TW201737867A - Surgical instrument having a localizer to be positioned and tracked - Google Patents

Abstract

A surgical instrument comprises an instrument main body and a tenon-and-mortise type base. The instrument main body is provided with an external module dedicated socket for accommodating a localizer which can be positioned and tracked, in which the wall of the socket comprises a plurality of openings, the localizer transmits a positioning signal in a wireless transmission fashion, and the positioning signal includes an instrument identification code, The tenon-and-mortise type base is used for catch-holding an operating device which is fitted into the instrument main body, in which the operating device is a positioning probe, a pointed cone, a bone chisel, a bone drill or a locking instrument for surgical use.

Description

Surgical Instruments

The present invention relates to a surgical instrument, and more particularly to a surgical instrument that is applied to a spinal surgery navigation system with a position tracking function and that is easy to replace an operating instrument.

At present, in the process of surgical navigation, in addition to the positioning components required on the device, the human body also needs to use the device calibration as a reference frame to further assist the use of the surgical instrument on the guide; therefore, the combination of the target positioning and the human tissue The method needs to have certain convenience and stability to meet the needs of the surgical navigation environment. At present, the mainstream infrared space tracking and positioning system utilizes preoperative CT scans, combined with a dynamic reference frame (DRF) mounted on surgical instruments and vertebrae, and its registration step (Registration step). To achieve the positioning and tracking of surgical instruments and human tissue. However, because of the need to install infrared reflective balls, it has the following disadvantages: (1) Infrared reflective balls cannot be disassembled for different surgical instruments because they are not easy to install; (2) When infrared rays are obscured by objects, it is impossible to know the relative The phenomenon of spatial position, etc.; (3) due to the mechanism of the infrared reflective ball, the surgical instrument is bulky, and the clinician is not easy to operate; (4) in the operation, there is blood on the glove and then the infrared The light ball, which affects the reflection of the receiver.

In US Pat. No. 8,435,171 B2, a method for calculating a positional parameter of a laparoscopic surgical tool is disclosed. The disadvantage of this invention is that an additional fixed loop collar is required at the site to calculate the relative position of the space, and the relevant collar shape is If it is too large, if you accidentally hit or move the device during the operation, it may cause a yaw and the calculated positional parameters will be incorrect.

US Patent No. 20020095081 discloses a neurosurgical instrument and a surgical treatment device. The disadvantage of the invention is that an infrared reflective ball is added, which results in a need for the device to be installed outside the space, and the appearance is more limited. The physician grasps during the operation. The operation is not easy, and problems such as shielding are easily generated.

No. 6,893,447 B2 discloses an apparatus and method for performing an assisted surgical procedure in which the patient's space and image space can be registered to allow tracking of various tracking sensors. A dynamic reference frame can be used to maintain spatial positioning with the patient in the image space. The dynamic reference frame can be fixedly interconnected with the skeletal portion of the anatomy. The disadvantage of the invention is that the surgical instrument set must be equipped with an infrared reflective ball, which is difficult for the physician to grasp and operate. Holding a long time, it will be sore for the surgery process is quite poor.

It is an object of the present invention to provide a surgical instrument that can effectively improve the efficiency and accuracy of a physician performing spinal positioning during a spinal guiding procedure and has the convenience of easy replacement of the operating instrument.

In order to achieve the above object, the surgical instrument of the present invention comprises a device main The body and the card-type base have an external socket for the externally mounted module for receiving a positioning target that can be positioned and tracked, and the card-type base is for engaging and fitting one of the main body of the device Operate the device.

As described above, the features of the present invention include at least: (1) The wireless positioning technology used in the present invention does not have the shielding phenomenon currently produced by infrared guidance, and is not caused by the shielding of the operator and other objects during the operation. The phenomenon of navigation function failure (2) The wireless positioning technology used in the present invention can reduce the size of the wireless positioning device, so that the package casing volume is up to 10 mm × 30 mm cylinder, so as to be mounted on the surgical instrument; (3) the design of the present invention The main body of the device has a special slot for the external module (positioning standard), which does not increase the volume of the surgical instrument, and when the external module needs to be replaced (no electricity), it is not necessary to re-calibrate and register the positioning target. (4) The present invention can increase the convenience of the fixing operation device through the cassette base, and can further quickly disassemble and replace according to different needs during the operation, and does not need to re-correct the positioning after the replacement. The target has the same positioning accuracy, which makes the surgical procedure more convenient and intelligent.

10‧‧‧Surgical instruments

100‧‧‧Device body

101‧‧‧External module dedicated slot

102‧‧‧Opening

103‧‧‧Connecting Department

13‧‧‧ Positioning target that can be tracked by location

131A‧‧‧Device ID

15‧‧‧Card-type pedestal

151‧‧‧Base fitting part

16‧‧‧Operating equipment

161‧‧‧Operating device fitting

30‧‧‧Surgical images

31‧‧‧Spine image

311‧‧‧Spine Space Coordinates

1 is a schematic view of a surgical instrument of the present invention.

2 is a schematic diagram of an image of a surgical navigation operation of the present invention.

Figure 3 is a combination of the combination process of the cassette base and the operating device of the present invention Construct a stereogram.

4 is a perspective view showing the structure of a combination of a cassette base and an operating instrument of the present invention.

Figure 5 is a perspective view showing the structure of the cassette base and the operating instrument set of the present invention.

The present invention is described in detail below with reference to the drawings, and the drawings are simplified schematic diagrams, and the basic structure of the present invention is only illustrated in a schematic manner, and therefore only the components related to the present creation are indicated in the drawings. The components shown are not drawn in the number, shape, size ratio, etc. at the time of implementation, and the actual size of the implementation is a selective design, and the component layout form may be more complicated.

