CN107049464A - A kind of cable formula inner fixing device for orthopaedics - Google Patents

A kind of cable formula inner fixing device for orthopaedics Download PDF

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CN107049464A
CN107049464A CN201710424508.8A CN201710424508A CN107049464A CN 107049464 A CN107049464 A CN 107049464A CN 201710424508 A CN201710424508 A CN 201710424508A CN 107049464 A CN107049464 A CN 107049464A
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mrow
msub
mover
mtd
mfrac
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任小宝
张璠
王庭刚
张元松
邱晋
李科
肖伟
任鸿
黄松
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Nanfang Hospital
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
    • A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
    • A61B17/82—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin for bone cerclage
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
    • A61B5/0205—Simultaneously evaluating both cardiovascular conditions and different types of body conditions, e.g. heart and respiratory condition
    • A61B5/02055—Simultaneously evaluating both cardiovascular condition and temperature
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
    • A61B5/021—Measuring pressure in heart or blood vessels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2217/00—General characteristics of surgical instruments
    • A61B2217/002—Auxiliary appliance
    • A61B2217/007—Auxiliary appliance with irrigation system

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Cardiology (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Physiology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
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  • Pathology (AREA)
  • Biophysics (AREA)
  • Pulmonology (AREA)
  • Neurology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Vascular Medicine (AREA)
  • Steroid Compounds (AREA)

Abstract

The present invention relates to a kind of cable formula inner fixing device for orthopaedics, including for monitoring the ultrasonic sensor of operational tool particular location in surgical procedure；For the infrared temperature sensor being acquired to patient temperature information；For the blood pressure sensor being acquired to patients' blood's information；For the displacement transducer detected to drilling depth during operation；For the single-chip microcomputer analyzed gathered data and handled；Drive control device for controlling drive device；Radio frequency transceiving module for receiving and sending wireless network signal；Drilling equipment for drilling；Cleaning device for cleaning wound；Cable capture device for producing cable；Fastener for being fastened and fixed nail.The present invention effectively can be monitored to operating theater instruments particular location, drilling depth etc., while to the real-time detection of patient vital sign, improving operation precision, reducing operation difficulty, reduce the degree of dependence to doctor.

Description

A kind of cable formula inner fixing device for orthopaedics
Technical field
The invention belongs to fixed dress in medical apparatus and instruments technical field, more particularly to a kind of cable formula for orthopaedics Put.
Background technology
At present, the internal fixation operation method and operating theater instruments species for the treatment of fracture are a lot, have so far：Plain screw fixes, Gram formula draw point is fixed etc., and these modus operandis and the operating theater instruments matched have certain fixation to articular fracture, but After articular fracture, replacement and fixation requires high, it is fixed after and require Bones and joints can carry out activity in early days, using the above method and Apparatus can't reach requirement fixed in after articular fracture.
Therefore, occur cable formula internal fixation method at present, i.e., using two fixed nail fix bone two ends, and use one Two fixed nail connections are played fixation, with good post-operative recovery effect, while reducing wound area etc. by cable Advantage, but gimmick is fixed in current cable, unspecial operation tool can only rely on control of the doctor to operation, To complete the operation of operation, and need in surgical procedure to examine the vital sign of patient by other equipment Survey, it is difficult to found the abnormal situation in time.
The content of the invention
The present invention is big to doctor's degree of dependence to solve existing cable formula inner fixing device, operation accuracy be difficult to control and Can not the technical problem such as effective detection vital sign patient and a kind of cable formula inner fixing device for orthopaedics is provided.
The present invention is adopted the technical scheme that to solve technical problem present in known technology：
The cable formula inner fixing device for being used for orthopaedics includes：Including：
Ultrasonic sensor for monitoring operational tool particular location in surgical procedure；
For the infrared temperature sensor being acquired to patient temperature information；
The measurement model of the infrared temperature sensor is as follows：
YA(tk-1)、YA(tk)、YA(tk+1) be respectively sensors A to target in tk-1,tk,tk+1The local Descartes at moment sits Measuring value under mark system, be respectively：
Wherein, Y'A(tk-1)、Y'A(tk)、Y'A(tk+1) it is respectively sensors A in tk-1,tk,tk+1The local Descartes at moment Actual position under coordinate system；CA(t) it is the transformation matrix of error；ξA(t) it is the systematic error of sensor；For system noise Sound, it is assumed thatFor zero-mean, separate Gaussian stochastic variable, noise covariance matrix difference For RA(k-1)、RA(k)、RA(k+1)；
For the blood pressure sensor being acquired to patients' blood's information；
For the displacement transducer detected to drilling depth during operation；
Respectively with ultrasonic sensor, infrared temperature sensor, blood pressure sensor and displacement transducer wired connection, it is used for The single-chip microcomputer analyzed gathered data and handled；
The single-chip microcomputer input system parameter：Obtain discrete function model：
In formula (1)：U (0) is initial signal, and μ is chaotic parameter, and ν is fractional order exponent number, and n is signal length, and j represents jth Iteration is walked, α (μ, ν, j, n) is discrete integration core, and u (n) is the n-th step signal, and it is 1 that n and N, which are set to 800, m, ..., N integer；
With single-chip microcomputer wired connection, the timing module for timing；
With single-chip microcomputer wired connection, the power module for providing power supply；
With single-chip microcomputer wired connection, the peripheral control unit for set device program；
With single-chip microcomputer wired connection, the display for display information；
With single-chip microcomputer wired connection, the loudspeaker for sending speech sound signal；
With single-chip microcomputer wired connection, the drive control device for controlling drive device；
The drive control device estimates the jumping moment of each jump using clustering algorithm and respectively jumps corresponding normalized When hybrid matrix column vector, Hopping frequencies, comprise the following steps：
The first step is right at p (p=0,1,2 ... the P-1) momentThe frequency values of expression are clustered, obtained cluster centre NumberThe carrier frequency number that the expression p moment is present,Individual cluster centre then represents the size of carrier frequency, uses respectively Represent；
Second step, to each sampling instant p (p=0,1,2 ... P-1), utilizes clustering algorithm pairClustered, It is same availableIndividual cluster centre, is usedRepresent；
3rd step, to allAverage and round, obtain the estimation of source signal numberI.e.
