CN106859750A - A kind of parallel connection type exter-nal fixer and its application process - Google Patents

Abstract

A kind of parallel connection type exter-nal fixer of the present invention and its application process, are related to treat the device or method of bone, the exter-nal fixer, including frame part and sub computers software section, and wherein frame part is constituted by with reference to ring, shift(ing) ring and six roots of sensation drive rod；The step of its application process is：Parallel connection type exter-nal fixer is installed；Shooting standard normotopia X-ray film and true lateral position X-ray film；Set up the local coordinate system of parallel connection type exter-nal fixer and the global coordinate system of parallel connection type exter-nal fixer；Measurement obtains lopsided parameter and installation parameter；The bar for trying to achieve parallel connection type exter-nal fixer six roots of sensation drive rod is long；Realize that fracture precisely resets by the given treatment number of days of doctor.Epiphysis could be obtained in the presence of needing repeatedly to reset repeatedly well to align, can cause the defect of the risk to soft tissue and neural blood vessel secondary damage instant invention overcomes prior art.

Description

A kind of parallel connection type exter-nal fixer and its application process

Technical field

Technical scheme is related to treat the device or method of bone, specifically a kind of parallel connection type exter-nal fixer And its application process.

Background technology

In trauma fracture, fracture closed reduction has very big challenge to Orthopeadic Surgery doctor, even knowing a thing or two Surgeon also be difficult to make patient reach complete closed reduction, therefore, fixed outside bone in the treatment of fracture closed reduction Device is researched and developed.

In the prior art, exter-nal fixer has Taylor space exterior fixing rack, and it is by two loopfuls or part ring, application The telescopic support bar of the six roots of sensation assembles.During its work, the change long of single support bar bar can all make a platform relatively another One platform produces displacement in three-dimensional planar, is that this platform must all pass through relative to the pose change of another platform Computer guiding, so as to the treatment of clinically various displacement fractures, nonunion and malunion could be completed.At present, in Europe Man of the U.S., Taylor space exterior fixing rack is applied in the correction of limbs fracture, particularly cacomelia more and more.So And, in actual clinical work, due to the dissection and physiological characteristic of limbs, the actual complex feature state of wound and fracture, should With in existing Taylor space exterior fixing rack therapeutic process, it may be necessary to which repetitious reset could obtain good right of epiphysis Position, and there is the risk caused to soft tissue and neural blood vessel secondary damage.

The content of the invention

The technical problems to be solved by the invention are：A kind of parallel connection type exter-nal fixer and its application process are provided, this is simultaneously Connection type exter-nal fixer, is designed as bi-coordinate system, can be by any point deformity in six lopsided parameter positioning frameworks, can accurate definition Mobile epiphysis deformity is actually being faced relative to whole attributes of reference system so as to overcome existing Taylor space exterior fixing rack In bed work, there is the actual complex feature state due to the dissection of limbs and physiological characteristic and wound and fracture, it is necessary to repeatedly Reset repeatedly could obtain the good contraposition of epiphysis, can cause lacking to the risk of soft tissue and neural blood vessel secondary damage Fall into.

The present invention solves the technical scheme that is used of the technical problem：A kind of parallel connection type exter-nal fixer, including framework Part and sub computers software section, wherein frame part constitutes by with reference to ring, shift(ing) ring and six roots of sensation drive rod, with reference to ring with Connected by gimbal suspension device and six roots of sensation drive rod between shift(ing) ring, the six roots of sensation drive rod and townhouse of connection shift(ing) ring and reference ring Row, every drive rod is telescopic, and it is by gimbal suspension device, expansion link, snap ring, adjusting nut and sleeve pipe with graduated scale Composition；The running environment of sub computers software section is windows, needs Internet Explorer 9.0 and with adjustment of the printing plate This, the sub computers software concrete operations flow is：Network address is input into IE browser, into Network Computing Platform, first The lopsided parameter of beginning interface Imported cases information and doctor measuring, framework parameter, initial six roots of sensation drive rod bar are long and treat number of days, Click on " start calculate " button, you can the final bar for obtaining six roots of sensation drive rod after the reduction of the fracture is long, and generates electrical adjustment prescription.

A kind of above-mentioned parallel connection type exter-nal fixer, gimbal suspension device, expansion link, snap ring, regulation spiral shell in the drive rod The connected mode of female and with graduated scale sleeve pipe is：The lower end of gimbal suspension device is fixed on the upper end of expansion link, and expansion link is certainly It is embedded into the elongate recesses of the sleeve pipe with graduated scale through the lower end of the inside of adjusting nut and expansion link under above, stretches Bar is locked with the sleeve pipe for carrying graduated scale by snap ring, the upper end of adjusting nut be nested in snap ring inside constitute therewith one it is whole Body, the upper end for having an annular groove, the sleeve pipe with graduated scale in the interior lower end of adjusting nut sticks into the ring of adjusting nut In connected in star, adjusting nut can be rotated freely, and the regulation of length of telescopic bar is carried out by rotating adjusting nut drive snap ring, be led to Overregulating nut can realize rotating freely for six roots of sensation drive rod, stretch, and the motion of six degree of freedom be carried out, in adjusting nut subscript There is an anticlockwise arrow, rotate counterclockwise adjusting nut, the increase long of drive rod bar, turn clockwise adjusting nut, drives Bar bar reduction long, the lower end of the two ends of drive rod respectively with gimbal suspension device is fixed, and the upper end of gimbal suspension device passes through hexagonal Nut is connected with reference to ring and shift(ing) ring respectively..

A kind of above-mentioned parallel connection type exter-nal fixer, the internal diameter with reference to ring is divided into eight kinds：90mm、110mm、130mm、 150mm, 170mm, 190mm, 210mm and 230mm；The internal diameter of the shift(ing) ring is corresponding to the internal diameter with reference to ring to be also classified into eight kinds： 90mm, 110mm, 130mm, 150mm, 170mm, 190mm, 210mm and 230mm.

A kind of above-mentioned parallel connection type exter-nal fixer, the drive rod is standard drive rod, and its bar is long to be divided into five kinds：60~ 75mm, 75~96mm, 90~125mm, 116~178mm and 169~283mm, its precision are accurate to 1mm.

A kind of above-mentioned parallel connection type exter-nal fixer, the length of the gimbal suspension device is 13 centimetres, and length is unadjustable.

Above-mentioned a kind of parallel connection type exter-nal fixer, the component parts and sub computers software in described frame part is equal Obtained by known approach.

A kind of application process of above-mentioned parallel connection type exter-nal fixer, comprises the following steps that：

The first step, the fracture patient to that need to perform the operation installs parallel connection type exter-nal fixer：

(1.1) the build selection first according to fracture patient is with reference to ring and shift(ing) ring, the reference ring installed according to selection and Shift(ing) ring determines respective rods drive rod long；

(1.2) bone section defect model is designed, fracture segment is divided into reference to bone section and mobile bone section in bone section defect model, It is that then the other end is mobile bone section, with reference to bone section with reference to bone section that i.e. doctor chooses fracture with reference to the near-end of breaking part or distal end Selection will meet two standards：The anatomical level of the bone section will be conducive to the positive side position X-ray film of shooting standard；X-ray film must be able to Including complete reference bone section and reference ring；Then the fixed and selected reference ring of installation, is allowed to and with reference to bone section backbone's longitudinal axis Vertically, the fixed and selected shift(ing) ring of installation makes two entirety, and install selected six roots of sensation driving in mobile bone section Bar, can drive mobile bone section and with reference to the relative motion between bone section, so as to reach by the position and attitude that adjust shift(ing) ring The reduction of the fracture；

(1.3) by Kirschner wire fixation and install with reference to ring with reference to bone section backbone's axis oriented normal, it is ensured that it is steady with reference to ring Calmly, the four rib columns in 3 holes and are placed immediately ahead of with reference to ring L-shaped as attribute block, this attribute block should be with reference bone section Axis is consistent, using Kirschner wire fixation and installation shift(ing) ring in mobile bone section in patient's the most comfortable and most beneficial for avoidance soft tissue Position, and by the attribute block with reference to ring be defined placement each drive rod, attribute block right side be No. 1 drive rod, counterclockwise successively It is seated to No. 6 drive rods；

So far the bone section of the fracture patient to that need to perform the operation installs parallel connection type exter-nal fixer；

Second step, standard normotopia X-ray film and mark are shot to installing the bone section of fracture patient of parallel connection type exter-nal fixer Quasi- side position X-ray film：

To the standard normotopia X-ray film captured by the bone section of the fracture patient for installing parallel connection type exter-nal fixer and standard side Position X-ray film is according to the dissection position side position X-ray film for dissecting position normotopia X-ray film and standard for dissecting the standard that position shoots, in the bone On standard normotopia X-ray film and true lateral position X-ray film captured by section, it is ensured that with reference to forward lapping in straight line for ring, and must Complete reference bone section and reference ring must be included；

3rd step, sets up the local coordinate system of parallel connection type exter-nal fixer and the world coordinates of parallel connection type exter-nal fixer System：

The local coordinate system of set up parallel connection type exter-nal fixer be included in parallel connection type exter-nal fixer with reference to being built on ring Vertical silent flatform coordinate system { P } and the moving platform coordinate system { B } set up on the shift(ing) ring of parallel connection type exter-nal fixer, two coordinates System meets the right-hand rule, and the starting point with reference to bone section sets up the global coordinate system of parallel connection type exter-nal fixer as origin { O }, further demarcates position of six tie points on silent flatform coordinate system { P } on the reference ring of parallel connection type exter-nal fixer and sits Marking vector is^Pp_iWith position coordinates of six tie points on moving platform coordinate system { B } on the shift(ing) ring of parallel connection type exter-nal fixer Vector is^Bb_i；

4th step, measurement obtains lopsided parameter and installation parameter, and it is by human dissection position to be converted by sign function Corresponding medical terminology：

Chosen on the standard normotopia X-ray film and true lateral position X-ray film shot in above-mentioned second step with reference to bone section axis and shifting The intersection point of dynamic bone section axis, i.e. CORA points are starting point, and starting point is located in reference bone section, and corresponding points are located at mobile bone section On, starting point is consistent with the anatomic status that the selection of corresponding points is with epiphysis resets, to be coordinate with reference to the starting point in bone section Origin, sets up global coordinate system { O }, and it meets the right-hand rule, and the axis of bone direction of reference bone section is Z axis, in standard normotopia X-ray film On, XZ coordinate systems are set up, X-axis level is to the right positive direction；On true lateral position X-ray film, YZ coordinate systems are set up, Y-axis is level Direction, it is anterior and then abnormal with clinical measurement by standard normotopia X-ray film and the measurement of true lateral position X-ray film that its positive direction points to limbs The method and human dissection position medical terminology of shape parameter and installation parameter are as follows：

Lopsided parameter include being measured by standard normotopia X-ray film and true lateral position X-ray film and clinical three displacements for measuring and Three angulations：

The positive Bit Shift of inner or outer side：Measured on standard normotopia X-ray film, along X-direction from starting point to corresponding points Distance；

Turn up or varus normotopia angle：Measured on standard normotopia X-ray film, the angle of two bone section axis；

The side bit shift at anterior or rear portion：Measured on true lateral position X-ray film, along Y direction from starting point to corresponding points Distance；

The side parallactic angle degree of flexing or anti-sheet：Measured on the X-ray film piece of side position, the angle of two bone section axis；

Cripetura or separation it is axially displaced：Measured on normotopia X-ray film or true lateral position X-ray film, from starting point to correspondence Put along the distance of Z-direction；

Outward turning or the axial angle of inward turning：Clinical measurement is with reference to the rotation angle in bone section and mobile bone section sagittal plane.

