CN108670384A - A kind of prescribed parameters optimization method of parallel connection type exter-nal fixer - Google Patents
A kind of prescribed parameters optimization method of parallel connection type exter-nal fixer Download PDFInfo
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Abstract
The invention discloses a kind of prescribed parameters optimization methods of parallel connection type exter-nal fixer, belong to field of medical device.The method includes：Determine the corresponding points in mobile bone section；According to the movement locus of the corresponding points in the mobile bone section, prescribed parameters are obtained；According to optimal index, the prescribed parameters are optimized, obtain the prescribed parameters after optimization.It avoids mobile position of bone appearance point and irregular broken line movement caused patient pain is presented during adjusting drive rod, and the problem that risk is larger is conducive to the rehabilitation of patient to the patient comfort improved.
Description
Technical field
The present invention relates to field of medical device, more particularly to a kind of prescribed parameters optimization side of parallel connection type exter-nal fixer
Method.
Background technology
In the treatment and rehabilitation course of patient, parallel connection type exter-nal fixer moving platform is fixedly mounted in mobile bone section,
Constitute an entirety.Mobile bone is done relative to the resetting movement with reference to bone under the drive of moving platform.To realize the health of patient
It is multiple.
In actual use, the non-linear of parallel connection type exter-nal fixer causes to carry out according to existing prescribed parameters
During adjusting, since irregular broken line movement is presented in the reset track of mobile bone, it is possible that causing to around soft group
It knits and neurovascular secondary damage improves the financial burden of patient to increase treatment cycle.And it is this irregular non-
Linear movement and daily drive rod regulated quantity is uneven that fixator is caused to stretch bone, muscle, neural group in moving process
Knitting long makes patient pain unbearably.
Invention content
In order to solve problems in the prior art, an embodiment of the present invention provides a kind of prescription of parallel connection type exter-nal fixer ginsengs
Number optimization method.The technical solution is as follows：
A kind of prescribed parameters optimization method of parallel connection type exter-nal fixer is provided, the exter-nal fixer includes multiple drivings
Bar, including：
Determine the corresponding points in mobile bone section；
According to the movement locus of the corresponding points in the mobile bone section, prescribed parameters are obtained；
According to optimal index, the prescribed parameters are optimized, obtain the prescribed parameters after optimization；
The wherein described optimal index includes the fitness highest of the prescribed parameters；The prescribed parameters are described for adjusting
The length of drive rod.
With reference to first aspect, in the first possible implementation, the corresponding points in the determining mobile bone section include：
From the initial parameter included by image data, the corresponding points that doctor is marked in the image data are obtained.
The possible realization method of with reference to first aspect the first, in second of possible realization method, the basis
The movement locus of the corresponding points in the mobile bone section, obtaining prescribed parameters includes：
Establish the mathematical model of parallel connection type exter-nal fixer executing agency；The mathematical model is for describing the shifting
Location information and movable information of the dynamic bone in three dimensions；
Straight path planning is carried out to the mobile bone section by rectangular co-ordinate path clustering method, obtains the mobile bone section
Position and attitude parameter；
According to the position and attitude parameter of the mobile bone section, the length parameter of the multiple drive rod is obtained.
Second of possible realization method with reference to first aspect, in the third possible realization method, the foundation
The corresponding mathematical model of parallel connection type exter-nal fixer executing agency includes：
Local coordinate system { B } is established by origin of reference rings center, local coordinate system is established using shift(ing) ring center as origin
{ P }, to be that origin establishes global coordinate system { U } with reference to " starting point " of bone section；
Read the initial value of parallel connection type exter-nal fixer six roots of sensation drive rod bar length：L1、L2、L3、L4、L5、L6, just using pose
Resolving Algorithm calculates initial pose of the moving platform (shift(ing) ring) relative to silent flatform (with reference to ring), uses position auto―controlIt indicates：
In formula,Indicate pose transformation matrix of the moving platform coordinate { P } relative to silent flatform coordinate { B },3P4It indicates { P }
Position of the coordinate origin relative to { B } coordinate system；
Measure positive bit image, the angle of side bit image is multiple axial accumulated angles, wherein set around fixing axle X-Y-Z
Corner be α ', β ' and γ ', obtained from the lopsided parameter of measurement：
In formula, c α=cos α, s α=sin α, c β=cos β, s β=sin β, c γ=cos γ, s γ=sin γ
It enables
Simultaneous formula (2) and (3) obtainThe result of solution is as follows：
(1) β ' ≠ 0 item cos：
α '=Atan2 (r23,r33)
γ '=Atan2 (r12,r11)
(2) β '=± 90 ° then：
α '=0
γ '=± Atan2 (r21,r22)
Wherein, the symbol of Atan2 (y, x) expressions bivariate arctan function, x and y determine the quadrant where angle, above formula
Solve [a', β ', γ ']TAs rotation amount of the exter-nal fixer around X, Y, Z axis in practice.
It obtains using relative to the position auto―control with reference to bone with reference to ring from the frame parameter of measurementIt indicates, is moved
Ring is relative to the position auto―control with reference to bone：
It will be fitted to using local coordinate system { P }, { V } that corresponding points are established as origin described in shift(ing) ring center, mobile bone section
Global coordinate system obtains position auto―control of [x y z α ', β ', the γ '] shift(ing) ring relative to mobile bone:
In formula,Indicate that mobile bone photo for the position auto―control with reference to bone, is made of variable [x y z α ', β ', γ '],
In [x y z] and [α ', β ', γ '] indicate the displacement bias of the corresponding points in three directions relative to " starting point " respectively
Amount and the rotation angle in three directions.
