CN105643640A - Joint positioning and identifying system - Google Patents
Joint positioning and identifying system Download PDFInfo
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- CN105643640A CN105643640A CN201410637325.0A CN201410637325A CN105643640A CN 105643640 A CN105643640 A CN 105643640A CN 201410637325 A CN201410637325 A CN 201410637325A CN 105643640 A CN105643640 A CN 105643640A
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Abstract
The invention relates to a joint positioning and identifying system. The joint positioning and identifying system comprises an information processing unit, an image acquisition unit, a robot control unit and an axle control unit, wherein the image acquisition unit and the robot control unit are separately in data interaction with the information processing unit through a wireless network; the robot control unit and the axle control unit are in communication connection through a CAN bus; the image acquisition unit is used for acquiring fracture digital information of a patient; the image processing unit is used for receiving the fracture digital image sent by the image acquisition unit, and analyzing correct traction position information of the fracture of the patient; the robot control unit is used for sending action command information to the axle control unit according to the correct traction position information; and the axle control unit realizes control on the drive motor. The reliability and the accuracy of positioning the joints of an osteopathic patient are increased.
Description
Technical field
The present invention relates to Robot visual location technology, particularly relate to a kind of joint positioning identification system.
Background technology
When patient is carried out fracture rehabilitation by application orthopaedics bonesetting apparatus, doctor can according to the fracture situation of X-ray imaging, just carry out bone setting therapeutic after tram is put at patients with fractures position and adjacent regions joint thereof, each joint part of patient put accuracy often extreme influence therapeutic effect. At present, location, the joint mode that most orthopaedics bonesetting apparatus adopt is dependent on doctor personal experience, artificial adjustment each joint putting position. Existing defects is: (1) joint positioning precision is not high, fully rely on doctor personal experience to go to regulate patient articular's putting position, rely solely on sensation, it is impossible to realize being accurately positioned, therapeutic effect is produced a very large impact (2) joint putting position and regulates time and effort consuming. Before conventional bone setting therapeutic, doctor need to regulate patient articular's putting position repeatedly. In therapeutic process, as change occurs in joint putting position, need to readjust.
Summary of the invention
Present invention seek to address that the positional accuracy existed when patient joint is positioned in prior art orthopaedics bonesetting apparatus is not high and find the problem that location target is slower, it is proposed to a kind of joint positioning identification system.
For solving the problems referred to above, the technical solution used in the present invention is:
A kind of joint positioning identification system, including: information process unit, image acquisition units, robot control unit and axle control unit, wherein, image acquisition units and robot control unit carry out data interaction with information process unit by wireless network respectively; Robot control unit is then connected by CAN communication with axle control unit; Image acquisition units, for gathering the fracture digital information of patient; Information process unit, for receiving the fracture digital information that image acquisition units sends, analyzes patients with fractures and locates correct distracted position information; Robot control unit, for according to correct distracted position information, to axle control unit sending action command information; Axle control unit realizes the control to drive motor.
Preferably, image acquisition units includes image acquisition unit and image conversion unit, and image acquisition unit is used for obtaining patients with fractures's image;Image conversion unit is used for receiving patients with fractures and locates image, converts the image to the digital information comprising pixel.
Preferably, information process unit includes a digital information reception unit, expert info memory element and information comparing unit; Digital information receives unit and receives the digital information comprising pixel that described image acquisition units sends; Information comparing unit obtains this digital information and the expert info being pre-stored in expert info memory element simultaneously, two information is compared, obtains the correct distracted position information in joint.
Preferably, also including a VPU, this VPU is connected by ethernet communication with information process unit.
Preferably, patients with fractures's information that VPU just obtains in real time in trimming process, and extract the characteristic information of current patents's joint, this characteristic information is sent back information process unit, this characteristic information is compared by information process unit with correct distracted position information before, again plans distracted position information according to comparative result.
The present invention has following beneficial effect compared with prior art:
1, technical solution of the present invention positions mode relative to conventional joint, overcomes and relies on artificial positioning joint position accuracy defect of taking a lot of work not high, consuming time in the past, adds reliability and the accuracy of location, orthopedics patient joint.
2, application message processing unit of the present invention and the main panel control systems of robot pair of robot controller composition, control functional separation by motor control with other, more clearly demarcated on control hierarchy, is also more favorable for realizing modularity in software programming simultaneously.