Framework parameter includes being measured by standard normotopia X-ray film and true lateral position X-ray film and clinical 3 skews and 1 for measuring Individual angulation：

The reference ring center normotopia skew of inner or outer side：On standard normotopia X-ray film measure, with reference to ring center relative to rise The skew of initial point；

The reference ring central side position skew at anterior or rear portion：On true lateral position X-ray film measure, with reference to ring center relative to rise The skew of initial point；

With reference to the central axial skew of ring：Measured on measurement or true lateral position X-ray film on standard normotopia X-ray film, from reference to ring Edge to the axial distance between starting point；

Outward turning or the reference ring anglec of rotation of inward turning：The sagittal plane of clinical measurement reference ring is relative to reference to bone section sagittal plane The anglec of rotation；

5th step, the bar for trying to achieve the six roots of sensation drive rod of parallel connection type exter-nal fixer is long：

Lopsided parameter, framework parameter and the initial six roots of sensation drive rod bar obtained according to the 4th pacing are long, by three-dimensional space anaplasia Relation is changed, two local coordinate systems of parallel connection type exter-nal fixer is fitted to the global coordinate system of parallel connection type exter-nal fixer, And when obtaining the reduction of the fracture shift(ing) ring final pose, the six roots of sensation of parallel connection type exter-nal fixer that anti-solution obtains finally determining drives The bar of bar is long；

6th step, by the given treatment number of days of doctor, the program of the sub computers software of parallel connection type exter-nal fixer will be every Root drive rod needs the length of regulation to be evenly distributed to every day, generates electrical adjustment prescription, and patient is according to each daily in prescription The regulation scale of drive rod is adjusted, so as to realize fracturing precisely reset.

A kind of application process of above-mentioned parallel connection type exter-nal fixer, the selection with reference to bone section, preferably with permanent mark Adjacent shorter epiphysis, the permanent marker includes：Kneecap provides mark for DF and proximal tibia, and foot is remote for shin bone End, ankle-joint and subtalar joint provide mark.

A kind of application process of above-mentioned parallel connection type exter-nal fixer, the further ginseng for demarcating parallel connection type exter-nal fixer It is according to position coordinates vector of six tie points on silent flatform coordinate system { P } on ring^Pp_iWith the movement of parallel connection type exter-nal fixer Position coordinates vector of six tie points on moving platform coordinate system { B } is on ring^Bb_iSpecific method it is as follows：

It is with reference to ring center O with silent flatform coordinate system { P } origin_P, six roots of sensation drive rod with reference to ring each tie point inverse time Pin is sequentially P₁,P₂,P₃,P₄,P₅,P₆, reference axis Z_PPerpendicular to reference to ring, X_pAxle is perpendicular to P₁、P₂Line, and it is square To sensing P₁、P₂Line, P₁And P₂、P₃And P₄、P₅And P₆Between angle be θ_p, P₁And P₃、P₃And P₅Between angle be 120 °, Remaining each tie point is symmetrical, and wherein moving platform coordinate system { B } origin is shift(ing) ring center O_b, six roots of sensation drive rod and shift(ing) ring Each tie point counterclockwise sequentially be B₁,B₂,B₃,B₄,B₅,B₆, reference axis Z_bPerpendicular to shift(ing) ring, X_bAxle is perpendicular to B₁、B₂Even Line, and its positive direction points to B₁、B₂Line, B₁And B₆、B₂And B₃、B₄And B₅Between angle be defined as θ_b, B₁And B₃、B₃And B₅It Between angle all be 120 °, remaining each tie point is symmetrical, connect P₁And B₁Drive rod be No. 1 drive rod, counterclockwise sequentially extremely No. 6 drive rods, are respectively with reference to the position coordinates vector of each tie point on ring and shift(ing) ring：

^Pp_i=[r_pcos(λ_i) r_psin(λ_i) 0 1]^T(1),

^Bb_i=[r_bcos(Λ_i) r_bsin(Λ_i) 0 1]^T(2),

Wherein, i=1,2 ..., 6, r_pAnd r_bRespectively with reference to ring and the radius of shift(ing) ring circumscribed circle；

P_iAnd X_pThe angle of axle is λ_i, B_iAnd X_bThe angle of axle is Λ_i, i=1,2 ..., 6；

A kind of application process of above-mentioned parallel connection type exter-nal fixer, lopsided parameter, the framework obtained according to the 4th pacing Parameter and initial six roots of sensation drive rod bar are long, by three dimensions transformation relation, by two of parallel connection type exter-nal fixer local seats Mark system is fitted to the global coordinate system of parallel connection type exter-nal fixer, and when obtaining the reduction of the fracture shift(ing) ring final pose, anti-solution The bar for obtaining the six roots of sensation drive rod of the final parallel connection type exter-nal fixer for determining is long, and it is comprised the following steps that：

(1) three dimensions spin matrix is introduced, mobile bone section is set up and with reference to the attitude angle transformation relation between bone section：

If mobile bone section axis is α along the angle that X-axis is rotated₁, it is β along the angle that Y-axis is rotated₁, along the angle that Z axis are rotated It is γ₁, then shift(ing) ring relative to reference to around each axle rotate transformation matrix of coordinates be：

Wherein, c α₁=cos α₁, s α₁=sin α₁, c β₁=cos β₁, s β₁=sin β₁, c γ₁=cos γ₁, s γ₁=sin γ₁.Therefore, mobile bone section is relative to the homogeneous coordinate transformation matrix with reference to bone section：

Again according to shift transformation：Corresponding points in mobile bone section are x along the displacement of X-axis₁, it is y along the displacement of Y-axis₁, It is z along the displacement of Z axis₁, then space displacement transformation matrix be：

Therefore, obtain moving bone section and be relative to the pose spin matrix with reference to bone section：

(2) two local coordinate systems of parallel connection type exter-nal fixer are fitted to the world coordinates of parallel connection type exter-nal fixer System, and when obtaining the reduction of the fracture shift(ing) ring final pose：

The bar of known six roots of sensation drive rod is long, and the position and attitude angle of shift(ing) ring can be tried to achieve by normal solution, is below parallel connection type Exter-nal fixer direct position analysis process：

The bar long vector of the pose and six roots of sensation drive rod that define parallel connection type exter-nal fixer shift(ing) ring is respectively：

X=[x y z α β γ]^T(9),

L=[l₁ l₂ l₃ l₄ l₅ l₆]^T(10),

Wherein, [x y z]^TIt is the position vector of shift(ing) ring, [α β γ]^TIt is shift(ing) ring position vector, l₁、l₂、l₃、l₄、 l₅、l₆The bar of respectively 1-No. 6 drive rods is long；

Can be considered as solution nonlinear equation for the Solve problems of the parallel connection type initial pose of exter-nal fixer shift(ing) ring to ask Inscribe, the pose equation group of parallel connection type exter-nal fixer is：

F (X, L)=0 (11),

F (X, L)=(F₁(X,l₁)),F₂(X,l₂)),...F₆(X,l₆))^T(12),

I.e. known initial value (X₀,L₀), ask as a length of L of bar_nWhen, meet the moving platform pose X' under F required precisions；

By the pose equation of shift(ing) ring to parameter L derivations, Initial Value Problems of Differential Equations is obtained：

I.e.

If bar is long by L₀Even variation is to L_n, motion process is expressed as：

L_N=L₀+t(L_n-L₀) t=0,1,2...n (15),

T in formula (15) is step-length,

From initial value (X₀,L₀) start, to t with increment Delta t, approximate point (X is estimated out with Euler method₁,L'_N), i.e. shift(ing) ring One approximate pose X₁：

In formula (16)Actual is the inverse matrix of Jacobian matrix：

In formula (17)

It is i.e. final iterative to be：

X₁=X₀+J^-1(L_n-L₀) Δ t (19),

More accurately shift(ing) ring pose is now tried to achieve by Newton iteration, wherein F represents actual six roots of sensation drive rod with theory The difference of upper six roots of sensation drive rod, the X values as F=0 are shift(ing) ring pose now corresponding to six roots of sensation drive rod, by formula (19) Carry out after iteration for several times, just can obtain Accurate Points (X ', L '_N),

The termination distinguishing rule of Newton iteration can be taken as

||F(X',L'_N) | | ＜ ε (20),

ε in formula (20) is a real number for very little, and its control accuracy is 10^-4, iterative initial value X₀For：

X₀=[x₂ y₂ z₂ -13-(l₁+l₂+l₃+l₄+l₅+l₆)/6 00 0] (21),

In formula, x₂、y₂、z₂Respectively with reference to ring central point along X, Y, Z axis side-play amount.