4th step, finds outAt the time of, use phRepresent, to the p of each section of continuous valuehIntermediate value is sought, is usedRepresent the l sections of p that are connectedhIntermediate value, thenRepresent the estimation at l-th of frequency hopping moment；
5th step, is obtained according to estimation in second stepAnd the 4th estimate to obtain in step The frequency hopping moment estimate it is each jump it is correspondingIndividual hybrid matrix column vectorSpecifically formula is：
HereRepresent that l is jumped correspondingIndividual mixing Matrix column vector estimate；
6th step, estimates the corresponding carrier frequency of each jump, usesRepresent that l is jumped correspondingIndividual frequency estimation, calculation formula is as follows：
The reception signal y (t) of the drive control device is expressed as：
Y (t)=x (t)+n (t)；
Wherein, x (t) is digital modulation signals, and n (t) is the impulsive noise that obedience standard S α S are distributed, for MASK and MPSK is modulated, and x (t) analytical form is expressed as：
In K signals, an=0,1,2 ..., M-1, M are order of modulation, in mpsk signal, an=ej2πε/M, ε=0,1, 2 ..., M-1, g (t) represent rectangle shaping pulse, TbRepresent symbol period, fcRepresent carrier frequency, carrier wave initial phaseBe Equally distributed random number in [0,2 π].For MFSK modulation, x (t) analytical form is expressed as：
Wherein, fmFor the offset of m-th of carrier frequency, if MFSK signals carrier shift is Δ f, fm=-(M-1) Δ f ,- (M-3) Δ f ..., (M-3) Δ f, (M-1) Δ f, carrier wave initial phaseIt is the equally distributed random number in [0,2 π]；
With single-chip microcomputer wired connection, the radio frequency transceiving module for receiving and sending wireless network signal；
The maximum that the radio frequency transceiving module calculates the GFRFT of the zero center normalization instantaneous amplitude of signal is spy The amount of levying r1, carry out as follows：
Signal x (t) fraction Fourier conversion is calculated, its expression formula is：
In formula, Kθ(t, u) is the kernel function of fraction Fourier conversion, and its expression formula is:
Wherein, k round numbers, Fθθ angle Fourier Transform of Fractional Order operators are represented, θ=p pi/2s are the anglec of rotation, and p is rotation Transposon, δ () is impulse function；In order to which the amplitude of Alpha Stable distritation noises is rationally mapped into finite interval, make simultaneously The phase of signal keeps constant, calculates the Generalized fractional Fourier transformation (GeneralizedFractional of signal FourierTransform, GFRFT), its expression formula is：
Wherein,For a nonlinear transformation, H () is Hilbert transform；
The amplitude of i-th reception signal is a (i), NsIndividual groups of samples is into a frame, then in zero based on GFRFT The heart normalization instantaneous amplitude spectrum density maximum be：
γmax=max | GFRFT [acn(i),p]|2/Ns；
In formula,For instantaneous amplitude a (i) average value；P becomes for fractional order Fourier The exponent number changed；With average to be to the purpose that instantaneous amplitude is normalized in order to eliminate the influence of channel gain；
With drive control device wired connection, the drilling equipment for drilling；
With drive control device wired connection, the cleaning device for cleaning wound；
With drive control device wired connection, the cable capture device for producing cable；
With drive control device wired connection, the fastener for being fastened and fixed nail；
With radio frequency transceiving module by GPRS wireless network wireless connections, the external server for data storage.
Further, the display is specially light-emitting diode display.
Further, institute's displacement sensors are arranged on drilling equipment.
Further, the motor of the drilling equipment is specially stepper motor.
