CN103750888B - Extremity fracture automatic reset system - Google Patents
Extremity fracture automatic reset system Download PDFInfo
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- CN103750888B CN103750888B CN201410027778.1A CN201410027778A CN103750888B CN 103750888 B CN103750888 B CN 103750888B CN 201410027778 A CN201410027778 A CN 201410027778A CN 103750888 B CN103750888 B CN 103750888B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B2017/564—Methods for bone or joint treatment
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- A61B90/36—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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- Heart & Thoracic Surgery (AREA)
- Orthopedic Medicine & Surgery (AREA)
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Abstract
The invention discloses a kind of automatically reset method of extremity fracture and a kind of extremity fracture automatic reset system.Wherein, the method includes: utilize X ray that the fracture site of patient is carried out tomoscan, and obtain fault information by the detector adaptive with X ray, convert fault information to digital quantity by digital to analog converter, again through computer, digital quantity is formed image array；Image array is carried out denoising, enhancing, recovery, segmentation and feature extraction and forms level image, level image carries out binary conversion treatment again, edge extracting forms three grades of images thus realizing approaching of contour line, and to three grades of image vectors, reconstruct threedimensional model；It is fitted according to the boundary curve of fracture in threedimensional model, determines the three-dimensional motion track needed for the reduction of the fracture by computer；Under control of the computer fracture site is carried out reduction by traction by traction machine.The present invention reduces the difficulty of the reduction of the fracture dramatically, and improves the precision of mechanical return.
Description
Technical field
The present invention relates to technical field of medical equipment, more specifically, particularly to a kind of extremity fracture automatic reset system.
Background technology
In recent years, although orthopaedics Fracture internal fixaiion equipment has had the development of leap, but traditional operation is still very big to the damage of body tissue, the reality that operating time length, complication were many is also without change.
A kind of typical positive skeletal system of robot assisted: the purpose of its structure is reduction and the intramedullary pin locking work that assist physician completes the non-open fracture of human limb, especially femur and fracture of tibia.This system comprises reset parallel robot, C-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 includes:
1, utilize C-arm X-ray machine obtain have fracture just, position, side X-ray provide fracture information for doctor.
2, adopting reset parallel robot, simulation doctor resets maneuver, under the navigation of image, it is achieved to reset operations such as the traction of knochenbruch, continued accesses.
3, by image calibration and registration, completing navigation or the drilling operation of intramedullary nail holes under the guiding of image with navigating robot, assist physician 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 late-segmental collapse through the knee joint line to ankle joint center, along the line of force draw time, muscle group along line of force effect, so can correct cripetura displacement and lateral displacement, and rotation displacement is corrected in recycling calcaneal traction spinning movement.Draw a small distance along line of force direction every time, due to the rotation in the joints such as hip, knee joint, ankle after traction, line of force direction will change, and continues traction further along new line of force direction, until the line of force at knochenbruch two ends essentially coincides, reset has been compressed in most tailing edge line of force direction.Its reset parameter draws the human body line of force along thigh bone near-end medullary cavity mainly by doctor on graphical interfaces, obtains further 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 by doctor on graphical interfaces, then calculates.Depend on the medical experience of doctor, and manual setting-out exists certain error.
2, restricted application, is now served only in Long bone shaft fracture at lower limbs operation.
Summary of the invention
It is an object of the invention to provide a kind of extremity fracture automatic reset system, to solve above-mentioned problem.
The invention provides a kind of extremity fracture automatic reset system, including:
For launching the discharger of X ray；
It is adapted for receiving the detector of X ray with described discharger；
By the computer that analog-digital converter is connected with described detector；
The traction resetting device being connected with described Computer signal；
Described discharger is C arm machine；
Wherein, described C arm machine is for adopting radioscopy technology that bone fracture place can be taken pictures by X ray and obtain the image information at bone fracture place；
Described computer, for the fluoroscopy images at the bone fracture place that C arm machine obtains is read out, then controls the first drive motor, the second drive motor, the 3rd drive motor and the 4th drive motor coordination operation according to the fluoroscopy images at bone fracture place；
Described traction resetting device can make extremity fracture automatic reset system have four degree of freedom, facilitates the adjustment in skeletal traction direction dramatically；
Traction resetting device is provided with four drive motors, i.e. the first drive motor, the second drive motor, the 3rd drive motor and the 4th drive motor, and it is operated by manually adjusting of personnel, it is possible to realize the mechanization adjustment on four degree of freedom of the extremity fracture automatic reset system；Four drive motors, for, under the control action of computer, moving according to the traction dimensional parameters of gained, make traction end mechanical arm traction fracture skeleton translate by desired trajectory, lift, rotate and stretch, carry out quick traction and the reset fractured.