Formula (20) is converted into least square problem and is:

Now, the corresponding X'=[x of the minimum value of formula (22)₃ y₃ z₃ α₃ β₃ γ₃]^TThe as final pose of shift(ing) ring；

(3) bar for trying to achieve the six roots of sensation drive rod of parallel connection type exter-nal fixer is long：

The position and attitude angle of known shift(ing) ring, the bar that can try to achieve six roots of sensation drive rod by anti-solution is long, is below parallel connection type The anti-solution preocess of exter-nal fixer pose：

Two parts of parallel connection type exter-nal fixer are sat using the three dimensions conversion process same with above-mentioned steps (1) Mark system is fitted to the global coordinate system of parallel connection type exter-nal fixer, that is, be transformed into reference to bone section coordinate system, finally gives parallel connection type The final pose of shift(ing) ring is under the global coordinate system { O } of exter-nal fixer：^ob_i, with reference to ring in the complete of parallel connection type exter-nal fixer Final pose under office's coordinate system { O } is that initial pose is：^op_i.The final bar of six roots of sensation drive rod vector long is tried to achieve by anti-solution For：

^ol_i=^op_i-^ob_i(24),

The bar for trying to achieve the six roots of sensation drive rod of parallel connection type exter-nal fixer is a length of：

S_i=|^ol_i| (25),

Wherein, i=1,2 ... ... 6.

The beneficial effects of the invention are as follows：Compared with prior art, the present invention has the substantive distinguishing features of protrusion and significantly Progress is as follows：

(1) parallel connection type exter-nal fixer of the invention, is designed as bi-coordinate system, can be by six lopsided parameter positioning frameworks Any point deformity, can accurate definition movement epiphysis deformity relative to reference system whole attributes, and the regulation of its framework is Substantial amounts of math matrix computing is carried out by supporting computer software to complete, this has been broken away from traditional sense in single seat The reduction of the fracture is carried out in mark system, the limitation of doctor's clinical experience is relied on, by the fortune in Ilizarov principles in two dimensional surface The dynamic arbitrary motion expanded in three dimensions, two local coordinate systems are defined according to reference to ring and shift(ing) ring respectively, with reference to bone The coordinate system of section is global coordinate system, at the end of the mobile bone section of shift(ing) ring drive carries out reseting movement, the course for the treatment of, two parts is sat Mark system is fitted in global coordinate system, so as to complete the accurate reset of fracture, Adjustment precision is high, empty so as to overcome existing Taylor Between exterior fixing rack in actual clinical work, because the actual complex of the dissection and physiological characteristic of limbs, wound and fracture is special Dotted state, it may be necessary to which repetitious reset could obtain the good contraposition of epiphysis, and presence is caused to soft tissue and god The defect of the risk of intravascular secondary damage.

(2) parallel connection type exter-nal fixer of the invention is combined with computer technology, compared with existing exter-nal fixer Compared with, can substantially reduce adjustment frame structure and second operation number of times.Existing Ilizarov exter-nal fixers, were treating Often occur in journey because the factor such as the movement of joint shaft position or adjustable range expansion need to dismount framework, carry out substep adjustment, very The dismounting adjustment of exter-nal fixer framework must could be extremely carried out under surgery anesthesia.And parallel connection type exter-nal fixer of the invention Prescription and regulation completion fractures can be by several times calculated by computer, without adjusting frame structure.

(3) due to the Frame Design that parallel connection type exter-nal fixer of the invention is outstanding, operation number of times is reduced, alleviates trouble Person's operation is painful, shorten bone healing time, while reducing patient economy burden, improves the operating efficiency of doctor.

(4) there is good controllability in the application process of parallel connection type exter-nal fixer of the invention, in therapeutic process, doctor Life is inspected periodically by way of repeatedly shooting X-ray film to patients with fractures's reset region, to understand patients with fractures's reset feelings Condition, thus survey calculation adjusts prescription, and is mutually checked with early stage prescription, it may be appreciated that patients with fractures's reset degree whether there is excessive risk And process in time, by analyzing risk structure, the actual conditions according to patient carry out the adjustment of the reduction of the fracture to doctor by several times, every time Desired treatment number of days is given, so as to obtain preferable reduction of the fracture drafting rate, there is good controllability to risk structure.

Brief description of the drawings

The present invention is further described with reference to the accompanying drawings and examples.

Fig. 1 is a kind of Mathematical Modeling schematic diagram of the frame part of parallel connection type exter-nal fixer of the invention.

Fig. 2 is a kind of drive rod structural representation of parallel connection type exter-nal fixer of the invention.

Fig. 3 a are the schematic diagram of the reference ring tie point angle definition in a kind of parallel connection type exter-nal fixer of the invention.

Fig. 3 b are the schematic diagram of the shift(ing) ring tie point angle definition in a kind of parallel connection type exter-nal fixer of the invention.

Fig. 4 is the bone section defect model schematic diagram in a kind of application process of parallel connection type exter-nal fixer of the invention.

Fig. 5 a are the deformity on the standard normotopia X-ray film image in a kind of parallel connection type exter-nal fixer application process of the invention Parameter schematic diagram.

Fig. 5 b are the deformity on the true lateral position X-ray film image in a kind of parallel connection type exter-nal fixer application process of the invention Parameter schematic diagram.

Fig. 5 c are that the lopsided parameter of the axis location image angulation in a kind of parallel connection type exter-nal fixer application process of the invention is illustrated Figure.

Fig. 6 a are the framework on the standard normotopia X-ray film image in a kind of parallel connection type exter-nal fixer application process of the invention Parameter schematic diagram.

Fig. 6 b are the framework on the true lateral position X-ray film image in a kind of parallel connection type exter-nal fixer application process of the invention Parameter schematic diagram.

Fig. 6 c are the framework of the axis location image angulation in a kind of parallel connection type exter-nal fixer application process of the invention into angular dimensions Schematic diagram.

Fig. 7 be a kind of parallel connection type exter-nal fixer of the invention application process in sub computers software flow pattern.

In figure, 1-1. is with reference to ring, 1-2. shift(ing) rings, 1-3. drive rods, 2-1. gimbal suspensions device, 2-2. expansion links, 2-3. Snap ring, 2-4. adjusting nuts, 2-5. sleeve pipes, 4-1. with reference to bone section, 4-2. movement bone section, 4-3. starting points, 4-4. corresponding points, The positive Bit Shifts of 5a-1., 5a-2. normotopias angle, 5-3 axial displacements, 5b-1. sides Bit Shift, 5b-1. sides parallactic angles degree, 5-3. axial directions Displacement, 5c-1. axial angles, 6a-1. are with reference to the skew of ring center normotopia, 6b-1. with reference to the skew of ring central side position, 6-2. with reference to ring Central axial skew, 6c-1. are with reference to the ring anglec of rotation, the rib columns of 6c-2. tetra-.

Specific embodiment

Embodiment illustrated in fig. 1 shows that a kind of frame part of parallel connection type exter-nal fixer of the invention is by with reference to ring 1-1, shifting Rotating ring 1-3 and the telescopic drive rod 1-2 of the six roots of sensation are constituted.Hexagon is with reference to the Mathematical Modeling of ring 1-1 and shift(ing) ring 1-3, Each tie point of reference ring 1-1 and six roots of sensation drive rod 1-2 is sequentially counterclockwise P₁,P₂,P₃,P₄,P₅,P₆, shift(ing) ring 1-3 and the six roots of sensation Each tie point of drive rod 1-2 is sequentially counterclockwise B₁,B₂,B₃,B₄,B₅,B₆。

Embodiment illustrated in fig. 2 shows, a kind of drive rod 1-2 structural representations of parallel connection type exter-nal fixer of the invention, six Root drive rod 1-2 is by gimbal suspension device 2-1, expansion link 2-2, snap ring 2-3, adjusting nut 2-4 and sleeve pipe with graduated scale 2-5 is constituted.The lower end of gimbal suspension device 2-1 is fixed on the upper end of expansion link 2-2, and expansion link 2-2 is from top to bottom through regulation spiral shell The inside of the female 2-4 and lower end of expansion link 2-2 is embedded into the elongate recesses of the sleeve pipe 2-5 with graduated scale, expansion link 2-2 leads to Cross snap ring 2-3 locked with sleeve pipe 2-5, the inside that the upper end of adjusting nut 2-4 is nested in snap ring 2-3 constitutes an entirety therewith, There is an annular groove in the interior lower end of adjusting nut 2-4, the upper end of sleeve pipe 2-5 sticks into the annular groove of adjusting nut 2-4 Interior, adjusting nut 2-4 can be rotated freely, and expansion link 2-2 length is carried out by rotating adjusting nut 2-4 drives snap ring 2-3 Regulation.

Fig. 3 (a) shows the schematic diagram of the reference ring tie point angle definition in a kind of parallel connection type exter-nal fixer of the invention, Silent flatform right-handed coordinate system { P }, X are set up on reference to ring 1-1 planes_pAxle is perpendicular to P₁、P₂Line, and its positive direction refers to To P₁、P₂Line.P₁And P₂、P₃And P₄、P₅And P₆Between angle be θ_p, P₁And P₃、P₃And P₅Between angle be 120 °, respectively connect Contact is symmetrical.With reference to ring circumradius r_pRepresent.Fig. 3 (b) is shown in a kind of parallel connection type exter-nal fixer of the invention Shift(ing) ring tie point angle definition schematic diagram, moving platform right-handed coordinate system { B }, X are set up in shift(ing) ring 1-3 planes_bAxle Perpendicular to B₁、B₂Line, and its positive direction points to B₁、B₂Line.B₁And B₆、B₂And B₃、B₄And B₅, between angle be defined as θ_b, B₁And B₃、B₃And B₅Between angle all be 120 °, each tie point is symmetrical.Shift(ing) ring circumradius r_bRepresent.

Fig. 4 is displayed in the bone section defect model in a kind of parallel connection type exter-nal fixer application process of the invention, and the model will Fracture segment is divided into reference to bone section 4-1 and mobile bone section 4-2, and doctor chooses starting point 4-3 and is located at reference on bone section 4-1, with epiphysis The consistent corresponding points 4-4 of reset anatomic status is located on mobile bone section 4-2.