The present invention has the advantages and positive effects of：The cable formula inner fixing device for being used for orthopaedics is passed by ultrasonic wave Sensor can effectively detect the relative position of surgical instrument and bone, improve the accuracy of operation, sensed by infrared temperature Device and blood pressure sensor can effectively detect vital sign patient, it is to avoid legacy equipment needs to carry out life by miscellaneous equipment The drawbacks of sign is detected, can effectively detect drilling depth, display and indicator lamp can real time inspection hands by displacement transducer Art information, cable can be effectively made by cable capture device, and equipment integrated operation is simple, significantly reduces to doctor's Degree of dependence, has accomplished the real-time detection to vital sign patient, efficiently avoid the generation of abnormal conditions, improved operation Accuracy, reduce the operation difficulty of operation.
Brief description of the drawings
Fig. 1 is the theory diagram of the cable formula inner fixing device provided in an embodiment of the present invention for orthopaedics.
In figure：1st, ultrasonic sensor；2nd, infrared temperature sensor；3rd, blood pressure sensor；4th, displacement transducer；5th, monolithic Machine；6th, timing module；7th, power module；8th, peripheral control unit；9th, display；10th, loudspeaker；11st, drive control device；12nd, nothing Line RF receiving and transmission module；13rd, drilling equipment；14th, cleaning device；15th, cable capture device；16th, fastener；17th, outside clothes Business device.
Embodiment
In order to further understand the content, features and effects of the present invention, hereby enumerating following examples, and coordinate accompanying drawing Describe in detail as follows.
The structure of the present invention is explained in detail with reference to Fig. 1.
The cable formula inner fixing device for being used for orthopaedics includes：
Ultrasonic sensor 1 for monitoring operational tool particular location in surgical procedure；
For the infrared temperature sensor 2 being acquired to patient temperature information；
For the blood pressure sensor 3 being acquired to patients' blood's information；
For the displacement transducer 4 detected to drilling depth during operation；
Respectively with ultrasonic sensor 1, infrared temperature sensor 2, blood pressure sensor 3 and the wired connection of displacement transducer 4, For the single-chip microcomputer 5 analyzed gathered data and handled；
With the wired connection of single-chip microcomputer 5, the timing module 6 for timing；
With the wired connection of single-chip microcomputer 5, the power module 7 for providing power supply；
With the wired connection of single-chip microcomputer 5, the peripheral control unit 8 for set device program；
With the wired connection of single-chip microcomputer 5, the display 9 for display information；
With the wired connection of single-chip microcomputer 5, the loudspeaker 10 for sending speech sound signal；
With the wired connection of single-chip microcomputer 5, the drive control device 11 for controlling drive device；
With the wired connection of single-chip microcomputer 5, the radio frequency transceiving module 12 for receiving and sending wireless network signal；
With the wired connection of drive control device 11, the drilling equipment 13 for drilling；
With the wired connection of drive control device 11, the cleaning device 14 for cleaning wound；
With the wired connection of drive control device 11, the cable capture device 15 for producing cable；
With the wired connection of drive control device 11, the fastener 16 for being fastened and fixed nail；
With radio frequency transceiving module 12 by GPRS wireless network wireless connections, the external server for data storage 17。
The measurement model of the infrared temperature sensor is as follows：
YA(tk-1)、YA(tk)、YA(tk+1) be respectively sensors A to target in tk-1,tk,tk+1The local Descartes at moment sits Measuring value under mark system, be respectively：
Wherein, Y'A(tk-1)、Y'A(tk)、Y'A(tk+1) it is respectively sensors A in tk-1,tk,tk+1The local Descartes at moment Actual position under coordinate system；CA(t) it is the transformation matrix of error；ξA(t) it is the systematic error of sensor；For system noise Sound, it is assumed thatFor zero-mean, separate Gaussian stochastic variable, noise covariance matrix difference For RA(k-1)、RA(k)、RA(k+1)；
The single-chip microcomputer input system parameter：Obtain discrete function model：
In formula (1)：U (0) is initial signal, and μ is chaotic parameter, and ν is fractional order exponent number, and n is signal length, and j represents jth Iteration is walked, α (μ, ν, j, n) is discrete integration core, and u (n) is the n-th step signal, and it is 1 that n and N, which are set to 800, m, ..., N integer；
The drive control device estimates the jumping moment of each jump using clustering algorithm and respectively jumps corresponding normalized When hybrid matrix column vector, Hopping frequencies, comprise the following steps：
The first step is right at p (p=0,1,2 ... the P-1) momentThe frequency values of expression are clustered, in obtained cluster Heart numberThe carrier frequency number that the expression p moment is present,Individual cluster centre then represents the size of carrier frequency, uses respectivelyRepresent；
Second step, to each sampling instant p (p=0,1,2 ... P-1), utilizes clustering algorithm pairClustered, It is same availableIndividual cluster centre, is usedRepresent；
3rd step, to allAverage and round, obtain the estimation of source signal numberI.e.
