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中华关节外科杂志(电子版) ›› 2026, Vol. 20 ›› Issue (01) : 127 -130. doi: 10.3877/cma.j.issn.1674-134X.2026.01.017

个案报道

导航机器人多维度定位辅助下取出游离克氏针1例
代永鸿1,2, 李旭龙1, 曾焰辉1,2,()   
  1. 1528000 广州中医药大学第八临床医学院
    2528000 佛山市中医院创伤骨科
  • 收稿日期:2025-02-13 出版日期:2026-02-01
  • 通信作者: 曾焰辉
  • 基金资助:
    国家重点研发计划项目(2022YFC2407500); 广东省佛山市科学技术局医学类科技攻关项目(2420001004268)

Retrieval of migrated Kirschner wire assisted by navigation robot with multi-dimensional localization

Yonghong Dai, Xulong Li, Yanhui Zeng()   

  • Received:2025-02-13 Published:2026-02-01
  • Corresponding author: Yanhui Zeng
引用本文:

代永鸿, 李旭龙, 曾焰辉. 导航机器人多维度定位辅助下取出游离克氏针1例[J/OL]. 中华关节外科杂志(电子版), 2026, 20(01): 127-130.

Yonghong Dai, Xulong Li, Yanhui Zeng. Retrieval of migrated Kirschner wire assisted by navigation robot with multi-dimensional localization[J/OL]. Chinese Journal of Joint Surgery(Electronic Edition), 2026, 20(01): 127-130.

图1 手术流程图
图2 患者住院治疗全流程展示。图A为左胸锁关节X线正位片,示其中1枚断裂的克氏针滑移至1~2胸椎左侧椎间孔内;图B~C为左肩锁关节X线正斜位片,示其余3枚克氏针中有1枚已穿出锁骨,有游离的趋势,红色箭头示有游离趋势的克氏针;图D为CT血管造影三维重建,示滑移的克氏针与左锁骨下动脉的距离为22 mm,红色箭头指示锁骨下动脉;图E为术前彩超大致定位,红色箭头示彩超定位的克氏针大概位置;图F为术者尝试根据彩超大致定位用手指探查克氏针位置;图G为天玑骨科手术机器人;图H为规划螺钉的长度、直径、位置,红色箭头示游离克氏针的尾端;图I为机械臂运动到目标位置,术者沿着机械臂插入套筒;图J为套筒精准对准游离的克氏针尾端,红色箭头示机械臂导向器套筒;图K示精准定位游离克氏针尾端、弯钳对准并夹取克氏针尾端,红色箭头指示弯钳;图L示机器人手术规划平台规划螺钉的长度、直径、位置,使钉尾对准剩余克氏针的尾端;图M示机械臂运动到目标位置后,沿机械臂套筒置入导针,定位克氏针尾端并用持针器取出克氏针;图N示取出的克氏针;图O为缝合手术切口;图P为术后当天左胸锁关节X线正位片,示所有克氏针已全部取出;图Q示术后4 d患者左上肢功能活动良好
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