Fig. 5 (a) is shown on the standard normotopia X-ray film image in a kind of parallel connection type exter-nal fixer application process of the invention Lopsided parameter, is drawn by diagram, and on standard normotopia X-ray film, the horizontal range between measurement starting point 4-3 and corresponding points 4-4 is Normotopia shifts 5a-1；It is normotopia angle 5a-2 with reference to bone section 4-1 and the angle for moving the bone section axis of bone section 4-2 two.From standard just Axial distance on the X-ray film of position along between the axis of bone center line survey starting point 4-3 to corresponding points 4-4 with reference to bone section 4-1 can be obtained To axial displacement 5-3.(do not shown in this figure with reference to bone section 4-1, mobile bone section 4-2, starting point 4-3 and corresponding points 4-4, can joined According to Fig. 4.)

Fig. 5 (b) is shown on the true lateral position X-ray film image in a kind of parallel connection type exter-nal fixer application process of the invention Lopsided parameter schematic diagram, is drawn by diagram, on true lateral position X-ray film, the level between measurement starting point 4-3 and corresponding points 4-4 Distance is side bit shift 5b-1；It is side parallactic angle degree 5b-2 with reference to the angle of bone section 4-1 and the mobile bone section axis of bone section 4-2 two.From Axial distance on true lateral position X-ray film along between the axis of bone center line survey starting point 4-3 to corresponding points 4-4 with reference to bone section 4-1 Axial displacement 5-3 can also be obtained.(do not shown in this figure with reference to bone section 4-1, mobile bone section 4-2, starting point 4-3 and corresponding points 4-4, can refer to Fig. 4.)

Fig. 5 (c) shows the lopsided parameter of the axis location image angulation in a kind of parallel connection type exter-nal fixer application process of the invention Schematic diagram, the rotation angle on doctor's clinical examination reference bone section 4-1 and mobile bone section 4-2 sagittal planes, so that it is determined that axial angle Degree 5c-1.(do not shown in this figure with reference to bone section 4-1 and mobile bone section 4-2, can refer to Fig. 4.)

Fig. 6 (a) is shown on the standard normotopia X-ray film image in a kind of parallel connection type exter-nal fixer application process of the invention Framework parameter, is drawn by diagram, and on standard normotopia X-ray film, measurement is from starting point 4-3 to the level with reference to ring 1-1 center lines Distance is with reference to ring center normotopia skew 6a-1.Measured from standard normotopia X-ray film from starting point 4-3 to reference to ring 1-1 centers And be can obtain with reference to the central axial skew 6-2 of ring parallel to the distance with reference to ring longitudinal center line.(do not shown in this figure with reference to ring 1-1 and starting point 4-3 and corresponding points 4-4, can refer to Fig. 1 and Fig. 4.)

Fig. 6 (b) is shown on the true lateral position X-ray film image in a kind of parallel connection type exter-nal fixer application process of the invention Framework parameter schematic diagram, is drawn by diagram, on true lateral position X-ray film, from measurement starting point 4-3 to reference to ring 1-1 center lines Horizontal range be with reference to ring central side position skew 6b-1.Measured from true lateral position X-ray film from starting point 4-3 to reference to ring 1- 1 center simultaneously can obtain with reference to the central axial skew 6-2 of ring parallel to the distance with reference to ring longitudinal center line.(do not shown in this figure With reference to ring 1-1 and starting point 4-3 and corresponding points 4-4, Fig. 1 and Fig. 4 is can refer to.)

Fig. 6 (c) shows the framework of the axis location image angulation in a kind of parallel connection type exter-nal fixer application of the invention into angular dimensions, I.e. with reference to tie point P on ring 1-1 immediately ahead of with reference to ring 1-1₁And P₂Middle place four rib column 6c-2 as attribute block. Clinically measurement is with reference to ring anglec of rotation 6c- relative to the anglec of rotation with reference to bone section 4-1 sagittal planes with reference to ring 1-1 sagittal planes 1.(do not shown in this figure with reference to ring 1-1 and with reference to bone section 4-1, can refer to Fig. 1 and Fig. 4.)

Embodiment illustrated in fig. 7 shows, sub computers software in a kind of parallel connection type exter-nal fixer application process of the invention Flow is concretely comprised the following steps：S1：Start computer software；The lopsided parameter of input measurement, framework parameter, initial six roots of sensation drive rod Bar is long and treats number of days；S2：Start to calculate, if "No", button then remains in parameter inputting interface；If "Yes" is clicked on and " opened Begin to calculate " button, then into next step；S3：The initial pose of shift(ing) ring is obtained by initial six roots of sensation drive rod bar normal solution long；S4：Will Local coordinate system { P } and { B } are converted by three dimensions and are fitted to global coordinate system { O }；S5：Obtain the final pose of shift(ing) ring； S6：It is counter that to solve six roots of sensation drive rod bar long；S7：Electrical adjustment prescription is generated according to given treatment number of days；S8：Terminate.

Embodiment 1

A kind of parallel connection type exter-nal fixer of the present embodiment includes frame part and sub computers software section.

A kind of frame part of parallel connection type exter-nal fixer is by with reference to ring 1-1, shift(ing) ring 1-3 and six roots of sensation drive rod 1-2 Constitute, connected by gimbal suspension device 2-1 and six roots of sensation drive rod 1-2 with reference between ring 1-1 and shift(ing) ring 1-3, connect shift(ing) ring 1-3 and the six roots of sensation drive rod 1-2 with reference to ring 1-1 are arranged in parallel, the Mathematical Modeling embodiment as shown in Figure 1 of frame part.Reference The internal diameter of ring 1-1 is divided into eight kinds：90mm, 110mm, 130mm, 150mm, 170mm, 190mm, 210mm and 230mm；Shift(ing) ring 1-3 Internal diameter corresponding to the internal diameter with reference to ring 1-1 be also classified into eight kinds：90mm、110mm、130mm、150mm、170mm、190mm、 210mm and 230mm.The structure embodiment as shown in Figure 2 of drive rod 1-2, every drive rod 1-2 is telescopic, and it is by universal Joint device 2-1, expansion link 2-2, snap ring 2-3, adjusting nut 2-4 and the sleeve pipe 2-5 with graduated scale composition, drive rod 1-2 is Standard drive rod, its bar is long to be divided into five kinds：60~75mm, 75~96mm, 90~125mm, 116~178mm and 169~283mm, Its precision is accurate to 1mm, and the length of gimbal suspension device 2-1 is 13 centimetres, and length is unadjustable；It is universal in drive rod 1-2 Joint device 2-1, expansion link 2-2, snap ring 2-3, the connected mode of the adjusting nut 2-4 and sleeve pipe 2-5 with graduated scale are：It is universal The lower end of joint device 2-1 is fixed on the upper end of expansion link 2-2, expansion link 2-2 from top to bottom through the inside of adjusting nut 2-4 and The lower end of expansion link 2-2 is embedded into the elongate recesses of the sleeve pipe 2-5 with graduated scale, and expansion link 2-2 passes through snap ring 2-3 and band There is the sleeve pipe 2-5 of graduated scale locked, the inside that the upper end of adjusting nut 2-4 is nested in snap ring 2-3 constitutes an entirety therewith, The interior lower end of adjusting nut 2-4 has an annular groove, and the upper end of the sleeve pipe 2-5 with graduated scale sticks into adjusting nut 2-4 Annular groove in, adjusting nut 2-4 can be rotated freely, by rotating adjusting nut 2-4 drive snap ring 2-3 carry out expansion link The regulation of 2-2 length, rotating freely for six roots of sensation drive rod 1-2 can be realized by adjusting nut 2-4, stretched, and carry out six freely The motion of degree, anticlockwise arrow, rotate counterclockwise adjusting nut 2-4, drive rod 1-2 are marked with adjusting nut 2-4 Bar increase long, turn clockwise adjusting nut 2-4, the reduction long of drive rod 1-2 bars, the two ends of drive rod 1-2 respectively with universal pass The lower end of section device 2-1 is fixed, the upper end of gimbal suspension device 2-1 by hex nut respectively with reference to ring 1-1 and shift(ing) ring 1-3 It is connected.

A kind of running environment of the sub computers software section of parallel connection type exter-nal fixer is windows, is needed Internet Explorer 9.0 and above version, the sub computers software concrete operations flow is：It is defeated in IE browser Enter network address, into Network Computing Platform, lopsided parameter, framework parameter in initial interface Imported cases information and doctor measuring, Initial six roots of sensation drive rod bar is long and treats number of days, clicks on " starting to calculate " button, you can obtain six roots of sensation drive rod after the reduction of the fracture Final bar it is long, and generate electrical adjustment prescription.Sub computers software flow embodiment as shown in Figure 7 above.

Component parts and sub computers software the approach acquisition known in frame part in above-described embodiment.

Embodiment 2

Referring to Fig. 3, Fig. 4, Fig. 5 and Fig. 6, the present embodiment provides a kind of parallel connection type exter-nal fixer application process, and it is based on A kind of parallel connection type exter-nal fixer of embodiment 1 is realized, comprised the following steps that：

The first step, the fracture patient to that need to perform the operation installs parallel connection type exter-nal fixer：

(1.1) the build selection reference ring 1-1 and shift(ing) ring 1-3 first according to fracture patient, according to the ginseng that selection is installed Determine respective rods drive rod long according to ring 1-1 and shift(ing) ring 1-3；

(1.2) bone section defect model is designed, fracture segment is divided into reference to bone section and mobile bone section in bone section defect model, It is that then the other end is mobile bone section, with reference to bone section with reference to bone section that i.e. doctor chooses fracture with reference to the near-end of breaking part or distal end Selection will meet two standards：The anatomical level of the bone section will be conducive to the positive side position X-ray film of shooting standard；X-ray film must be able to Including complete reference bone section and reference ring 1-1；Then the fixed and selected reference ring 1-1 of installation, is allowed to and with reference to bone section bone Dry axis oriented normal, fixes and installs selected shift(ing) ring 1-3 in mobile bone section, makes two entirety, and install what is selected Six roots of sensation drive rod 1-2, mobile bone section can be driven and with reference to relative between bone section by the position for adjusting shift(ing) ring 1-3 with attitude Motion, so as to reach the reduction of the fracture；The above-mentioned selection with reference to bone section, shorter epiphysis preferably adjacent with permanent mark, this is forever Long property mark includes：Kneecap provides mark for DF and proximal tibia, and foot is carried for distal tibial, ankle-joint and subtalar joint For mark；