4th step, finds outAt the time of, use phRepresent, to the p of each section of continuous valuehIntermediate value is sought, is usedRepresent the l sections of p that are connectedhIntermediate value, thenRepresent the estimation at l-th of frequency hopping moment；
5th step, is obtained according to estimation in second stepAnd the 4th estimate to obtain in step The frequency hopping moment estimate it is each jump it is correspondingIndividual hybrid matrix column vectorSpecifically formula is：
HereRepresent that l is jumped correspondingIndividual mixing Matrix column vector estimate；
6th step, estimates the corresponding carrier frequency of each jump, usesRepresent that l is jumped correspondingIndividual frequency estimation, calculation formula is as follows：
The reception signal y (t) of the drive control device is expressed as：
Y (t)=x (t)+n (t)；
Wherein, x (t) is digital modulation signals, and n (t) is the impulsive noise that obedience standard S α S are distributed, for MASK and MPSK is modulated, and x (t) analytical form is expressed as：
In K signals, an=0,1,2 ..., M-1, M are order of modulation, in mpsk signal, an=ej2πε/M, ε=0,1, 2 ..., M-1, g (t) represent rectangle shaping pulse, TbRepresent symbol period, fcRepresent carrier frequency, carrier wave initial phaseBe Equally distributed random number in [0,2 π].For MFSK modulation, x (t) analytical form is expressed as：
Wherein, fmFor the offset of m-th of carrier frequency, if MFSK signals carrier shift is Δ f, fm=-(M-1) Δ f ,- (M-3) Δ f ..., (M-3) Δ f, (M-1) Δ f, carrier wave initial phaseIt is the equally distributed random number in [0,2 π]；
The maximum that the radio frequency transceiving module calculates the GFRFT of the zero center normalization instantaneous amplitude of signal is spy The amount of levying r1, carry out as follows：
Signal x (t) fraction Fourier conversion is calculated, its expression formula is：
In formula, Kθ(t, u) is the kernel function of fraction Fourier conversion, and its expression formula is:
Wherein, k round numbers, Fθθ angle Fourier Transform of Fractional Order operators are represented, θ=p pi/2s are the anglec of rotation, and p is rotation Transposon, δ () is impulse function；In order to which the amplitude of Alpha Stable distritation noises is rationally mapped into finite interval, make simultaneously The phase of signal keeps constant, calculates the Generalized fractional Fourier transformation (GeneralizedFractional of signal FourierTransform, GFRFT), its expression formula is：
Wherein,For a nonlinear transformation, H () is Hilbert transform；
The amplitude of i-th reception signal is a (i), NsIndividual groups of samples is into a frame, then in zero based on GFRFT The heart normalization instantaneous amplitude spectrum density maximum be：
γmax=max | GFRFT [acn(i),p]|2/Ns；
In formula,For instantaneous amplitude a (i) average value；P becomes for fractional order Fourier The exponent number changed；With average to be to the purpose that instantaneous amplitude is normalized in order to eliminate the influence of channel gain；
Further, the display is specially light-emitting diode display 9.
Further, institute's displacement sensors 4 are arranged on drilling equipment 13.
Further, the motor of the drilling equipment 13 is specially stepper motor.
Operational tool and the relative position of bone in surgical procedure can effectively be detected by ultrasonic sensor 1, improved Operation accuracy, can effectively check patient body temperature information by infrared temperature sensor 2, pass through blood pressure sensor 3 Patients' blood's situation of change can be effectively detected, the drilling depth of drilling equipment 13 can be effectively detected by displacement transducer 4, Single-chip microcomputer 5 can to system produce aggregation of data Treatment Analysis, by peripheral control unit 8 can initialization system running program, pass through Display 9 and loudspeaker 10 can be appreciated that the information in surgical procedure, and timing module 6 carries out time record, and power module 7 is system Power supply is provided, each drive device can be efficiently controlled by drive control device 11, drilling equipment 13 can be drilled, cleaning device The impurity of the influence procedures such as bone bits, the blood occurred in 14 wounds capable of washing, removal surgical procedure, cable capture device 15 The cable for adapting to operation demand can be intercepted automatically as needed, fastener 16 can effectively be fastened to fixed nail, and fastening The motor of device 16 is stepper motor, improves fastening precision, radio frequency transceiving module 12 can be received and sent wirelessly Network signal, external server 17 can store the data produced in operation, and whole system can efficiently control whole procedure, Operation precision is improved, by the real-time detection to patient vital sign, the generation of abnormal conditions can be effectively prevented, improve The success rate of operation, and dependence of the surgical procedure to doctor can be effectively reduced by each sensor, reduce operation difficulty.
It is described above to be only the preferred embodiments of the present invention, any formal limitation not is made to the present invention, Every technical spirit according to the present invention is belonged to any simple modification made for any of the above embodiments, equivalent variations and modification In the range of technical solution of the present invention.