Preferably, can embodiment as one；Described traction resetting device includes 3 d traction assembly and the driving device being connected with described 3 d traction assembly power, and described driving device is motor.
The invention provides a kind of extremity fracture automatic reset system, including: for launching the discharger of X ray；It is adapted for receiving the detector of X ray with discharger；By the computer that analog-digital converter is connected with detector；The traction resetting device being connected with Computer signal.Extremity fracture automatic reset system has specifically included three ingredients, is respectively as follows: C arm machine, traction resetting device, computer.C arm machine adopts radioscopy technology that bone fracture place can be taken pictures by X ray and obtain the image information at bone fracture place.The fluoroscopy images at the bone fracture place that C arm machine obtains can be read out by computer, then controls the first drive motor, the second drive motor, the 3rd drive motor and the 4th drive motor coordination operation according to the fluoroscopy images at bone fracture place.Traction resetting device can make extremity fracture automatic reset system have four degree of freedom, facilitates the adjustment in skeletal traction direction dramatically.The present invention is designed by said structure, adopts numerical calculation to draw accurate reduction of the fracture track, then passes through machinery and reset, reduce the difficulty of the reduction of the fracture, improve the precision of mechanical return.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the flow chart of the automatically reset method of extremity fracture in an embodiment of the present invention.
Detailed description of the invention
Below by specific embodiment son and in conjunction with accompanying drawing, the present invention is described in further detail.
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 to solve is:
1, the reseting movement parameter for non-open fracture obtains automatically.By aligning, position, side X-ray image process, obtain the stereo-motion track of fracture image, reduce the operation degree of dependence to doctors experience.
2, use scope is increased.The reduction of the fracture for each prominent position of health is applied.
For this, the invention provides a kind of automatically reset method of extremity fracture, including step: S1, acquisition fracture image, utilize X ray that the fracture site of patient is carried out tomoscan, and obtain fault information by the detector adaptive with X ray, convert fault information to digital quantity by digital to analog converter, then again through computer, digital quantity is formed image array；S2, structure threedimensional model, image array is carried out denoising, enhancing, recovery, segmentation and feature extraction and forms level image, then level image carries out binary conversion treatment, edge extracting forms three grades of images thus realizing approaching of contour line, and to three grades of image vectors, reconstruct threedimensional model；S3, the three-dimensional motion track of calculating, be fitted according to the boundary curve of fracture in threedimensional model, determine the three-dimensional motion track needed for the reduction of the fracture by computer；S4, reduction by traction, carry out reduction by traction to fracture site under control of the computer by traction machine.
The automatically reset method of extremity fracture provided by the invention adopts radioscopy technology (special C arm machine) to obtain the image of fracture, by computer image processing technology, this image is carried out image procossing, obtain the detail location sized data of fracture site.
By computer image processing technology, this image is carried out image procossing, obtain the detail location sized data of fracture site.Computer image processing technology is that rule feature is detected, its process basis is in units of pixel, first image is carried out the binary conversion treatment (binaryzation of image, it is exactly according to the gray value threshold value set, the gray value of pixel is set to 0 or 255, whole image is presented significantly only black and white visual effect), then utilize edge detection method by target characteristic contours extract out (conventional algorithm has Canny operator, Roberts operator, Sobel operator etc.), finally carry out change detection and draw data result.
Digital Control Technology is based on the image size data of above-mentioned acquisition, calculate traction size, the motor (industrial computer i.e. above-mentioned computer) of traction resetting device is controlled with industrial computer, traction resetting device includes power set, is used for realizing the movement of reset components (reset components is traction end).
In the present invention, it is preferred to power set are adopted as motor, its control accuracy is higher.Move according to the traction dimensional parameters of gained, make traction end mechanical arm traction fracture skeleton translate by desired trajectory, lift, rotate and stretch, carry out quick traction and the reset fractured, make the reset of fracture accurately and reliably, reduce operating difficulty.The omnidistance datumization of operation so that the surgical effect of different doctors is essentially identical, eliminates operation diversity, the operation level requirement of doctor is substantially reduced.Operation is more quick, accurate, and achieves the requirement to operation Wicresoft.
In this programme, one end of fracture site is fixed on traction resetting device, the other end is fixed on operation bracing frame, by C-arm X-ray machine first obtain fracture just, position, side x-ray image, image is filtered a series of images processing procedures such as denoising, sharpening, binaryzation, edge extracting again, realizing approaching of contour line, dyad quantifies, and reconstructs its threedimensional model.