(1.3) by Kirschner wire fixation and installation with reference to ring 1-1 and reference bone section backbone's axis oriented normal, it is ensured that reference ring 1- 1 stabilization, and it is L-shaped as attribute block to place the four rib columns in 3 holes immediately ahead of with reference to ring 1-1, this attribute block should be with It is consistent with reference to bone section axis, using Kirschner wire fixation and shift(ing) ring 1-3 is installed in mobile bone section in patient's the most comfortable and most favourable In the position for avoiding soft tissue, and it is defined placement each drive rod 1-2 by the attribute block with reference to ring 1-1, attribute block right side is for No. 1 Drive rod 1-2, is seated to No. 6 drive rod 1-2 successively counterclockwise；

So far the bone section of the fracture patient to that need to perform the operation installs parallel connection type exter-nal fixer；

Second step, standard normotopia X-ray film and mark are shot to installing the bone section of fracture patient of parallel connection type exter-nal fixer Quasi- side position X-ray film：

To the standard normotopia X-ray film captured by the bone section of the fracture patient for installing parallel connection type exter-nal fixer and standard side Position X-ray film is according to the dissection position side position X-ray film for dissecting position normotopia X-ray film and standard for dissecting the standard that position shoots, in the bone On standard normotopia X-ray film and true lateral position X-ray film captured by section, it is ensured that with reference to forward lapping in straight line for ring 1-1, and Must be able to include complete reference bone section and reference ring 1-1；

3rd step, sets up the local coordinate system of parallel connection type exter-nal fixer and the world coordinates of parallel connection type exter-nal fixer System：

The local coordinate system of set up parallel connection type exter-nal fixer is included on the reference ring 1-1 of parallel connection type exter-nal fixer The silent flatform coordinate system { P } of foundation and the moving platform coordinate system { B } set up on the shift(ing) ring 1-3 of parallel connection type exter-nal fixer, Two coordinate system meets the right-hand rule, and the starting point with reference to bone section is set up the global of parallel connection type exter-nal fixer and sat as origin Mark system { O }, further upper six tie points of reference ring 1-1 of demarcation parallel connection type exter-nal fixer are on silent flatform coordinate system { P } Position coordinates vector be^Pp_iSix tie points upper with the shift(ing) ring 1-3 of parallel connection type exter-nal fixer are at moving platform coordinate system { B } On position coordinates vector be^Bb_i；Specific method is as follows：

It is with reference to ring 1-1 center O with silent flatform coordinate system { P } origin_P, six roots of sensation drive rod 1-2 and respectively connecting with reference to ring 1-1 Contact is sequentially counterclockwise P₁,P₂,P₃,P₄,P₅,P₆, reference axis Z_PPerpendicular to reference to ring 1-1, X_pAxle is perpendicular to P₁、P₂Line, And its positive direction points to P₁、P₂Line, P₁And P₂、P₃And P₄、P₅And P₆Between angle be θ_p, P₁And P₃、P₃And P₅Between press from both sides Angle is 120 °, and remaining each tie point is symmetrical, and wherein moving platform coordinate system { B } origin is shift(ing) ring 1-3 center O_b, the six roots of sensation Each tie point of drive rod 1-2 and shift(ing) ring 1-3 is sequentially counterclockwise B₁,B₂,B₃,B₄,B₅,B₆, reference axis Z_bPerpendicular to movement Ring 1-3, X_bAxle is perpendicular to B₁、B₂Line, and its positive direction points to B₁、B₂Line, B₁And B₆、B₂And B₃、B₄And B₅Between angle It is defined as θ_b, B₁And B₃、B₃And B₅Between angle all be 120 °, remaining each tie point is symmetrical, connect P₁And B₁Drive rod 1-2 is No. 1 drive rod 1-2, counterclockwise sequentially to No. 6 drive rod 1-2, with reference to the position of each tie point on ring 1-1 and shift(ing) ring 1-3 Coordinate vector is put to be respectively：

^Pp_i=[r_pcos(λ_i) r_psin(λ_i) 0 1]^T(1),

^Bb_i=[r_bcos(Λ_i) r_bsin(Λ_i) 0 1]^T(2),

Wherein, i=1,2 ..., 6, r_pAnd r_bRespectively with reference to ring 1-1 and the radius of shift(ing) ring 1-3 circumscribed circles；

P_iAnd X_pThe angle of axle is λ_i, B_iAnd X_bThe angle of axle is Λ_i, i=1,2 ..., 6；

4th step, measurement obtains lopsided parameter and installation parameter, and it is by human dissection position to be converted by sign function Corresponding medical terminology：

Chosen on the standard normotopia X-ray film and true lateral position X-ray film shot in above-mentioned second step with reference to bone section axis and shifting The intersection point of dynamic bone section axis, i.e. CORA points are starting point, and starting point is located in reference bone section, and corresponding points are located at mobile bone section On, starting point is consistent with the anatomic status that the selection of corresponding points is with epiphysis resets, to be coordinate with reference to the starting point in bone section Origin, sets up global coordinate system { O }, and it meets the right-hand rule, and the axis of bone direction of reference bone section is Z axis, in standard normotopia X-ray film On, XZ coordinate systems are set up, X-axis level is to the right positive direction；On true lateral position X-ray film, YZ coordinate systems are set up, Y-axis is level Direction, it is anterior and then abnormal with clinical measurement by standard normotopia X-ray film and the measurement of true lateral position X-ray film that its positive direction points to limbs The method and human dissection position medical terminology of shape parameter and installation parameter are as follows：

Lopsided parameter include being measured by standard normotopia X-ray film and true lateral position X-ray film and clinical three displacements for measuring and Three angulations：

The positive Bit Shift of inner or outer side：Measured on standard normotopia X-ray film, along X-direction from starting point to corresponding points Distance；

Turn up or varus normotopia angle：Measured on standard normotopia X-ray film, the angle of two bone section axis；

The side bit shift at anterior or rear portion：Measured on true lateral position X-ray film, along Y direction from starting point to corresponding points Distance；

The side parallactic angle degree of flexing or anti-sheet：Measured on the X-ray film piece of side position, the angle of two bone section axis；

Cripetura or separation it is axially displaced：Measured on normotopia X-ray film or true lateral position X-ray film, from starting point to correspondence Put along the distance of Z-direction；

Outward turning or the axial angle of inward turning：Clinical measurement is with reference to the rotation angle in bone section and mobile bone section sagittal plane.

Framework parameter includes being measured by standard normotopia X-ray film and true lateral position X-ray film and clinical 3 skews and 1 for measuring Individual angulation：

The reference ring 1-1 centers normotopia skew of inner or outer side：Measured on standard normotopia X-ray film, with reference to ring 1-1 centers phase For the skew of starting point；

The reference ring 1-1 central sides position skew at anterior or rear portion：Measured on true lateral position X-ray film, with reference to ring 1-1 centers phase For the skew of starting point；

With reference to the ring central axial skews of 1-1：Measured on measurement or true lateral position X-ray film on standard normotopia X-ray film, from reference The edge of ring 1-1 is to the axial distance between starting point；

Outward turning or the reference ring 1-1 anglecs of rotation of inward turning：The sagittal plane of clinical measurement reference ring 1-1 is relative to reference to bone section The anglec of rotation of sagittal plane；

5th step, the bar for trying to achieve the six roots of sensation drive rod 1-2 of parallel connection type exter-nal fixer is long：

Lopsided parameter, framework parameter and the initial six roots of sensation drive rod 1-2 bars obtained according to the 4th pacing are long, by three dimensions Two local coordinate systems of parallel connection type exter-nal fixer are fitted to the world coordinates of parallel connection type exter-nal fixer by transformation relation System, and when obtaining the reduction of the fracture shift(ing) ring 1-3 final pose, anti-solution obtains the six of parallel connection type exter-nal fixer for finally determining The bar of root drive rod 1-2 is long, and it is comprised the following steps that：

(1) three dimensions spin matrix is introduced, mobile bone section is set up and with reference to the attitude angle transformation relation between bone section：

If mobile bone section axis is α along the angle that X-axis is rotated₁, it is β along the angle that Y-axis is rotated₁, along the angle that Z axis are rotated It is γ₁, then shift(ing) ring 1-3 be around the transformation matrix of coordinates that each axle is rotated relative to reference to ring 1-1：

Wherein, c α₁=cos α₁, s α₁=sin α₁, c β₁=cos β₁, s β₁=sin β₁, c γ₁=cos γ₁, s γ₁=sin γ₁.Therefore, mobile bone section is relative to the homogeneous coordinate transformation matrix with reference to bone section：

Again according to shift transformation：Corresponding points in mobile bone section are x along the displacement of X-axis₁, it is y along the displacement of Y-axis₁, It is z along the displacement of Z axis₁, then space displacement transformation matrix be：

Therefore, obtain moving bone section and be relative to the pose spin matrix with reference to bone section：

(2) two local coordinate systems of parallel connection type exter-nal fixer are fitted to the world coordinates of parallel connection type exter-nal fixer System, and when obtaining the reduction of the fracture shift(ing) ring 1-3 final pose：

The bar of known six roots of sensation drive rod 1-2 is long, and the position and attitude angle of shift(ing) ring 1-3 can be tried to achieve by normal solution, below for Parallel connection type exter-nal fixer direct position analysis process：

The bar long vector of the pose and six roots of sensation drive rod 1-2 that define parallel connection type exter-nal fixer shift(ing) ring 1-3 is respectively：

X=[x y z α β γ]^T(9),

L=[l₁ l₂ l₃ l₄ l₅ l₆]^T(10),

Wherein, [x y z]^TIt is the position vector of shift(ing) ring, [α β γ]^TIt is shift(ing) ring position vector, l₁、l₂、l₃、l₄、l₅、 l₆The bar of respectively 1-No. 6 drive rods is long；

Solve problems for the parallel connection type exter-nal fixer shift(ing) ring initial poses of 1-3 can be considered as solution nonlinear equation Problem, the pose equation group of parallel connection type exter-nal fixer is：

F (X, L)=0 (11),

F (X, L)=(F₁(X,l₁)),F₂(X,l₂)),...F₆(X,l₆))^T(12),

I.e. known initial value (X₀,L₀), ask as a length of L of bar_nWhen, meet the moving platform pose X' under F required precisions；

By the pose equation of shift(ing) ring 1-3 to parameter L derivations, Initial Value Problems of Differential Equations is obtained：

I.e.