1 to FIG. 5, FIG. 1 is a schematic view of a surgical instrument of the present invention, FIG. 2 is a schematic view of a surgical navigation operation of the present invention, and FIG. 3 is a combination process of the card-type base and the operating device of the present invention. 3 is a perspective view of the structure of the combination of the cassette base and the operating device of the present invention, and FIG. 5 is a perspective view showing the structure of the cassette base and the operating instrument set of the present invention.

The surgical instrument 10 of the present invention comprises an instrument body 100 and a cassette base 15 . The top end of the instrument body 100 is provided with an external module-specific slot 101 for accommodating the positioning target 13 that can be positioned and tracked, and can be positioned and tracked. The positioning indicator 13 is configured to externally transmit a feedback signal according to the received frequency modulation frequency signal, and the feedback signal includes a frequency signal and a device of the positioning target 13 that can be positioned and tracked. The mechanical frequency signal; the card-type base 15 includes a base fitting portion 151 and the operating device fitting portion 161 of the operating device 16 are mutually engaged, and the positioning target 13 that can be positioned and tracked transmits a positioning signal by wireless communication. ,among them,.

Furthermore, the base fitting portion 151 is preferably a ratchet structure, and the inner peripheral surface of the ratchet structure is provided with a plurality of ratchet blocks and a pocket, and the operation of being inserted into the ratchet structure through the ratchet block is performed. The instrument 16 can thereby quickly replace the mounting and detaching operation device 16 in accordance with the needs of the operator without increasing the volume of the surgical instrument.

The operation device 16 may include a positioning probe for a surgical operation, a pointed cone, an osteotome, a bone drill, and a locking device, but is not limited thereto.

It is worth mentioning that the positioning target 13 that can be tracked by the positioning does not need to perform the correcting step when replacing, and the positioning hole 13 can be positioned and tracked through the plurality of openings 102 on the main body 100 of the device. It is more convenient to lack the obstruction in the transmission and reception of the signal. More importantly, the device body 100 is preferably made of a non-metal material to avoid the problem that the signal is shielded.

Further, the positioning target disposed on the spine further includes an identification code, and the surgical instrument 10 further includes a device identification code. After the transceiver unit is configured to receive the identification code and the device identification code, the processing unit defines the identification code. And corresponding to the corresponding spinal space coordinate 311, the processing unit defines the device identification code to the corresponding device space coordinate, and the identification code and the device identification code can confirm whether the corresponding positioning target and the surgical instrument are correct. .

As described above, with the present invention, the surgery can be performed before the spinal surgery Pre-planning information, followed by surgical navigation based on the space coordinates of the spine, the space coordinates of the device, the positioning target, and the angle of the surgical instrument.

The invention utilizes wireless positioning technology to realize multi-vertebral positioning tracking and navigation surgery technology, and through the FM radio frequency positioning technology and the identification code identification function, the antenna markers are applied in each section of the spinal joint, and each section is independently tracked instead of Using numerical calculations to treat all spines as rigid bodies, thereby improving the accuracy and speed of medical image registration (accelerated calculation convergence), improving the safety and precision of surgical implants, and the navigation system is suitable for long spine surgery (spine Scoliosis correction, multi-segmental spine fractures, so that the operation is not limited by large infrared reflective ball positioning marker devices.

The invention can effectively improve the safety and the quality of the operation performed by the doctor, the volume of the surgical instrument is reduced, the weight is reduced, the doctor's operation is more convenient and concise, and the long-term holding is not easy to be sore, the most important thing is when the hand is covered, There is no problem of obscuration, and at the same time, without increasing the volume of the surgical instrument, the surgical instrument is more flexible when disassembling and operating the instrument, and the purpose of quick disassembly and positioning of the positioning mark does not need to be recalibrated and registered. In addition, because there is a dedicated slot for the external module, when the positioning target needs to be replaced (no power), only the positioning target needs to be replaced, and the positioning target is not required to be recalibrated and registered, and the replaced instrument body remains It has better positioning accuracy, which makes the operation procedure more convenient and intelligent.

In summary, only the implementation or embodiment of the technical means used to solve the problem is described, and is not intended to limit the creation. The scope of patent implementation. Any change or modification that is consistent with the scope of the patent application scope of this creation or the scope of the patent creation is covered by the scope of the creation patent.

10‧‧‧Surgical instruments

100‧‧‧Device body

101‧‧‧External module dedicated slot

102‧‧‧Opening

103‧‧‧Connecting Department

13‧‧‧ Positioning target that can be tracked by location

15‧‧‧Card-type pedestal

16‧‧‧Operating equipment

Claims (6)

A surgical instrument includes: an instrument body, the device body is provided with an external module-specific slot for accommodating a positioning target that can be positioned and tracked; and a card-type base for holding A device that is fitted to one of the instrument bodies. The surgical instrument of claim 1, wherein the cartridge base includes a ratchet mechanism for snap-fitting the operating instrument. The surgical instrument of claim 1, wherein the slot wall of the special socket for the external module on the main body of the device comprises a plurality of openings. The surgical instrument of claim 1, wherein the positioning marker that can be positioned and tracked transmits a positioning signal by wireless communication. The surgical instrument of claim 4, wherein the positioning signal further comprises a device identification code. The surgical instrument of claim 1, wherein the operating instrument can include a surgical positioning probe, a pointed cone, an osteotome, a bone drill, and a locking device.