Accompanying drawing explanation
Fig. 1 is embodiment of the present invention one joint positioning identification system structure chart.
Detailed description of the invention
Below in conjunction with specific embodiment and accompanying drawing, the present invention is described in further detail. Being described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has the element of same or like function from start to finish. The embodiment described below with reference to accompanying drawing is illustrative of, and is only used for explaining technical scheme, and is not construed as limitation of the present invention.
In describing the invention, term " interior ", " outward ", " longitudinal direction ", " transverse direction ", " on ", D score, " top ", the orientation of the instruction such as " end " or position relationship be based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention rather than requires that therefore the present invention with specific azimuth configuration and operation, must be not construed as limitation of the present invention.
The present invention provides a kind of joint positioning identification system.
As it is shown in figure 1, one embodiment of the invention joint positioning identification system includes: information process unit 100, image acquisition units 200, robot control unit 300 and axle control unit 500. Wherein, image acquisition units 200 and robot control unit 300 carry out data interaction with information process unit 100 by wireless network respectively; Robot control unit 300 is then connected by CAN communication with axle control unit 500.
Image acquisition units 200 gathers the fracture digital information of patient; Information process unit 100 receives the fracture digital information that image acquisition units sends, and analyzes patients with fractures and locates correct distracted position information; Robot control unit 300 is according to correct distracted position information, to axle control unit 500 sending action command information;Axle control unit 500 realizes the control to drive motor.
Preferably, above-mentioned joint positioning identification system also includes a VPU 400, and this VPU 400 is connected by ethernet communication with information process unit. Patients with fractures's information that described VPU 400 just obtains in real time in trimming process, and extract the characteristic information of current patents's joint, this characteristic information is sent back information process unit 100, this characteristic information is compared by information process unit 100 with correct distracted position information before, again plans distracted position information according to comparative result.
Below a kind of joint each ingredient of positioning identification system that the present invention is proposed and operation principle are described in further detail.
Image acquisition units 200, including image acquisition unit 201 and image conversion unit 202, image acquisition unit 201 is used for obtaining patients with fractures's image; Image conversion unit 202 is used for receiving patients with fractures and locates image, utilizes X-ray digital image and treatment technology, converts the image to the digital information comprising pixel.
The fracture image information that information process unit 100 sends according to image acquisition units 200, analyzes patients with fractures and locates correct distracted position information. Concrete, this information process unit 100 includes a digital information and receives unit 101, expert info memory element 102 and information comparing unit 103. Digital information receives unit 101 and receives the digital information comprising pixel that image acquisition units 200 sends; Information comparing unit 103 obtains this digital information and the expert info being pre-stored in expert info memory element 102 simultaneously, two information is compared, obtains the correct distracted position information in joint.
Robot control unit 300, by correct distracted position information, is sent to axle control unit by instruction mode.
The command information that axle control unit 500 sends according to robot control unit 300, is controlled each drive motor.
Further, this joint positioning identification system also includes a VPU 400, patients with fractures's information that described VPU 400 just obtains in real time in trimming process, and extract the characteristic information of current patents's joint, this characteristic information is sent back the information comparing unit 103 in information process unit 100, this characteristic information is compared by information comparing unit 103 with correct distracted position information before, the distracted position information again planned according to comparative result is sent to robot control unit 300 again and realizes the control to drive motor.
This patent is used for orthopaedics bonesetting apparatus. Further, it is also possible to be applied on the medical equipment such as neurosurgery, internal medicine operation. It is directed to different application, only need to increase or reduce board and partial surgical utensil according to the actual requirements, it is not necessary to can realize being accurately positioned when change system. As in neurosurgery system, vision localization is controlled system and neurosurgery system combination and can realize in operation process the track and localization to operating theater instruments.
Although the present invention is described with reference to current better embodiment; but skilled persons will appreciate that; above-mentioned better embodiment is only used for explaining and technical scheme being described; and be not used for limiting protection scope of the present invention; any within the spirit and principles in the present invention scope; any modification of being done, equivalence replacement, deformation, improvement etc., should be included within the claims of the present invention.