Then it is fitted according to the boundary curve of fracture in fracture model, calculates the movement locus that the fixing one end fracture of traction machine moves along other end fracture tri-space vector directions of breaking part X-Y-Z, and display to graphically.Doctor, according to fracture picture and motion simulation track, trickle adjustment kinematic parameter, makes optimal solution.Whole motor process is by controlling motor motion, and then makes traction machine drive fracture site to move by three-dimensional motion analog track, reaches the purpose of the reduction of the fracture.
In the present invention, the acquisition of fracture image and the movement locus of fracture breaking part are drawn by 3-D view simulation, doctor do track and conclude and finely tune.The motor of reseting procedure moves by trajectory parameters control so that traction machine traction skeleton presses orbiting motion, reaches the purpose of the reduction of the fracture.So, reduce the difficulty of the reduction of the fracture dramatically, and improve the precision of mechanical return.
The present invention has the advantages that
1, reduction of the fracture parameter obtains automatically, and doctor only does track and concludes and finely tune, simple to operate that Doctors' skill level requirement is low.
2, applied widely, the non-open fracture being applicable to each prominent position of health resets.
3, resetting time is fast, decreases operating time and the patient suffering of doctor.
In the present invention, image procossing utilize digital camera obtain the fracture CT faultage image section of patient, it is filtered a series of images processing procedures such as denoising, sharpening, binaryzation, edge extracting, realize approaching of contour line, dyad quantifies, finally reconstructing its threedimensional model, the model then reverse gone out carries out data conversion.Two-dimensional CT image process is the key of three-dimensionalreconstruction, only extracts high-quality profile and reduces the quantity of redundant points as far as possible, it is thus achieved that accurately succinct profile synusia file.Then, the detector utilizing the X-ray beam of Accurate collimation and sensitivity high together makes profile scanning one by one around a certain position of human body, each scanning process is received through the decay x-ray information after human body by detector, analog quantity is converted to digital quantity again by quick analog (A/D) transducer, then electronic computer is inputted, through electronic computer supercomputing, draw the x-ray absorptance value of this aspect each point, form the matrix of image by these data.Then through CCD camera, image information is passed to the work station of image procossing.
Specifically, the present invention adopts C arm machine to obtain the fault information of patients with fractures's part.In order to improve the traction precision of traction resetting device, traction machine includes the driving device for providing pull strength, and driving device is opened loop control unit motor.
Present invention also offers a kind of extremity fracture automatic reset system, including: for launching the discharger of X ray；It is adapted for receiving the detector of X ray with discharger；By the computer that analog-digital converter is connected with detector；The traction resetting device being connected with Computer signal.
Extremity fracture automatic reset system has specifically included three ingredients, is respectively as follows: C arm machine, traction resetting device, computer.C arm machine adopts radioscopy technology that bone fracture place can be taken pictures by X ray and obtain the image information at bone fracture place.The fluoroscopy images at the bone fracture place that C arm machine obtains can be read out by computer, then controls the first drive motor, the second drive motor, the 3rd drive motor and the 4th drive motor coordination operation according to the fluoroscopy images at bone fracture place.Traction resetting device can make extremity fracture automatic reset system have four degree of freedom, facilitates the adjustment in skeletal traction direction dramatically.
Traction resetting device is provided with four drive motors (the first drive motor, the second drive motor, the 3rd drive motor and the 4th drive motor), and it is operated by manually adjusting of personnel, it is possible to realize the mechanization adjustment on four degree of freedom of the extremity fracture automatic reset system.Four drive motors are under the control action of computer, move according to the traction dimensional parameters of gained, traction end mechanical arm traction fracture skeleton is made to translate by desired trajectory, lift, rotate and stretch, carry out quick traction and the reset fractured, make the reset of fracture accurately and reliably, reduce operating difficulty.The omnidistance datumization of operation so that the surgical effect of different doctors is essentially identical, eliminates operation diversity, the operation level requirement of doctor is substantially reduced.Operation is more quick, accurate, and achieves the requirement to operation Wicresoft.
Specifically, discharger is C arm machine.
Specifically, traction resetting device includes 3 d traction assembly and the driving device being connected with 3 d traction assembly power, and driving device is motor.
At this, relevant apparatus of the present invention is described in detail:
Utilize accurate C-arm X-ray machine obtain have fracture just, position, side x-ray image, carry out image acquisition and do image procossing, calculating the data needing motion, and being eventually converted into corresponding umber of pulse and export to motor by its motion.
1, C-arm X-ray machine
C-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 composition of image procossing.In the present invention, the work such as Image Acquisition adopts C arm machine to obtain, and is mainly used in the radiography in various operation, photography.