If bar is long by L₀Even variation is to L_n, motion process is expressed as：

L_N=L₀+t(L_n-L₀) t=0,1,2...n (15),

T in formula (15) is step-length,

From initial value (X₀,L₀) start, to t with increment Delta t, approximate point (X is estimated out with Euler method₁,L'_N), i.e. shift(ing) ring 1- The approximate pose X of of 3₁：

In formula (16)Actual is the inverse matrix of Jacobian matrix：

In formula (17)

It is i.e. final iterative to be：

X₁=X₀+J^-1(L_n-L₀) Δ t (19),

More accurately shift(ing) ring 1-3 poses are now tried to achieve by Newton iteration, wherein F represents actual six roots of sensation drive rod 1-2 With the difference of six roots of sensation drive rod 1-2 in theory, X values as F=0 are shift(ing) ring now corresponding to six roots of sensation drive rod 1-2 1-3 poses, after carrying out iteration for several times by formula (19), just can obtain Accurate Points (X ', L '_N),

The termination distinguishing rule of Newton iteration can be taken as

||F(X',L'_N) | | ＜ ε (20),

ε in formula (20) is a real number for very little, and its control accuracy is 10^-4, iterative initial value X₀For：

X₀=[x₂ y₂ z₂-13-(l₁+l₂+l₃+l₄+l₅+l₆)/6 00 0] (21),

In formula, x₂、y₂、z₂Respectively with reference to ring 1-1 central points along X, Y, Z axis side-play amount.

Formula (20) is converted into least square problem and is:

Now, the corresponding X'=[x of the minimum value of formula (22)₃ y₃ z₃ α₃ β₃ γ₃]^TThe as most final position of shift(ing) ring 1-3 Appearance；

(3) bar for trying to achieve the six roots of sensation drive rod 1-2 of parallel connection type exter-nal fixer is long：

The position and attitude angle of known shift(ing) ring 1-3, the bar that can try to achieve six roots of sensation drive rod 1-2 by anti-solution is long, below for The anti-solution preocess of parallel connection type exter-nal fixer pose：

Two parts of parallel connection type exter-nal fixer are sat using the three dimensions conversion process same with above-mentioned steps (1) Mark system is fitted to the global coordinate system of parallel connection type exter-nal fixer, that is, be transformed into reference to bone section coordinate system, finally gives parallel connection type The final pose of shift(ing) ring 1-3 is under the global coordinate system { O } of exter-nal fixer：^ob_i, it is fixed outside parallel connection type bone with reference to ring 1-1 Final pose under the global coordinate system { O } of device is that initial pose is：^op_i.The six roots of sensation drive rod final bars of 1-2 are tried to achieve by anti-solution Vector long is：

^ol_i=^op_i-^ob_i(24),

The bar for trying to achieve the six roots of sensation drive rod 1-2 of parallel connection type exter-nal fixer is a length of：

S_i=|^ol_i| (25),

Wherein, i=1,2 ... ... 6.

6th step, by the given treatment number of days of doctor, the program of the sub computers software of parallel connection type exter-nal fixer will be every Root drive rod 1-2 needs the length of regulation to be evenly distributed to every day, generates electrical adjustment prescription, and patient is according to daily in prescription The regulation scale of each drive rod 1-2 is adjusted, so as to realize fracturing precisely reset.

Claims (9)

1. a kind of parallel connection type exter-nal fixer, it is characterised in that：Including frame part and sub computers software section, its center Frame part is constituted by with reference to ring, shift(ing) ring and six roots of sensation drive rod, and gimbal suspension device and the six roots of sensation are passed through between reference ring and shift(ing) ring Drive rod is connected, and connection shift(ing) ring and the six roots of sensation drive rod with reference to ring are arranged in parallel, and every drive rod is telescopic, and it is by ten thousand Constituted to joint device, expansion link, snap ring, adjusting nut and sleeve pipe with graduated scale；The operation of sub computers software section Environment is windows, it is necessary to Internet Explorer 9.0 and above version, the sub computers software concrete operations stream Cheng Wei：Network address is input into IE browser, into Network Computing Platform, in initial interface Imported cases information and doctor measuring Lopsided parameter, framework parameter, initial six roots of sensation drive rod bar are long and treat number of days, click on " starting to calculate " button, you can obtain bone The final bar of six roots of sensation drive rod is long after folding reset, and generates electrical adjustment prescription.

2. a kind of parallel connection type exter-nal fixer according to claim 1, it is characterised in that：Gimbal suspension in the drive rod The connected mode of device, expansion link, snap ring, adjusting nut and the sleeve pipe with graduated scale is：The lower end of gimbal suspension device is fixed on The upper end of expansion link, lower end of the expansion link from top to bottom through the inside of adjusting nut and expansion link is embedded into graduated scale In the elongate recesses of sleeve pipe, expansion link is locked with the sleeve pipe with graduated scale by snap ring, and the upper end of adjusting nut is nested in card The inside of ring constitutes an entirety therewith, has an annular groove, the sleeve pipe with graduated scale in the interior lower end of adjusting nut Upper end stick into the annular groove of adjusting nut, adjusting nut can be rotated freely, and snap ring is driven by rotating adjusting nut The regulation of length of telescopic bar is carried out, rotating freely for six roots of sensation drive rod can be realized by adjusting nut, stretched, carry out six freely The motion of degree, anticlockwise arrow is marked with adjusting nut, rotate counterclockwise adjusting nut, the increase long of drive rod bar, Turn clockwise adjusting nut, the reduction long of drive rod bar, and the lower end of the two ends of drive rod respectively with gimbal suspension device is fixed, universal The upper end of joint device is connected with reference to ring and shift(ing) ring respectively by hex nut..

3. a kind of parallel connection type exter-nal fixer according to claim 1, it is characterised in that：The internal diameter with reference to ring is divided into eight Kind：90mm, 110mm, 130mm, 150mm, 170mm, 190mm, 210mm and 230mm；The internal diameter of the shift(ing) ring and reference ring Internal diameter is accordingly also classified into eight kinds：90mm, 110mm, 130mm, 150mm, 170mm, 190mm, 210mm and 230mm.

4. a kind of parallel connection type exter-nal fixer according to claim 1, it is characterised in that：The drive rod drives for standard Bar, its bar is long to be divided into five kinds：60~75mm, 75~96mm, 90~125mm, 116~178mm and 169~283mm, its precision essence Really to 1mm.

5. a kind of parallel connection type exter-nal fixer according to claim 1, it is characterised in that：The length of the gimbal suspension device is 13 centimetres, and length is unadjustable.

6. a kind of application process of parallel connection type exter-nal fixer described in claim 1, it is characterised in that comprise the following steps that：

The first step, the fracture patient to that need to perform the operation installs parallel connection type exter-nal fixer：

(1.1) the build selection first according to fracture patient is with reference to ring and shift(ing) ring, reference ring and movement according to selection installation Ring determines respective rods drive rod long；

(1.2) bone section defect model is designed, fracture segment is divided into reference to bone section and mobile bone section in bone section defect model, that is, cured Raw selection fracture is that then the other end is mobile bone section, the selection of reference bone section with reference to bone section with reference to the near-end of breaking part or distal end Meet two standards：The anatomical level of the bone section will be conducive to the positive side position X-ray film of shooting standard；X-ray film must be able to include Complete reference bone section and reference ring；Then it is fixed and selected reference ring is installed, be allowed to with reference to bone section backbone's axis oriented normal, The fixed and selected shift(ing) ring of installation makes two entirety in mobile bone section, and installs selected six roots of sensation drive rod, passes through The position and attitude for adjusting shift(ing) ring can drive mobile bone section and with reference to the relative motion between bone section, so that it is multiple to reach fracture Position；

(1.3) by Kirschner wire fixation and installation with reference to ring and reference bone section backbone's axis oriented normal, it is ensured that the stabilization of reference ring, and And it is L-shaped as attribute block to place the four rib columns in 3 holes immediately ahead of with reference to ring, this attribute block should with reference to bone section axis one Cause, using Kirschner wire fixation and installation shift(ing) ring in mobile bone section in patient's the most comfortable and most beneficial for the position for avoiding soft tissue Put, and by the attribute block with reference to ring be defined placement each drive rod, attribute block right side be No. 1 drive rod, lay successively counterclockwise To No. 6 drive rods；

So far the bone section of the fracture patient to that need to perform the operation installs parallel connection type exter-nal fixer；

Second step, standard normotopia X-ray film and standard side are shot to installing the bone section of fracture patient of parallel connection type exter-nal fixer Position X-ray film：

To standard normotopia X-ray film and true lateral position X captured by the bone section of the fracture patient for installing parallel connection type exter-nal fixer Line piece is according to the dissection position side position X-ray film for dissecting position normotopia X-ray film and standard for dissecting the standard that position shoots, in the bone section institute On the standard normotopia X-ray film and true lateral position X-ray film of shooting, it is ensured that with reference to forward lapping in straight line for ring, and must be able to Including complete reference bone section and reference ring；

3rd step, sets up the local coordinate system of parallel connection type exter-nal fixer and the global coordinate system of parallel connection type exter-nal fixer：

The local coordinate system of set up parallel connection type exter-nal fixer is included in what is set up on the reference ring of parallel connection type exter-nal fixer Silent flatform coordinate system { P } and the moving platform coordinate system { B } set up on the shift(ing) ring of parallel connection type exter-nal fixer, Two coordinate system is equal Meet the right-hand rule, the starting point with reference to bone section sets up the global coordinate system { O } of parallel connection type exter-nal fixer as origin, enters One step demarcates position coordinates vector of six tie points on silent flatform coordinate system { P } on the reference ring of parallel connection type exter-nal fixer For^Pp_iPosition coordinates vector with six tie points on the shift(ing) ring of parallel connection type exter-nal fixer on moving platform coordinate system { B } For^Bb_i；

4th step, measurement obtains lopsided parameter and installation parameter, and it is by human dissection position correspondence to be converted by sign function Medical terminology：

