CN103750888A - Automatic limb fracture reduction method and automatic limb fracture reduction system - Google Patents
Automatic limb fracture reduction method and automatic limb fracture reduction system Download PDFInfo
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- A—HUMAN NECESSITIES
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- A61B2017/564—Methods for bone or joint treatment
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- A—HUMAN NECESSITIES
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- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
- A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
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Abstract
The invention discloses an automatic limb fracture reduction method and an automatic limb fracture reduction system. The automatic limb fracture reduction method comprises the steps that tomoscan is conducted on the fractured part of a patient through X rays, fracture information is obtained through a detector matched with the X rays, a digital-to-analog converter is used for converting the fracture information into digital quantity, and the digital quantity is made to form an image matrix through a computer; denoising, enhancement, restoration, segmentation and feature extraction are conducted on the image matrix, so that a second-level image is formed; binaryzation and edge extraction are conducted on the second-level image, so that approximation of a contour line is realized, and a third-level image is formed; the third-level image is vectorized, and a three-dimensional model is reconstructed; fitting is conducted according to the edge curve of the fractured part in the three-dimensional model, and a three-dimensional movement trajectory required by fracture reduction is determined through the computer; traction reduction is conducted on the fractured part through a traction machine under the control of the computer. By means of the automatic limb fracture reduction method and the automatic limb fracture reduction system, the fracture reduction difficulty is lowered to a great extent, and mechanical reduction accuracy is improved.
Description
Technical field
The present invention relates to armarium technical field, more particularly, the particularly a kind of automatically reset method of extremity fracture and a kind of extremity fracture automatic reset system.
Background technology
In recent years, although orthopaedics bone fracture internal fixing device material has had the development of leap, traditional operation was still very large to the damage of body tissue, and the reality that operating time is long, complication is many does not change yet.
The positive skeletal system of typical robot assisted: the object of its structure is reduction and intramedullary pin locking a job, especially femur and the fracture of tibia that auxiliary doctor completes the non-open fracture of human limb.This system comprises reset parallel robot, C type arm X-ray machine, navigating robot, multi-functional automatic operation table, computer control system and working doctor platform etc.
The major function of the positive skeletal system of robot assisted comprises:
1, utilize C type arm X-ray machine to obtain to have fracture just, side position X-ray provides fracture information for doctor.
2, adopt reset parallel robot, the simulation doctor maneuver that resets, under the navigation of image, realizes reset operations such as the traction of knochenbruch, continued accesses.
3, by image calibration and registration, with navigating robot, under the guiding of image, complete navigation or the drilling operation of intramedullary nail holes, auxiliary doctor completes the operation of intramedullary pin pinning.
The ultimate principle of the positive skeletal system of robot assisted:
The human body lower limbs line of force is that in femoral head, heart channel knee joint is to the line at ankle joint center, and while drawing along the line of force, muscle group can be corrected cripetura displacement and lateral displacement like this along line of force effect, and rotation displacement is corrected in the spinning movement of recycling calcaneal traction.Along line of force direction, draw a bit of distance at every turn, after traction, due to the rotation in the joints such as hip, knee joint, ankle, line of force direction will change, then continues traction along new line of force direction, until the line of force at knochenbruch two ends overlaps substantially, tailing edge line of force direction has been compressed reset.Its reset parameter mainly draws the human body line of force along thigh bone near-end medullary cavity by doctor on graphical interfaces, then obtains according to certain algorithm.
The shortcoming that the positive skeletal system of robot assisted exists is:
1, reset parameter is manually drawn the human body line of force on graphical interfaces by doctor, then calculates.Depend on doctor's medical experience, and there is certain error in manual setting-out.
2, restricted application, performs the operation for Long bone shaft fracture at lower limbs for existing.
Summary of the invention
The object of the present invention is to provide a kind of automatically reset method of extremity fracture and a kind of extremity fracture automatic reset system, to solve the above problems.
