基于惯性导航的髓内钉进钉点定位装置研究

      Research on Locating Device for the Entry Point of Intramedullary Nail Based on Inertial Navigation

      • 摘要:
        目的 介绍一种基于惯性导航技术的髓内钉进钉点定位装置,利用多维角度信息辅助实现股骨顺行髓内钉理想进钉方向的快速精准定位,并通过临床试验验证其临床价值。
        方法 将定位装置的定位模块与显影板2个组件组配后放置于患侧股骨近端体表,进行正位透视,基于X线片选择理想进钉方向对应的显影角度后将定位模块的偏航角归零。归零后将定位模块与手术器械组配,实现导针进钉角度的指引,基于角度指引完成理想进钉方向的精准定位。通过设置试验组和对照组进行临床手术试用,分别记录有无定位装置使用时的导针打入次数、手术时间、透视次数和术中出血量。
        结果 相比于对照组,试验组在导针打入次数、手术时间、透视次数及术中出血量等方面均有明显的改善,差异有统计学意义(P<0.01)。
        结论 定位装置可辅助医生快速完成髓内钉进钉点的定位,通过提高导针打入一次到位的成功率,可有效减少透视次数和手术时间,提高手术效率,具备一定的临床价值。

         

        Abstract:
        Objective  To introduce a locating device for the entry point of intramedullary nail based on the inertial navigation technology, which utilizes multi-dimensional angle information to assist in rapid and accurate positioning of the ideal direction of femoral anterograde intramedullary nails' entry point, and to verify its clinical value through clinical tests.
        Methods  After matching the locating module with the developing board, which are the two components of the locating device, they were placed on the skin surface of the proximal femur of the affected side. Anteroposterior fluoroscopy was performed. The developing angle corresponding to the ideal direction of entry point was selected based on the X-ray image, and then the yaw angle of the locating module was reset to zero. After resetting, the locating module was combined with the surgical instrument to guide the insertion angle of the guide wire. The ideal direction of entry point was accurately located based on the angle guidance. By setting up an experimental group and a control group for clinical surgical operations, the number of guide wire insertion times, surgical time, fluoroscopy frequency, and intraoperative blood loss with or without the locating device was recorded.
        Results Compared to the control group, the experimental group showed significant improvement in the number of guide wire insertion times, surgical time, fluoroscopy frequency, and intraoperative blood loss, with a statistically significant difference (P<0.01).
        Conclusion The locating device can assist doctors in quickly locating the entry point of intramedullary nail, effectively reducing the fluoroscopy frequency and surgical time by improving the success rate of the guide wire insertion with one shot, improving surgical efficiency, and possessing certain clinical value.

         

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