Claims (5)
1. a joint positioning identification system, it is characterized in that, including: information process unit, image acquisition units, robot control unit and axle control unit, wherein, image acquisition units and robot control unit carry out data interaction with information process unit by wireless network respectively; Robot control unit is then connected by CAN communication with axle control unit;
Image acquisition units, for gathering the fracture digital information of patient;
Information process unit, for receiving the fracture digital information that image acquisition units sends, analyzes patients with fractures and locates correct distracted position information;
Robot control unit, for according to correct distracted position information, to axle control unit sending action command information;
Axle control unit realizes the control to drive motor.
2. joint as claimed in claim 1 positioning identification system, it is characterised in that described image acquisition units includes image acquisition unit and image conversion unit, and image acquisition unit is used for obtaining patients with fractures's image; Image conversion unit is used for receiving patients with fractures and locates image, converts the image to the digital information comprising pixel.
3. joint as claimed in claim 1 positioning identification system, it is characterised in that described information process unit includes a digital information and receives unit, expert info memory element and information comparing unit;
Digital information receives unit and receives the digital information comprising pixel that described image acquisition units sends; Information comparing unit obtains this digital information and the expert info being pre-stored in expert info memory element simultaneously, two information is compared, obtains the correct distracted position information in joint.
4. joint as claimed in claim 1 positioning identification system, it is characterised in that also including a VPU, this VPU is connected by ethernet communication with information process unit.
5. joint as claimed in claim 4 positioning identification system, it is characterized in that, patients with fractures's information that described VPU just obtains in real time in trimming process, and extract the characteristic information of current patents's joint, this characteristic information is sent back information process unit, this characteristic information is compared by information process unit with correct distracted position information before, again plans distracted position information according to comparative result.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410637325.0A CN105643640A (en) | 2014-11-12 | 2014-11-12 | Joint positioning and identifying system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410637325.0A CN105643640A (en) | 2014-11-12 | 2014-11-12 | Joint positioning and identifying system |
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| CN105643640A true CN105643640A (en) | 2016-06-08 |
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| CN201410637325.0A Pending CN105643640A (en) | 2014-11-12 | 2014-11-12 | Joint positioning and identifying system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019011157A1 (en) * | 2017-07-11 | 2019-01-17 | 中慧医学成像有限公司 | Method for adjusting orthosis |
| CN114041962A (en) * | 2021-11-05 | 2022-02-15 | 上海指景堂中医诊所有限公司 | Bone setting method of full-automatic bone setting device |
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| CN101870107A (en) * | 2010-06-26 | 2010-10-27 | 上海交通大学 | Control system of auxiliary robot of orthopedic surgery |
| CN103750888A (en) * | 2014-01-21 | 2014-04-30 | 四川聚能核技术工程有限公司 | Automatic limb fracture reduction method and automatic limb fracture reduction system |
| WO2014077613A1 (en) * | 2012-11-16 | 2014-05-22 | 경북대학교 산학협력단 | Robot for repositioning procedure, and method for controlling operation thereof |
| CN104055563A (en) * | 2014-06-13 | 2014-09-24 | 朱红文 | Robot and intelligent repositing system |
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2014
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO1995034241A1 (en) * | 1994-06-10 | 1995-12-21 | Zhongnan Zhang | Orthopedic robot for reduction of long-bone fractures |
| CN101870107A (en) * | 2010-06-26 | 2010-10-27 | 上海交通大学 | Control system of auxiliary robot of orthopedic surgery |
| WO2014077613A1 (en) * | 2012-11-16 | 2014-05-22 | 경북대학교 산학협력단 | Robot for repositioning procedure, and method for controlling operation thereof |
| CN103750888A (en) * | 2014-01-21 | 2014-04-30 | 四川聚能核技术工程有限公司 | Automatic limb fracture reduction method and automatic limb fracture reduction system |
| CN104055563A (en) * | 2014-06-13 | 2014-09-24 | 朱红文 | Robot and intelligent repositing system |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019011157A1 (en) * | 2017-07-11 | 2019-01-17 | 中慧医学成像有限公司 | Method for adjusting orthosis |
| 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 |
| JP2020530320A (en) * | 2017-07-11 | 2020-10-22 | 中慧医学成像有限公司 | How to adjust orthoses |
| CN114041962A (en) * | 2021-11-05 | 2022-02-15 | 上海指景堂中医诊所有限公司 | Bone setting method of full-automatic bone setting device |
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