Chosen on the standard normotopia X-ray film and true lateral position X-ray film shot in above-mentioned second step with reference to bone section axis and mobile bone The intersection point of section axis, i.e. CORA points are starting point, and starting point is located in reference bone section, and corresponding points are located in mobile bone section, is risen Initial point is consistent with the anatomic status that the selection of corresponding points is with epiphysis resets, to be the origin of coordinates with reference to the starting point in bone section, Global coordinate system { O } is set up, it meets the right-hand rule, and the axis of bone direction of reference bone section is Z axis, on standard normotopia X-ray film, is built Vertical XZ coordinate systems, X-axis level is to the right positive direction；On true lateral position X-ray film, YZ coordinate systems are set up, Y-axis is horizontal direction, Its positive direction points to limbs front portion, and then by standard normotopia X-ray film and the measurement of true lateral position X-ray film and clinical measurement deformity parameter It is as follows with the method for installation parameter and human dissection position medical terminology：

Lopsided parameter includes being measured by standard normotopia X-ray film and true lateral position X-ray film and clinical three displacements for measuring and three Angulation：

The positive Bit Shift of inner or outer side：Measured on standard normotopia X-ray film, along the distance of X-direction from starting point to corresponding points；

Turn up or varus normotopia angle：Measured on standard normotopia X-ray film, the angle of two bone section axis；

The side bit shift at anterior or rear portion：Measured on true lateral position X-ray film, along the distance of Y direction from starting point to corresponding points；

The side parallactic angle degree of flexing or anti-sheet：Measured on the X-ray film piece of side position, the angle of two bone section axis；

Cripetura or separation it is axially displaced：Measured on normotopia X-ray film or true lateral position X-ray film, along Z from starting point to corresponding points The distance of direction of principal axis；

Outward turning or the axial angle of inward turning：Clinical measurement is with reference to the rotation angle in bone section and mobile bone section sagittal plane.

Framework parameter include being measured by standard normotopia X-ray film and true lateral position X-ray film and clinical 3 skews for measuring and 1 into Angle：

The reference ring center normotopia skew of inner or outer side：Measured on standard normotopia X-ray film, with reference to ring center relative to starting point Skew；

The reference ring central side position skew at anterior or rear portion：Measured on true lateral position X-ray film, with reference to ring center relative to starting point Skew；

With reference to the central axial skew of ring：Measured on measurement or true lateral position X-ray film on standard normotopia X-ray film, from the side with reference to ring Edge is to the axial distance between starting point；

Outward turning or the reference ring anglec of rotation of inward turning：Sagittal plane rotation relative to reference bone section sagittal plane of the clinical measurement with reference to ring Gyration；

5th step, the bar for trying to achieve the six roots of sensation drive rod of parallel connection type exter-nal fixer is long：

Lopsided parameter, framework parameter and the initial six roots of sensation drive rod bar obtained according to the 4th pacing are long, are converted by three dimensions and closed Two local coordinate systems of parallel connection type exter-nal fixer are fitted to the global coordinate system of parallel connection type exter-nal fixer, and ask by system The final pose of shift(ing) ring when going out the reduction of the fracture, anti-solution obtains the six roots of sensation drive rod of the parallel connection type exter-nal fixer for finally determining Bar is long；

6th step, by the given treatment number of days of doctor, the program of the sub computers software of parallel connection type exter-nal fixer drives every Lever needs the length of regulation to be evenly distributed to every day, generates electrical adjustment prescription, and patient drives according to each daily in prescription The regulation scale of bar is adjusted, so as to realize fracturing precisely reset.

7. a kind of application process of parallel connection type exter-nal fixer according to claim 6, it is characterised in that：The reference bone section Selection, be the shorter epiphysis adjacent with permanent mark, the permanent marker includes：Kneecap is DF and proximal tibia Mark is provided, foot provides mark for distal tibial, ankle-joint and subtalar joint.

8. a kind of application process of parallel connection type exter-nal fixer according to claim 6, it is characterised in that：The further mark Determine parallel connection type exter-nal fixer is with reference to position coordinates vector of six tie points on silent flatform coordinate system { P } on ring^Pp_iWith Position coordinates vector of six tie points on moving platform coordinate system { B } is on the shift(ing) ring of parallel connection type exter-nal fixer^Bb_iTool Body method is as follows：

It is with reference to ring center O with silent flatform coordinate system { P } origin_P, six roots of sensation drive rod is counterclockwise with each tie point of reference ring sequentially It is P₁, P₂, P₃, P₄, P₅, P₆, reference axis Z_PPerpendicular to reference to ring, X_pAxle is perpendicular to P₁、P₂Line, and its positive direction point to P₁、P₂Line, P₁And P₂、P₃And P₄、P₅And P₆Between angle be θ_p, P₁And P₃、P₃And P₅Between angle be 120 °, remaining is each Tie point is symmetrical, and wherein moving platform coordinate system { B } origin is shift(ing) ring center O_b, six roots of sensation drive rod respectively connects with shift(ing) ring Contact is sequentially counterclockwise B₁, B₂, B₃, B₄, B₅, B₆, reference axis Z_bPerpendicular to shift(ing) ring, X_bAxle is perpendicular to B₁、B₂Line, and Its positive direction points to B₁、B₂Line, B₁And B₆、B₂And B₃、B₄And B₅Between angle be defined as θ_b, B₁And B₃、B₃And B₅Between angle All it is 120 °, remaining each tie point is symmetrical, connects P₁And B₁Drive rod be No. 1 drive rod, counterclockwise sequentially to No. 6 drive Lever, is respectively with reference to the position coordinates vector of each tie point on ring and shift(ing) ring：

^Pp_i=[r_pcos(λ_i)r_psin(λ_i)0 1]^T(1),

^Bb_i=[r_bcos(Λ_i)r_bsin(Λ_i)0 1]^T(2),

Wherein, i=1,2 ..., 6, r_pAnd r_bRespectively with reference to ring and the radius of shift(ing) ring circumscribed circle；

P_iAnd X_pThe angle of axle is λ_i, B_iAnd X_bThe angle of axle is Λ_i, i=1,2 ..., 6；

9. a kind of application process of parallel connection type exter-nal fixer according to claim 6, it is characterised in that：It is described according to the 4th Lopsided parameter, framework parameter and the initial six roots of sensation drive rod bar that pacing is obtained are long, by three dimensions transformation relation, by parallel connection type bone Two local coordinate systems of external fixator are fitted to the global coordinate system of parallel connection type exter-nal fixer, and obtain reduction of the fracture time shift The final pose of rotating ring, the bar that anti-solution obtains the six roots of sensation drive rod of the parallel connection type exter-nal fixer for finally determining is long, its specific step It is rapid as follows：

(1) three dimensions spin matrix is introduced, mobile bone section is set up and with reference to the attitude angle transformation relation between bone section：

If mobile bone section axis is α along the angle that X-axis is rotated₁, it is β along the angle that Y-axis is rotated₁, along Z axis rotate angle be γ₁, then shift(ing) ring relative to reference to around each axle rotate transformation matrix of coordinates be：

$R(X,{\mathrm{\α}}_1)=\left[\begin{array}{ccc}1& 0& 0\\ 0& {\mathrm{c\α}}_1& -{\mathrm{s\α}}_1\\ 0& {\mathrm{s\α}}_1& {\mathrm{c\α}}_1\end{array}\right]---\left(3\right)$

$R(Y,{\mathrm{\β}}_1)=\left[\begin{array}{ccc}{\mathrm{c\β}}_1& 0& {\mathrm{s\β}}_1\\ 0& 1& 0\\ {\mathrm{s\β}}_1& 0& c\mathrm{\β}\end{array}\right]---\left(4\right)$

$R(Z,{\mathrm{\γ}}_1)=\left[\begin{array}{ccc}{\mathrm{c\γ}}_1& -{\mathrm{s\γ}}_1& 0\\ {\mathrm{s\γ}}_1& {\mathrm{c\γ}}_1& 0\\ 0& 0& 1\end{array}\right]---\left(5\right)$

Wherein, c α₁=cos α₁, s α₁=sin α₁, c β₁=cos β₁, s β₁=sin β₁, c γ₁=cos γ₁, s γ₁=sin γ₁.Cause This, mobile bone section is relative to the homogeneous coordinate transformation matrix with reference to bone section：

$\begin{array}{c}{R}_1=R_{X,{\mathrm{\α}}_1}\·R_{Y,{\mathrm{\β}}_1}\·R_{Z,{\mathrm{\γ}}_1}\\ =\left[\begin{array}{cccc}{\mathrm{c\β}}_1\·{\mathrm{c\γ}}_1& {\mathrm{c\β}}_1\·{\mathrm{s\γ}}_1& -{\mathrm{s\β}}_1& 0\\ {\mathrm{s\α}}_1\·{\mathrm{s\β}}_1\·{\mathrm{c\γ}}_1-{\mathrm{c\α}}_1\·{\mathrm{s\γ}}_1& {\mathrm{s\α}}_1\·{\mathrm{s\β}}_1\·{\mathrm{s\γ}}_1+{\mathrm{c\α}}_1\·{\mathrm{c\γ}}_1& {\mathrm{s\α}}_1\·{\mathrm{c\β}}_1& 0\\ {\mathrm{c\α}}_1\·{\mathrm{s\β}}_1\·{\mathrm{c\γ}}_1+{\mathrm{s\α}}_1\·{\mathrm{s\γ}}_1& {\mathrm{c\α}}_1\·{\mathrm{s\β}}_1\·{\mathrm{s\γ}}_1-{\mathrm{s\α}}_1\·{\mathrm{c\γ}}_1& {\mathrm{c\α}}_1\·{\mathrm{c\β}}_1& 0\\ 0& 0& 0& 1\end{array}\right]\end{array}---\left(6\right)$

Again according to shift transformation：Corresponding points in mobile bone section are x along the displacement of X-axis₁, it is y along the displacement of Y-axis₁, along Z axis Displacement be z₁, then space displacement transformation matrix be：

$q_1=\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& 1& 0& 0\\ 0& 0& 1& 0\\ x_1& y_1& z_1& 1\end{array}\right]---\left(7\right)$

Therefore, obtain moving bone section and be relative to the pose spin matrix with reference to bone section：