Provide in an embodiment of the present invention a kind of extremity fracture automatically reset method, comprised step:
S1, obtain fracture image, utilize X ray to carry out tomoscan to patient's fracture site, and obtain fault information by the detector with described X ray adaptation, by digital to analog converter, convert fault information to digital quantity, and then by computer, described digital quantity is formed to image array;
S2, structure threedimensional model, described image array is carried out denoising, enhancing, restores, cuts apart and feature extraction formation secondary image, thereby then secondary image being carried out to binary conversion treatment, edge extracting realizes approaching of contour line and forms three grades of images, and to described three grades of image vectors, reconstruct threedimensional model;
S3, calculate three-dimensional motion track, according to the boundary curve of fracture in described threedimensional model, carry out matching, by computer, determine the three-dimensional motion track that the reduction of the fracture is required;
S4, reduction by traction carry out reduction by traction to fracture site by traction machine under the control of computer.
Preferably, the present invention adopts C arm machine to obtain the fault information of patient's fracture portions.
Preferably, described traction machine includes for the driving device of pull strength is provided, and described driving device is that first motor is controlled in open loop.
The present invention also provides a kind of extremity fracture automatic reset system, comprising: for launching the discharger of X ray; Adaptive for receiving the detector of X ray with described discharger; The computer being connected with described detector by analog-digital converter; The traction apparatus being connected with described computer model.
Preferably, described discharger is C arm machine.
Preferably, the driving device that described traction apparatus includes 3 d traction assembly and is connected with described 3 d traction assembly power, described driving device is motor.
For this reason, the invention provides a kind of automatically reset method of extremity fracture, comprise step: S1, obtain fracture image, utilize X ray to carry out tomoscan to patient's fracture site, and obtain fault information by the detector with X ray adaptation, by digital to analog converter, convert fault information to digital quantity, then by computer, digital quantity is being formed to image array; S2, structure threedimensional model, image array is carried out denoising, enhancing, restores, cuts apart and feature extraction formation secondary image, thereby then secondary image being carried out to binary conversion treatment, edge extracting realizes approaching of contour line and forms three grades of images, and to three grades of image vectors, reconstruct threedimensional model; S3, calculate three-dimensional mobile motion track, according to the boundary curve of fracture in threedimensional model, carry out matching, by computer, determine the three-dimensional motion track that the reduction of the fracture is required; S4, reduction by traction carry out reduction by traction to fracture site by traction machine under the control of computer.The automatically reset method of extremity fracture provided by the invention adopts radioscopy technology (special-purpose C arm machine) to obtain the image of fracture, by computer image processing technology, this image is carried out to image processing, obtains the detail location sized data of fracture site.By computer image processing technology, this image is carried out to image processing, obtain the detail location sized data of fracture site.Computer image processing technology is that rule feature is detected, its processing basis is to take pixel as unit, first image is carried out to the binary conversion treatment (binaryzation of image, be exactly according to the gray value threshold value of setting, the gray value of pixel is set to 0 or 255, whole image is presented and significantly only has black and white visual effect), then utilize edge detection method target characteristic profile to be extracted to (conventional algorithm has Canny operator, Roberts operator, Sobel operator etc.), finally carry out change detection and draw data result.
In the present invention, fracture image obtain and the movement locus of the breaking part of fracturing is drawn by 3-D view simulation, by doctor, do track and conclude and finely tune.The motor motion of reseting procedure is controlled by trajectory parameters, makes traction machine traction skeleton by orbiting motion, reaches the object of the reduction of the fracture.So, reduced dramatically the difficulty of the reduction of the fracture, and the precision that has improved mechanical return.