Claims (4)

1. a kind of cable formula inner fixing device for orthopaedics, it is characterised in that this is used for the cable formula inner fixing device of orthopaedics Including：
Ultrasonic sensor for monitoring operational tool particular location in surgical procedure；
For the infrared temperature sensor being acquired to patient temperature information；
The measurement model of the infrared temperature sensor is as follows：
YA(tk-1)、YA(tk)、YA(tk+1) be respectively sensors A to target in tk-1,tk,tk+1The local cartesian coordinate system at moment Under measuring value, be respectively：
<mrow> <msub> <mi>Y</mi> <mi>A</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mo>=</mo> <msub> <msup> <mi>Y</mi> <mo>&amp;prime;</mo> </msup> <mi>A</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mo>-</mo> <msub> <mi>C</mi> <mi>A</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <msub> <mi>&amp;xi;</mi> <mi>A</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>n</mi> <mrow> <msub> <mi>Y</mi> <mi>A</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> </mrow> </msub> <mo>;</mo> </mrow>
<mrow> <msub> <mi>Y</mi> <mi>A</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mi>k</mi> </msub> <mo>)</mo> </mrow> <mo>=</mo> <msub> <msup> <mi>Y</mi> <mo>&amp;prime;</mo> </msup> <mi>A</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mi>k</mi> </msub> <mo>)</mo> </mrow> <mo>-</mo> <msub> <mi>C</mi> <mi>A</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mi>k</mi> </msub> <mo>)</mo> </mrow> <msub> <mi>&amp;xi;</mi> <mi>A</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mi>k</mi> </msub> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>n</mi> <mrow> <msub> <mi>Y</mi> <mi>A</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mi>k</mi> </msub> <mo>)</mo> </mrow> </mrow> </msub> <mo>;</mo> </mrow>
<mrow> <msub> <mi>Y</mi> <mi>A</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mo>=</mo> <msub> <msup> <mi>Y</mi> <mo>&amp;prime;</mo> </msup> <mi>A</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mo>-</mo> <msub> <mi>C</mi> <mi>A</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <msub> <mi>&amp;xi;</mi> <mi>A</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>n</mi> <mrow> <msub> <mi>Y</mi> <mi>A</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> </mrow> </msub> <mo>;</mo> </mrow>
Wherein, Y'A(tk-1)、Y'A(tk)、Y'A(tk+1) it is respectively sensors A in tk-1,tk,tk+1The local cartesian coordinate at moment Actual position under system；CA(t) it is the transformation matrix of error；ξA(t) it is the systematic error of sensor；For system noise, vacation IfFor zero-mean, separate Gaussian stochastic variable, noise covariance matrix is respectively RA(k- 1)、RA(k)、RA(k+1)；
For the blood pressure sensor being acquired to patients' blood's information；
For the displacement transducer detected to drilling depth during operation；
Respectively with ultrasonic sensor, infrared temperature sensor, blood pressure sensor and displacement transducer wired connection, for adopting The single-chip microcomputer that collection data are analyzed and handled；
The single-chip microcomputer input system parameter：Obtain discrete function model：
<mrow> <mi>u</mi> <mrow> <mo>(</mo> <mi>n</mi> <mo>)</mo> </mrow> <mo>=</mo> <mi>u</mi> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <mo>+</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>j</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <mi>&amp;alpha;</mi> <mrow> <mo>(</mo> <mi>&amp;mu;</mi> <mo>,</mo> <mi>v</mi> <mo>,</mo> <mi>j</mi> <mo>,</mo> <mi>n</mi> <mo>)</mo> </mrow> <mi>u</mi> <mrow> <mo>(</mo> <mi>j</mi> <mo>-</mo> <mn>1</mn> <mo>)</mo> </mrow> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <mi>u</mi> <mo>(</mo> <mrow> <mi>j</mi> <mo>-</mo> <mn>1</mn> </mrow> <mo>)</mo> <mo>)</mo> </mrow> <mo>;</mo> </mrow>
In formula (1)：U (0) is initial signal, and μ is chaotic parameter, and ν is fractional order exponent number, and n is signal length, and j represents that jth step changes Generation, α (μ, ν, j, n) is discrete integration core, and u (n) is the n-th step signal, and it is 1 that n and N, which are set to 800, m, ..., N integer；
With single-chip microcomputer wired connection, the timing module for timing；
With single-chip microcomputer wired connection, the power module for providing power supply；
With single-chip microcomputer wired connection, the peripheral control unit for set device program；
With single-chip microcomputer wired connection, the display for display information；
With single-chip microcomputer wired connection, the loudspeaker for sending speech sound signal；
With single-chip microcomputer wired connection, the drive control device for controlling drive device；
The drive control device estimates the jumping moment of each jump using clustering algorithm and respectively jumps corresponding normalized mixing When matrix column vector, Hopping frequencies, comprise the following steps：
The first step is right at p (p=0,1,2 ... the P-1) momentThe frequency values of expression are clustered, obtained cluster centre numberThe carrier frequency number that the expression p moment is present,Individual cluster centre then represents the size of carrier frequency, uses respectively Represent；
Second step, to each sampling instant p (p=0,1,2 ... P-1), utilizes clustering algorithm pairClustered, equally It is availableIndividual cluster centre, is usedRepresent；
3rd step, to allAverage and round, obtain the estimation of source signal numberI.e.