2, Digital Image Processing
By computer, image is removed method and the technology of the process such as noise, enhancing, recovery, segmentation, extraction feature.Image procossing is the subclass of signal processing, additionally also has close relationship with the field such as computer science, artificial intelligence.
3, motor
Motor is the opened loop control unit motor part that electric impulse signal is changed into angular displacement or displacement of the lines.When non-overload, the rotating speed of motor, stopping position be solely dependent upon frequency and the umber of pulse of pulse signal, and not by the impact of load change, when step actuator receives a pulse signal, it rotates a fixing angle with regard to drive stepping motor by the direction set, being called " step angle ", its rotation is to run step by step with fixing angle.Pilot angle displacement can be carried out, thus reaching the purpose being accurately positioned by control pulse number；Speed and the acceleration of electric machine rotation can be controlled by controlling pulse frequency, thus reaching the purpose 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.All within the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc., should be included within protection scope of the present invention.
Claims (2)
1. an extremity fracture automatic reset system, it is characterised in that including:
For launching the discharger of X ray；
It is adapted for receiving the detector of X ray with described discharger；
By the computer that analog-digital converter is connected with described detector；
The traction resetting device being connected with described Computer signal；
Described discharger is C arm machine；
Wherein, described C arm machine is for adopting radioscopy technology that bone fracture place can be taken pictures by X ray and obtain the image information at bone fracture place；
Described computer, for the fluoroscopy images at the bone fracture place that C arm machine obtains is read out, then controls the first drive motor, the second drive motor, the 3rd drive motor and the 4th drive motor coordination operation according to the fluoroscopy images at bone fracture place；
Described traction resetting device can make extremity fracture automatic reset system have four degree of freedom, facilitates the adjustment in skeletal traction direction dramatically；
Traction resetting device is provided with four drive motors, i.e. the first drive motor, the second drive motor, the 3rd drive motor and the 4th drive motor, and it is operated by manually adjusting of personnel, it is possible to realize the mechanization adjustment on four degree of freedom of the extremity fracture automatic reset system；Four drive motors, for, under the control action of computer, moving according to the traction dimensional parameters of gained, make traction end mechanical arm traction fracture skeleton translate by desired trajectory, lift, rotate and stretch, carry out quick traction and the reset fractured.
2. extremity fracture automatic reset system according to claim 1, it is characterised in that
Described traction resetting device includes 3 d traction assembly and the driving device being connected with described 3 d traction assembly power, and described driving device is motor.
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| CN201410027778.1A CN103750888B (en) | 2014-01-21 | 2014-01-21 | Extremity fracture automatic reset system |
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| CN201410027778.1A CN103750888B (en) | 2014-01-21 | 2014-01-21 | Extremity fracture automatic reset system |
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| CN103750888B true CN103750888B (en) | 2016-07-20 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019083237A1 (en) * | 2017-10-24 | 2019-05-02 | 경북대학교 산학협력단 | Active traction device and control method therefor |
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|---|---|---|---|---|
| CN105643640A (en) * | 2014-11-12 | 2016-06-08 | 沈阳新松机器人自动化股份有限公司 | Joint positioning and identifying system |
| CN107025627B (en) * | 2017-04-12 | 2019-10-11 | 中南大学 | The movement of bone and calibration and quantization method close to parameter in CT images |
| CN109223045A (en) * | 2017-07-11 | 2019-01-18 | 中慧医学成像有限公司 | A kind of method of adjustment of orthopedic brace |
| CN111276244A (en) * | 2020-02-19 | 2020-06-12 | 京东方科技集团股份有限公司 | Computer-aided method for fracture reduction |
| CN111590584B (en) * | 2020-05-27 | 2021-12-10 | 京东方科技集团股份有限公司 | Determination method and device of safety limit area, reset method and medical robot |
| CN112386327B (en) * | 2020-11-13 | 2022-06-03 | 毕建平 | Fracture fixing system adopting negative pressure environment and bone cement single-hole injection and working method |
| CN112370157B (en) * | 2020-11-13 | 2022-06-03 | 毕建平 | Double-fracture reduction trajectory planning method and reduction system |
| CN114052724B (en) * | 2022-01-13 | 2022-09-09 | 西安交通大学医学院第一附属医院 | Orthopedics traction abnormity detection system based on artificial intelligence |
| CN115424186B (en) * | 2022-11-05 | 2023-01-13 | 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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| JP2013128704A (en) * | 2011-12-22 | 2013-07-04 | Aze Ltd | Medical image forming apparatus, medical image forming program, and medical image forming method |
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