The present invention also provides a kind of extremity fracture automatic reset system, comprising: for launching the discharger of X ray; Adaptive for receiving the detector of X ray with discharger; The computer being connected with detector by analog-digital converter; The traction apparatus being connected with computer model.Extremity fracture resetting system specifically includes three ingredients, is respectively: C arm machine, resetting means, processor.C arm machine adopts radioscopy technology can by X ray, to bone fracture place, take pictures and obtain the image information at bone fracture place.The fluoroscopy images at the bone fracture place that processor can obtain C arm machine reads, and then according to the fluoroscopy images at bone fracture place, controls the first drive motors, the second drive motors, the 3rd drive motors and the 4th drive motors coordination operation.Resetting means can make extremity fracture resetting system have four degree of freedom, has facilitated dramatically the adjustment of skeletal traction direction.The present invention designs by said structure, adopts numerical calculation to draw accurate reduction of the fracture track, then by machinery, resets, and has reduced the difficulty of the reduction of the fracture, has improved the precision of mechanical return.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the flow chart of the automatically reset method of extremity fracture in an embodiment of the present invention.
The specific embodiment
Below by specific embodiment, also by reference to the accompanying drawings the present invention is described in further detail.
Please refer to Fig. 1, Fig. 1 is the flow chart of the automatically reset method of extremity fracture in an embodiment of the present invention.
The problem that the application will solve is:
1, for the reseting movement parameter automatic acquisition of non-open fracture.By aligning, side position X-ray image processes, the stereo-motion track of the image that obtains fracturing, reduces the degree of dependence of operation to doctors experience.
2, increase the scope of application.Reduction of the fracture application for each outstanding position of health.
For this reason, the invention provides a kind of automatically reset method of extremity fracture, comprise step: S1, obtain fracture image, utilize X ray to carry out tomoscan to patient's fracture site, and obtain fault information by the detector with X ray adaptation, by digital to analog converter, convert fault information to digital quantity, and then by computer, digital quantity is formed to image array; S2, structure threedimensional model, image array is carried out denoising, enhancing, restores, cuts apart and feature extraction formation secondary image, thereby then secondary image being carried out to binary conversion treatment, edge extracting realizes approaching of contour line and forms three grades of images, and to three grades of image vectors, reconstruct threedimensional model; S3, calculate three-dimensional motion track, according to the boundary curve of fracture in threedimensional model, carry out matching, by computer, determine the three-dimensional motion track that the reduction of the fracture is required; S4, reduction by traction carry out reduction by traction to fracture site by traction machine under the control of computer.
The automatically reset method of extremity fracture provided by the invention adopts radioscopy technology (special-purpose C arm machine) to obtain the image of fracture, by computer image processing technology, this image is carried out to image processing, obtains the detail location sized data of fracture site.
By computer image processing technology, this image is carried out to image processing, obtain the detail location sized data of fracture site.Computer image processing technology is that rule feature is detected, its processing basis is to take pixel as unit, first image is carried out to the binary conversion treatment (binaryzation of image, be exactly according to the gray value threshold value of setting, the gray value of pixel is set to 0 or 255, whole image is presented and significantly only has black and white visual effect), then utilize edge detection method target characteristic profile to be extracted to (conventional algorithm has Canny operator, Roberts operator, Sobel operator etc.), finally carry out change detection and draw data result.
Digital Control Technology is to take the above-mentioned image size data of obtaining as basis, calculate traction size, with industrial computer, control the motor (industrial computer namely above-mentioned controller) of traction apparatus, traction apparatus includes power set, for realizing the movement of reset components (reset components is traction end).
In the present invention, preferably power set are adopted as to motor, its control accuracy is higher.According to the traction dimensional parameters motion of gained, make traction end mechanical arm traction fracture skeleton by desired trajectory translation, lifting, rotation and stretching, the quick traction of fracturing and reset, make the reset of fracture accurately and reliably, reduced operating difficulty.The omnidistance datumization of performing the operation, makes different doctors' surgical effect basic identical, has eliminated operation diversity, and doctor's operation level is required greatly to reduce.Operation is more quick, accurate, and has realized the requirement to operation Wicresoft.
In this programme, one end of fracture site is fixed in traction apparatus, the other end is fixed on operation bracing frame, by C type arm X-ray machine first obtain fracture just, side position x-ray image, again image is carried out to a series of images processing procedures such as filtering and noise reduction, sharpening, binaryzation, edge extracting, realize approaching of contour line, dyad quantizes, and reconstructs its threedimensional model.