$\begin{array}{c}{T}_1=R_1\·q_1\\ =\left[\begin{array}{cccc}{\mathrm{c\β}}_1\·{\mathrm{c\γ}}_1& {\mathrm{c\β}}_1\·{\mathrm{s\γ}}_1& -{\mathrm{s\β}}_1& 0\\ {\mathrm{s\α}}_1\·{\mathrm{s\β}}_1\·{\mathrm{c\γ}}_1-{\mathrm{c\α}}_1\·{\mathrm{s\γ}}_1& {\mathrm{s\α}}_1\·{\mathrm{s\β}}_1\·{\mathrm{s\γ}}_1+{\mathrm{c\α}}_1\·{\mathrm{c\γ}}_1& {\mathrm{s\α}}_1\·{\mathrm{c\β}}_1& 0\\ {\mathrm{c\α}}_1\·{\mathrm{s\β}}_1\·{\mathrm{c\γ}}_1+{\mathrm{s\α}}_1\·{\mathrm{s\γ}}_1& {\mathrm{c\α}}_1\·{\mathrm{s\β}}_1\·{\mathrm{s\γ}}_1-{\mathrm{s\α}}_1\·{\mathrm{c\γ}}_1& {\mathrm{c\α}}_1\·{\mathrm{c\β}}_1& 0\\ x_1& y_1& z_1& 1\end{array}\right]\end{array}---\left(8\right)$

(2) two local coordinate systems of parallel connection type exter-nal fixer are fitted to the global coordinate system of parallel connection type exter-nal fixer, And when obtaining the reduction of the fracture shift(ing) ring final pose：

The bar of known six roots of sensation drive rod is long, and the position and attitude angle of shift(ing) ring can be tried to achieve by normal solution, below for parallel connection type bone outside Fixator direct position analysis process：

The bar long vector of the pose and six roots of sensation drive rod that define parallel connection type exter-nal fixer shift(ing) ring is respectively：

X=[x y z α β γ]^T(9),

L=[l₁ l₂ l₃ l₄ l₅ l₆]^T(10),

Wherein, [x y z]^TIt is the position vector of shift(ing) ring, [α β γ]^TIt is shift(ing) ring position vector, l₁、l₂、l₃、l₄、l₅、l₆ The bar of respectively 1-No. 6 drive rods is long；

Can be considered as solution nonlinear equation problem for the Solve problems of the parallel connection type initial pose of exter-nal fixer shift(ing) ring, and The pose equation group of connection type exter-nal fixer is：

F (X, L)=0 (11),

F (X, L)=(F₁(X,l₁)),F₂(X,l₂)),...F₆(X,l₆))^T(12),

I.e. known initial value (X₀,L₀), ask as a length of L of bar_nWhen, meet the moving platform pose X' under F required precisions；

By the pose equation of shift(ing) ring to parameter L derivations, Initial Value Problems of Differential Equations is obtained：

$\left\{\begin{array}{c}\frac{\∂F}{\∂X}\frac{dX}{dL}+\frac{\∂F}{\∂L}=0\\ \begin{array}{cc}X{|}_{L=L_0}=X_0& L\∈\[L_0,L_n\]\end{array}\end{array}\right.---\left(13\right),$

I.e.

$\frac{dX}{dL}=-{\left(\frac{\∂F}{\∂X}\right)}^{-1}\frac{\∂F}{\∂L}---\left(14\right),$

If bar is long by L₀Even variation is to L_n, motion process is expressed as：

L_N=L₀+t(L_n-L₀) t=0,1,2...n (15),

T in formula (15) is step-length,

From initial value (X₀,L₀) start, to t with increment Delta t, approximate point (X is estimated out with Euler method₁,L'_N), i.e. the one of shift(ing) ring Approximate pose X₁：

$\begin{array}{c}{X}_1=X_0+\mathrm{\Δ}x\\ =X_0+\frac{dX}{dL}\left(L_n-L_0\right)\mathrm{\Δ}t\\ =X_0-{\left(\frac{\∂F}{\∂X}\right)}^{-1}\frac{\∂F}{\∂L}\left(L_n-L_0\right)\mathrm{\Δ}t\end{array}---\left(16\right),$

In formula (16)Actual is the inverse matrix of Jacobian matrix：

$\frac{dX}{dL}=\frac{\frac{dX}{dt}}{\frac{dL}{dt}}=\frac{\stackrel{\·}{X}}{\stackrel{\·}{L}}=J^{-1}---\left(17\right),$

In formula (17)

$J=-\left[\begin{array}{cccccc}\frac{\∂F}{\∂x}/\frac{\∂F}{\∂l_1}& \frac{\∂F}{\∂y}/\frac{\∂F}{\∂l_1}& \frac{\∂F}{\∂z}/\frac{\∂F}{\∂l_1}& \frac{\∂F}{\∂\mathrm{\α}}/\frac{\∂F}{\∂l_1}& \frac{\∂F}{\∂\mathrm{\β}}/\frac{\∂F}{\∂l_1}& \frac{\∂F}{\∂\mathrm{\γ}}/\frac{\∂F}{\∂l_1}\\ \frac{\∂F}{\∂x}/\frac{\∂F}{\∂l_2}& \frac{\∂F}{\∂y}/\frac{\∂F}{\∂l_2}& \frac{\∂F}{\∂z}/\frac{\∂F}{\∂l_2}& \frac{\∂F}{\∂\mathrm{\α}}/\frac{\∂F}{\∂l_2}& \frac{\∂F}{\∂\mathrm{\β}}/\frac{\∂F}{\∂l_2}& \frac{\∂F}{\∂\mathrm{\γ}}/\frac{\∂F}{\∂l_2}\\ \frac{\∂F}{\∂x}/\frac{\∂F}{\∂l_3}& \frac{\∂F}{\∂y}/\frac{\∂F}{\∂l_3}& \frac{\∂F}{\∂z}/\frac{\∂F}{\∂l_3}& \frac{\∂F}{\∂\mathrm{\α}}/\frac{\∂F}{\∂l_3}& \frac{\∂F}{\∂\mathrm{\β}}/\frac{\∂F}{\∂l_3}& \frac{\∂F}{\∂\mathrm{\γ}}/\frac{\∂F}{\∂l_3}\\ \frac{\∂F}{\∂x}/\frac{\∂F}{\∂l_4}& \frac{\∂F}{\∂y}/\frac{\∂F}{\∂l_4}& \frac{\∂F}{\∂z}/\frac{\∂F}{\∂l_4}& \frac{\∂F}{\∂\mathrm{\α}}/\frac{\∂F}{\∂l_4}& \frac{\∂F}{\∂\mathrm{\β}}/\frac{\∂F}{\∂l_4}& \frac{\∂F}{\∂\mathrm{\γ}}/\frac{\∂F}{\∂l_4}\\ \frac{\∂F}{\∂x}/\frac{\∂F}{\∂l_5}& \frac{\∂F}{\∂y}/\frac{\∂F}{\∂l_5}& \frac{\∂F}{\∂z}/\frac{\∂F}{\∂l_5}& \frac{\∂F}{\∂\mathrm{\α}}/\frac{\∂F}{\∂l_5}& \frac{\∂F}{\∂\mathrm{\β}}/\frac{\∂F}{\∂l_5}& \frac{\∂F}{\∂\mathrm{\γ}}/\frac{\∂F}{\∂l_5}\\ \frac{\∂F}{\∂x}/\frac{\∂F}{\∂l_6}& \frac{\∂F}{\∂y}/\frac{\∂F}{\∂l_6}& \frac{\∂F}{\∂z}/\frac{\∂F}{\∂l_6}& \frac{\∂F}{\∂\mathrm{\α}}/\frac{\∂F}{\∂l_6}& \frac{\∂F}{\∂\mathrm{\β}}/\frac{\∂F}{\∂l_6}& \frac{\∂F}{\∂\mathrm{\γ}}/\frac{\∂F}{\∂l_6}\end{array}\right]---\left(18\right),$

It is i.e. final iterative to be：

X₁=X₀+J^-1(L_n-L₀) Δ t (19),

More accurately shift(ing) ring pose is now tried to achieve by Newton iteration, wherein F represents actual six roots of sensation drive rod with theory six The difference of root drive rod, the X values as F=0 are shift(ing) ring pose now corresponding to six roots of sensation drive rod, are carried out by formula (19) For several times after iteration, Accurate Points (X ', L ' are just can obtain_N),

The termination distinguishing rule of Newton iteration can be taken as

||F(X',L'_N) | | ＜ ε (20),

ε in formula (20) is a real number for very little, and its control accuracy is 10-⁴, iterative initial value X₀For：

X₀=[x₂ y₂ z₂-13-(l₁+l₂+l₃+l₄+l₅+l₆)/6 00 0] (21),

In formula, x₂、y₂、z₂Respectively with reference to ring central point along X, Y, Z axis side-play amount.

Formula (20) is converted into least square problem and is:

$\underset{X}{min}\underset{i=1}{\overset{6}{\Σ}}{g}_i{\left(X\right)}^2---\left(22\right),$

$\begin{array}{cc}s.t& g_i\left(X\right)=L_i^2-F_i\left(X\right)\end{array}---\left(23\right),$

Now, the corresponding X'=[x of the minimum value of formula (22)₃ y₃ z₃ α₃ β₃ γ₃]^TThe as final pose of shift(ing) ring；

(3) bar for trying to achieve the six roots of sensation drive rod of parallel connection type exter-nal fixer is long：

The position and attitude angle of known shift(ing) ring, the bar that can try to achieve six roots of sensation drive rod by anti-solution is long, below for parallel connection type bone outside The anti-solution preocess of fixator pose：

Using the three dimensions conversion process same with above-mentioned steps (1) by two local coordinate systems of parallel connection type exter-nal fixer The global coordinate system of parallel connection type exter-nal fixer is fitted to, that is, is transformed into reference to bone section coordinate system, finally given outside parallel connection type bone The final pose of shift(ing) ring is under the global coordinate system { O } of fixator：^ob_i, sat in the global of parallel connection type exter-nal fixer with reference to ring Final pose under mark system { O } is that initial pose is：^op_i.Trying to achieve the final bar of six roots of sensation drive rod vector long by anti-solution is：

^ol_i=^op_i-^ob_i(24),

The bar for trying to achieve the six roots of sensation drive rod of parallel connection type exter-nal fixer is a length of：

S_i=|^ol_i| (25),

Wherein, i=1,2 ... ... 6.