead three-dimensional positioning and guiding method as claimed in claim 14, wherein the coordinates (x) of the target point are repeated when two end points are known and the lead movement path needs to be determined4,y4,z4) The method comprises calculating two target end points, and calculating guide pin moving path by a calculation control module of the positioning system to control the guide pin positioner to move.
17. The method of any of claims 11-16, wherein the target location is rendered at the center of the image, i.e. on the central projection line, when using C-arm fluoroscopy.
18. The method of any of claims 11-16, wherein the laser range finder is used to illuminate the needle insertion point to automatically align the axis of the replaceable sleeve with the straight line, and the head of the replaceable sleeve is moved along the straight line to the needle insertion point to be close to the body surface to define the surgical path.
19. The method of any of claims 11-16, wherein the lead positioner comprises an inclination sensor for measuring a rotation angle of a precision motorized worm and gear rotary table.
20. The method of claim 18, wherein the laser range finder is a ball-pan laser range finder, the base of the ball-pan laser range finder is fixed on the top of the Z-axis precision electric ball screw sliding table, the laser range finder can make the laser range finder point to any direction through the ball-pan, and obtain its spatial direction through the laser range finding three-dimensional electronic compass, the laser range finder has a laser light source, after obtaining the coordinates of the positioning points, the laser range finder irradiates to the ideal needle point on the body surface and measures the distance, and records the spatial direction of the laser range finding three-dimensional electronic compass, thereby obtaining the spatial coordinates of the needle point, and thus obtaining the straight line where the two points are located, and automatically making the axis of the replaceable sleeve coincide with the straight line, and the head end of the replaceable sleeve moves to the needle point along the straight line, namely the body surface, i.e. to obtain a surgical path.
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