Then according to the boundary curve of fracture in fracture model, carry out matching, calculate the movement locus that the fixing one end fracture of traction machine moves along tri-space vector directions of other end fracture breaking part X-Y-Z, and show with graphics mode.Doctor is according to fracture picture and motion simulation track, and trickle adjustment kinematic parameter, makes optimal solution.Whole motor process is passed through control step motor movement, and then makes traction machine drive fracture site to move by three-dimensional motion analog track, reaches the object of the reduction of the fracture.
In the present invention, fracture image obtain and the movement locus of the breaking part of fracturing is drawn by 3-D view simulation, by doctor, do track and conclude and finely tune.The motor motion of reseting procedure is controlled by trajectory parameters, makes traction machine traction skeleton by orbiting motion, reaches the object of the reduction of the fracture.So, reduced dramatically the difficulty of the reduction of the fracture, and the precision that has improved mechanical return.
The advantage that the present invention has comprises:
1, reduction of the fracture parameter automatic acquisition, doctor only does track and concludes and finely tune, simple to operate low to the requirement of Doctors' skill level.
2, applied widely, applicable to the non-open fracture reset at each outstanding position of health.
3, resetting time fast, reduced doctor's operating time and patient suffering.
In the present invention, image utilizes digital camera to obtain patient's fracture CT faultage image section in processing, carry out a series of images processing procedures such as filtering and noise reduction, sharpening, binaryzation, edge extracting, realize approaching of contour line, dyad quantizes, finally reconstruct its threedimensional model, the model then reverse being gone out carries out data transaction.It is the key of three-dimensionalreconstruction that two-dimensional ct image is processed, and only extracts high-quality profile and also reduces the quantity of redundant points as far as possible, obtains accurately succinct profile synusia file.Then, utilize the high detector of the accurate x-ray bundle collimating and sensitivity together around a certain position of human body, to make profile scanning one by one, in each scanning process, by detector, received through the decay x-ray information after human body, by Fast Modular/number (A/D) transducer, convert analog quantity to digital quantity again, then input electronic computer, through electronic computer supercomputing, draw the x-ray absorptance value of this aspect each point, by these data, form the matrix of image.Through CCD camera, image information is passed to the work station that image is processed again.
Particularly, the present invention adopts C arm machine to obtain the fault information of patient's fracture portions.In order to improve the traction precision of traction apparatus, traction machine includes for the driving device of pull strength is provided, and driving device is that first motor is controlled in open loop.
The present invention also provides a kind of extremity fracture automatic reset system, comprising: for launching the discharger of X ray; Adaptive for receiving the detector of X ray with discharger; The computer being connected with detector by analog-digital converter; The traction apparatus being connected with computer model.
Extremity fracture resetting system specifically includes three ingredients, is respectively: C arm machine, resetting means, processor.C arm machine adopts radioscopy technology can by X ray, to bone fracture place, take pictures and obtain the image information at bone fracture place.The fluoroscopy images at the bone fracture place that processor can obtain C arm machine reads, and then according to the fluoroscopy images at bone fracture place, controls the first drive motors, the second drive motors, the 3rd drive motors and the 4th drive motors coordination operation.Resetting means can make extremity fracture resetting system have four degree of freedom, has facilitated dramatically the adjustment of skeletal traction direction.
On resetting means, be provided with four drive motors (the first drive motors, the second drive motors, the 3rd drive motors and the 4th drive motors), and by operator's manual adjustment, can realize the mechanization adjustment of extremity fracture resetting system on four degree of freedom.Four drive motors are under the control action of controller, according to the traction dimensional parameters motion of gained, make traction end mechanical arm traction fracture skeleton by desired trajectory translation, lifting, rotation and stretching, the quick traction of fracturing and reset, make the reset of fracture accurately and reliably, reduced operating difficulty.The omnidistance datumization of performing the operation, makes different doctors' surgical effect basic identical, has eliminated operation diversity, and doctor's operation level is required greatly to reduce.Operation is more quick, accurate, and has realized the requirement to operation Wicresoft.