<mrow> <mover> <mi>N</mi> <mo>^</mo> </mover> <mo>=</mo> <mi>r</mi> <mi>o</mi> <mi>u</mi> <mi>n</mi> <mi>d</mi> <mrow> <mo>(</mo> <mfrac> <mn>1</mn> <mi>p</mi> </mfrac> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>p</mi> <mo>=</mo> <mn>0</mn> </mrow> <mrow> <mi>P</mi> <mo>-</mo> <mn>1</mn> </mrow> </munderover> <msub> <mover> <mi>N</mi> <mo>^</mo> </mover> <mi>p</mi> </msub> <mo>)</mo> </mrow> <mo>;</mo> </mrow>
4th step, finds outAt the time of, use phRepresent, to the p of each section of continuous valuehIntermediate value is sought, is used Represent the l sections of p that are connectedhIntermediate value, thenRepresent the estimation at l-th of frequency hopping moment；
5th step, is obtained according to estimation in second stepAnd the 4th estimate obtained frequency in step It is corresponding that rate jumping moment estimates each jumpIndividual hybrid matrix column vectorSpecifically formula is：
<mrow> <msub> <mover> <mi>a</mi> <mo>^</mo> </mover> <mi>n</mi> </msub> <mrow> <mo>(</mo> <mi>l</mi> <mo>)</mo> </mrow> <mo>=</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mfrac> <mn>1</mn> <mrow> <msub> <mover> <mi>p</mi> <mo>&amp;OverBar;</mo> </mover> <mi>h</mi> </msub> <mrow> <mo>(</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> </mfrac> <mo>&amp;CenterDot;</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>p</mi> <mo>=</mo> <mn>1</mn> <mo>,</mo> <mi>p</mi> <mo>&amp;NotEqual;</mo> <msub> <mi>p</mi> <mi>h</mi> </msub> </mrow> <mrow> <msub> <mover> <mi>p</mi> <mo>&amp;OverBar;</mo> </mover> <mi>h</mi> </msub> <mrow> <mo>(</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> </munderover> <msubsup> <mi>b</mi> <mrow> <mi>n</mi> <mo>,</mo> <mi>p</mi> </mrow> <mn>0</mn> </msubsup> </mrow> </mtd> <mtd> <mrow> <mi>l</mi> <mo>=</mo> <mn>1</mn> <mo>,</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mfrac> <mn>1</mn> <mrow> <msub> <mover> <mi>p</mi> <mo>&amp;OverBar;</mo> </mover> <mi>h</mi> </msub> <mrow> <mo>(</mo> <mi>l</mi> <mo>)</mo> </mrow> <mo>-</mo> <msub> <mover> <mi>p</mi> <mo>&amp;OverBar;</mo> </mover> <mi>h</mi> </msub> <mrow> <mo>(</mo> <mi>l</mi> <mo>-</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> </mfrac> <mo>&amp;CenterDot;</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>p</mi> <mo>=</mo> <msub> <mover> <mi>p</mi> <mo>&amp;OverBar;</mo> </mover> <mi>h</mi> </msub> <mrow> <mo>(</mo> <mi>l</mi> <mo>-</mo> <mn>1</mn> <mo>)</mo> </mrow> <mo>+</mo> <mn>1</mn> <mo>,</mo> <mi>p</mi> <mo>&amp;NotEqual;</mo> <msub> <mi>p</mi> <mi>h</mi> </msub> </mrow> <mrow> <msub> <mover> <mi>p</mi> <mo>&amp;OverBar;</mo> </mover> <mi>h</mi> </msub> <mrow> <mo>(</mo> <mi>l</mi> <mo>)</mo> </mrow> </mrow> </munderover> <msubsup> <mi>b</mi> <mrow> <mi>n</mi> <mo>,</mo> <mi>p</mi> </mrow> <mn>0</mn> </msubsup> </mrow> </mtd> <mtd> <mrow> <mi>l</mi> <mo>&gt;</mo> <mn>1</mn> <mo>,</mo> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> <mi>n</mi> <mo>=</mo> <mn>1</mn> <mo>,</mo> <mn>2</mn> <mo>,</mo> <mo>...</mo> <mo>,</mo> <mover> <mi>N</mi> <mo>^</mo> </mover> </mrow>
HereRepresent that l is jumped correspondingIndividual hybrid matrix Column vector estimate；
6th step, estimates the corresponding carrier frequency of each jump, usesRepresent that l is jumped correspondingIt is individual Frequency estimation, calculation formula is as follows：
<mrow> <msub> <mover> <mi>f</mi> <mo>^</mo> </mover> <mrow> <mi>c</mi> <mo>,</mo> <mi>n</mi> </mrow> </msub> <mrow> <mo>(</mo> <mi>l</mi> <mo>)</mo> </mrow> <mo>=</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mfrac> <mn>1</mn> <mrow> <msub> <mover> <mi>p</mi> <mo>&amp;OverBar;</mo> </mover> <mi>h</mi> </msub> <mrow> <mo>(</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> </mfrac> <mo>&amp;CenterDot;</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>p</mi> <mo>=</mo> <mn>1</mn> <mo>,</mo> <mi>p</mi> <mo>&amp;NotEqual;</mo> <msub> <mi>p</mi> <mi>h</mi> </msub> </mrow> <mrow> <msub> <mover> <mi>p</mi> <mo>&amp;OverBar;</mo> </mover> <mi>h</mi> </msub> <mrow> <mo>(</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