Particularly, discharger is C arm machine.
Particularly, the driving device that traction apparatus includes 3 d traction assembly and is connected with 3 d traction assembly power, driving device is motor.
At this, relevant apparatus of the present invention is elaborated:
Utilize accurate C type arm X-ray machine to obtain to have fracture just, side position x-ray image, carry out image acquisition and do image and process, calculate the data that need motion, and finally change into corresponding umber of pulse and export to motor and move by it.
1, C type arm X-ray machine
C type arm X-ray machine, is called for short C arm machine, is the necessary equipment of surgery Minimally Invasive Surgery, and this equipment has the frame of C type, produces the bulb of X ray, gathers image amplifier and the ccd video camera of image, and the work station that image is processed forms.In the present invention, Image Acquisition adopts C arm machine to obtain, and is mainly used in the radiography in various operations, the work such as photography.
2, Digital Image Processing
By computer, image is removed noise, enhancing, restored, cuts apart, extracts method and the technology of the processing such as feature.It is the subclass of signal processing that image is processed, and also has close relationship in addition with the field such as computer science, artificial intelligence.
3, motor
Motor is that first motor part is controlled in the open loop that changes electric impulse signal into angular displacement or displacement of the lines.The in the situation that of non-overload, frequency and the umber of pulse of pulse signal only depended in the rotating speed of motor, the position stopping, and be not subject to the impact of load variations, when step actuator receives a pulse signal, it rotates a fixing angle with regard to drive stepping motor by the direction of setting, be called " step angle ", its rotation is that the angle of fixing is moved step by step.Can carry out pilot angle displacement by control impuls number, thereby reach the object of accurate location; Can control by control impuls frequency speed and the acceleration of electric machine rotation, thereby reach the object of speed governing simultaneously.
These are only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (6)
1. the automatically reset method of extremity fracture, is characterized in that, comprising:
Step 1, utilize X ray to carry out tomoscan to patient's fracture site, and obtain fault information by the detector with described X ray adaptation, by digital to analog converter, convert fault information to digital quantity, and then by computer, described digital quantity is formed to image array;
Step 2, described image array is carried out denoising, enhancing, restores, cuts apart and feature extraction forms secondary image, thereby then secondary image being carried out to binary conversion treatment, edge extracting realizes approaching of contour line and forms three grades of images, and to described three grades of image vectors, reconstruct threedimensional model;
Step 3, according to the boundary curve of fracture in described threedimensional model, carry out matching, by computer, determine the three-dimensional motion track that the reduction of the fracture is required;
Step 4, by traction machine, under the control of computer, fracture site is carried out to reduction by traction.
2. the automatically reset method of extremity fracture according to claim 1, is characterized in that,
Adopt C arm machine to obtain the fault information of patient's fracture portions.
3. the automatically reset method of extremity fracture according to claim 1, is characterized in that,
Described traction machine includes for the driving device of pull strength is provided, and described driving device is that first motor is controlled in open loop.
4. an extremity fracture automatic reset system, is characterized in that, comprising:
For launching the discharger of X ray;
Adaptive for receiving the detector of X ray with described discharger;
The computer being connected with described detector by analog-digital converter;
The traction apparatus being connected with described computer model.
5. extremity fracture automatic reset system according to claim 4, is characterized in that,
Described discharger is C arm machine.
6. extremity fracture automatic reset system according to claim 4, is characterized in that,
The driving device that described traction apparatus includes 3 d traction assembly and is connected with described 3 d traction assembly power, described driving device is motor.
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| CN107025627A (en) * | 2017-04-12 | 2017-08-08 | 中南大学 | The motion of bone and the demarcation close to parameter and quantization method in CT images |
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| CN115424186A (en) * | 2022-11-05 | 2022-12-02 | 深圳市亿康医疗技术有限公司 | Intelligent processing method for monitoring data of orthopedic traction |
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| KR102168431B1 (en) * | 2017-10-24 | 2020-10-21 | 경북대학교 산학협력단 | Active Retractor and Control Method thereof |
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