> </munderover> <msubsup> <mi>f</mi> <mi>o</mi> <mi>n</mi> </msubsup> <mrow> <mo>(</mo> <mi>p</mi> <mo>)</mo> </mrow> </mrow> </mtd> <mtd> <mrow> <mi>l</mi> <mo>=</mo> <mn>1</mn> <mo>,</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mfrac> <mn>1</mn> <mrow> <msub> <mover> <mi>p</mi> <mo>&amp;OverBar;</mo> </mover> <mi>h</mi> </msub> <mrow> <mo>(</mo> <mi>l</mi> <mo>)</mo> </mrow> <mo>-</mo> <msub> <mover> <mi>p</mi> <mo>&amp;OverBar;</mo> </mover> <mi>h</mi> </msub> <mrow> <mo>(</mo> <mi>l</mi> <mo>-</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> </mfrac> <mo>&amp;CenterDot;</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>p</mi> <mo>=</mo> <msub> <mover> <mi>p</mi> <mo>&amp;OverBar;</mo> </mover> <mi>h</mi> </msub> <mrow> <mo>(</mo> <mi>l</mi> <mo>-</mo> <mn>1</mn> <mo>)</mo> </mrow> <mo>+</mo> <mn>1</mn> <mo>,</mo> <mi>p</mi> <mo>&amp;NotEqual;</mo> <msub> <mi>p</mi> <mi>h</mi> </msub> </mrow> <mrow> <msub> <mover> <mi>p</mi> <mo>&amp;OverBar;</mo> </mover> <mi>h</mi> </msub> <mrow> <mo>(</mo> <mi>l</mi> <mo>)</mo> </mrow> </mrow> </munderover> <msubsup> <mi>f</mi> <mi>o</mi> <mi>n</mi> </msubsup> <mrow> <mo>(</mo> <mi>p</mi> <mo>)</mo> </mrow> </mrow> </mtd> <mtd> <mrow> <mi>l</mi> <mo>&gt;</mo> <mn>1</mn> <mo>,</mo> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> <mi>n</mi> <mo>=</mo> <mn>1</mn> <mo>,</mo> <mn>2</mn> <mo>,</mo> <mo>...</mo> <mo>,</mo> <mover> <mi>N</mi> <mo>^</mo> </mover> <mo>;</mo> </mrow>
The reception signal y (t) of the drive control device is expressed as：
Y (t)=x (t)+n (t)；
Wherein, x (t) is digital modulation signals, and n (t) is the impulsive noise that obedience standard S α S are distributed, and is adjusted for MASK and MPSK System, x (t) analytical form is expressed as：
In K signals, an=0,1,2 ..., M-1, M are order of modulation, in mpsk signal, an=ej2πε/M, ε=0,1,2 ..., M- 1, g (t) represents rectangle shaping pulse, TbRepresent symbol period, fcRepresent carrier frequency, carrier wave initial phaseIt is at [0,2 π] Interior equally distributed random number；For MFSK modulation, x (t) analytical form is expressed as：
Wherein, fmFor the offset of m-th of carrier frequency, if MFSK signals carrier shift is Δ f, fm=-(M-1) Δ f ,-(M-3) Δ f ..., (M-3) Δ f, (M-1) Δ f, carrier wave initial phaseIt is the equally distributed random number in [0,2 π]；
With single-chip microcomputer wired connection, the radio frequency transceiving module for receiving and sending wireless network signal；
The maximum that the radio frequency transceiving module calculates the GFRFT of the zero center normalization instantaneous amplitude of signal is characteristic quantity r1, carry out as follows：
Signal x (t) fraction Fourier conversion is calculated, its expression formula is：
<mrow> <msub> <mi>X</mi> <mi>&amp;theta;</mi> </msub> <mrow> <mo>(</mo> <mi>u</mi> <mo>)</mo> </mrow> <mo>=</mo> <msup> <mi>F</mi> <mi>&amp;theta;</mi> </msup> <mo>&amp;lsqb;</mo> <mi>x</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>&amp;rsqb;</mo> <mo>=</mo> <msubsup> <mo>&amp;Integral;</mo> <mrow> <mo>-</mo> <mi>&amp;infin;</mi> </mrow> <mrow> <mo>+</mo> <mi>&amp;infin;</mi> </mrow> </msubsup> <msub> <mi>K</mi> <mi>&amp;theta;</mi> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>,</mo> <mi>u</mi> <mo>)</mo> </mrow> <mi>x</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mi>d</mi> <mi>t</mi> <mo>;</mo> </mrow>
In formula, Kθ(t, u) is the kernel function of fraction Fourier conversion, and its expression formula is:
<mrow> <msub> <mi>K</mi> <mi>&amp;theta;</mi> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>,</mo> <mi>u</mi> <mo>)</mo> </mrow> <mo>=</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msqrt> <mfrac> <mrow> <mn>1</mn> <mo>-</mo> <mi>j</mi> <mi> </mi> <mi>cot</mi> <mrow> <mo>(</mo> <mi>&amp;theta;</mi> <mo>)</mo> </mrow> </mrow> <mrow> <mn>2</mn> <mi>&amp;pi;</mi> </mrow> </mfrac> </msqrt> <mi>exp</mi> <mo>&amp;lsqb;</mo> <mi>j</mi> <mfrac> <mrow> <msup> <mi>t</mi> <mn>2</mn> </msup> <mo>+</mo> <msup> <mi>u</mi> <mn>2</mn> </msup> </mrow> <mn>2</mn> </mfrac> <mi>cot</mi> <mrow> <mo>(</mo> <mi>&amp;theta;</mi> <mo>)</mo> </mrow> <mo>-</mo> <mi>j</mi> <mfrac> <mrow> <mi>u</mi> <mi>t</mi> </mrow> <mrow> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <mi>&amp;theta;</mi> <mo>)</mo> </mrow> </mrow> </mfrac> <mo>&amp;rsqb;</mo> </mrow> </mtd> <mtd> <mrow> <mi>&amp;theta;</mi> <mo>&amp;NotEqual;</mo> <mi>k</mi> <mi>&amp;pi;</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>&amp;delta;</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>-</mo> <mi>u</mi> <mo>)</mo> </mrow> </mrow> </mtd> <mtd> <mrow> <mi>&amp;theta;</mi> <mo>=</mo> <mn>2</mn> <mi>k</mi> <mi>&amp;pi;</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>&amp;delta;</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>+</mo> <mi>u</mi> <mo>)</mo> </mrow> </mrow> </mtd> <mtd> <mrow> <mi>&amp;theta;</mi> <mo>=</mo> <mrow> <mo>(</mo> <mn>2</mn> <mi>k</mi> <mo>+</mo> <mn>1</mn> <mo>)</mo> </mrow> <mi>&amp;pi;</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>;</mo> </mrow>
Wherein, k round numbers, FθRepresent θ angle Fourier Transform of Fractional Order operators, θ=p pi/2s be the anglec of rotation, p for rotation because Son, δ () is impulse function；In order to which the amplitude of Alpha Stable distritation noises is rationally mapped into finite interval, while making signal Phase keep it is constant, calculate signal Generalized fractional Fourier transformation (Generalized Fractional Fourier Transform, GFRFT), its expression formula is：
<mrow> <msub> <mi>GF</mi> <mi>&amp;theta;</mi> </msub> <mrow> <mo>(</mo> <mi>u</mi> <mo>)</mo> </mrow> <mo>=</mo> <msup> <mi>GF</mi> <mi>&amp;theta;</mi> </msup> <mo>&amp;lsqb;</mo> <mi>x</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>&amp;rsqb;</mo> <mo>=</mo> <msubsup> <mo>&amp;Integral;</mo> <mrow> <mo>-</mo> <mi>&amp;infin;</mi> </mrow> <mrow> <mo>+</mo> <mi>&amp;infin;</mi> </mrow> </msubsup> <msub> <mi>K</mi> <mi>&amp;theta;</mi> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>,</mo> <mi>u</mi> <mo>)</mo> </mrow> <mi>f</mi> <mrow> <mo>(</mo> <mi>x</mi> <mo>(</mo> <mi>t</mi> <mo>)</mo> <mo>)</mo> </mrow> <mi>d</mi> <mi>t</mi> <mo>;</mo> </mrow>
Wherein,For a nonlinear transformation, H () is Hilbert transform；
The amplitude of i-th reception signal is a (i), NsIndividual groups of samples is into a frame, then the zero center normalizing based on GFRFT Change instantaneous amplitude spectrum density maximum be：
γmax=max | GFRFT [acn(i),p]|2/Ns；
In formula,For instantaneous amplitude a (i) average value；P is Fourier Transform of Fractional Order Exponent number；With average to be to the purpose that instantaneous amplitude is normalized in order to eliminate the influence of channel gain；
With drive control device wired connection, the drilling equipment for drilling；
With drive control device wired connection, the cleaning device for cleaning wound；
With drive control device wired connection, the cable capture device for producing cable；
With drive control device wired connection, the fastener for being fastened and fixed nail；
With radio frequency transceiving module by GPRS wireless network wireless connections, the external server for data storage.
2. it is used for the cable formula inner fixing device of orthopaedics as claimed in claim 1, it is characterised in that the display is specially Light-emitting diode display.
3. it is used for the cable formula inner fixing device of orthopaedics as claimed in claim 1, it is characterised in that institute's displacement sensors are set Put on drilling equipment.
4. it is used for the cable formula inner fixing device of orthopaedics as claimed in claim 1, it is characterised in that the drive of the drilling equipment Dynamic motor is specially stepper motor.
CN201710424508.8A 2017-06-07 2017-06-07 A kind of cable formula inner fixing device for orthopaedics Pending CN107049464A (en)

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CN106137359A (en) * 2016-07-22 2016-11-23 张立沼 A kind of orthopaedics lock screw
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