The third possible realization method with reference to first aspect, it is described to pass through in the 4th kind of possible realization method
Rectangular co-ordinate path clustering method carries out straight path planning to the mobile bone section, obtains the position and attitude ginseng of the mobile bone section
Number includes：
Straight path planning is carried out to mobile bone using rectangular co-ordinate path clustering method：
Planning to track includes two parts in position and posture, and the corresponding points coordinate system is along straight line path in treatment week
By initial pose point P in phase T0Move to final pose point PT, each node homogeneous transform matrix between two pose points
It indicates：
The corresponding points are from P0It is moved to PTThe posture of coordinate is by R0Go to RT, the corresponding points and " starting point " are heavy at this time
Both lopsided knitting are closed, it is the time required to moment t will also carry out residual movement, to have for uniform motion to enable λ (t)：
Wherein, the time required to T is this section of track (treatment cycle), t is the time counted by this section of track starting point, then moves
The coordinate system of bone is expressed with two following formulas respectively in the position of t moment and posture：
P (t)=pT-λ(t)(pT-p0) (8)
R (t)=RTRot[n,-θλ(t)] (9)
Wherein, Rot (n, θ) is mobile bone coordinate posture by R0Switch to RTAnd n turns the rotation at the angles θ around the shaft.
Using the pose point of formula (8) and (9) every day that calculates mobile bone in moving process, to need that bone photo will be moved
For being equivalent to turn the rotation at the angles θ around K in the rotation of X-Y-Z axis directions with reference to bone：
K=kxi+kyj+kzκ
Wherein, K indicates that zeroaxial vector, then the spin matrix R (K, θ) for turning the angles θ around K are expressed as：
In formula, s θ=sin θ, c θ=cos θ, vers θ=(1-cos θ)
It enables
Wherein, R from mobile bone photo for the position auto―control with reference to boneMiddle export, contact formula (10)-(11) then have：
The 4th kind of possible realization method with reference to first aspect, in the 5th kind of possible realization method, the basis
The position and attitude parameter of the mobile bone section, the length parameter for obtaining the multiple drive rod include：
The Equivalent Axis found out using second step vertical (8)-(9) in parallel with effective rotation derives that shift(ing) ring is being moved through
Relative to the pose with reference to bone every day in journey：
Wherein, W is made of daily location matrix p (t) and attitude matrix R (K, λ (t) θ), in the pose for obtaining every day
The laggard anti-solution of line position appearance of matrix can be obtained prescription, and so far the process according to the Converse solved prescription of straight-line trajectory is all complete
At.
The 5th kind of possible realization method with reference to first aspect, in the 6th kind of possible realization method, the basis
Optimal index optimizes the prescribed parameters, obtains the prescribed parameters after optimization and includes：
Binary coding is carried out to multiple prescribed parameters, obtains the prescribed parameters after multiple codings；
The group of prescribed parameters composition after the multiple coding is initialized；
The individual adaptation degree of the prescribed parameters in the group after all codings is calculated, acquisition meets preset condition
Prescribed parameters after coding：
Prescribed parameters after the coding for meeting preset condition are intersected, are made a variation, progeny population is obtained；
Iterations are set, the prescribed parameters after genetic decoding is optimized are carried out to the progeny population.
The 6th kind of possible realization method with reference to first aspect, in the 7th kind of possible realization method, the calculating
The individual adaptation degree of prescribed parameters in the group after all codings, acquisition meet the prescription after the coding of preset condition
Parameter includes：
The fitness that the prescribed parameters in sample { N } after all codings are calculated according to the optimizing index, constructs such as thus
Under fitness function：
Fi=c-fi
Wherein, c is that constant takes c=100, F hereiniIndicate the fitness value of each individual, fiFor the prescription after each coding
The index value of parameter, the then probability that each individual is selected are expressed as：
For the law of nature of the simulation nature survival of the fittest, we are using the method for roulette to the prescribed parameters after coding
Individual screened until obtain it is N number of meet the coding of preset condition after prescribed parameters.
The 7th kind of possible realization method with reference to first aspect, it is described to institute in the 8th kind of possible realization method
It states the prescribed parameters after meeting the coding of preset condition to be intersected, made a variation, obtaining progeny population includes：
Prescribed parameters after the coding for meeting preset condition are subjected to random pair；
According to the crossover probability P of settingcWith aberration rate pm" chromosome " (binary sequence number) recombination is carried out to obtain intersecting change
Genes of individuals sequence after different；
Filtering repeats and the genes of individuals sequence of exception, obtains progeny population.
The 8th kind of possible realization method with reference to first aspect, in the 9th kind of possible realization method, the setting
Iterations, the prescribed parameters after genetic decoding is optimized are carried out to the progeny population includes：
Iterations are set；
Prescribed parameters after the coding for being included to progeny population are decoded and calculate fitness value；
Retain fitness value and meet the prescribed parameters after the coding of preset condition as new progeny population, execute it is described will
The step of prescribed parameters after the coding for meeting preset condition carry out random pair；
Until completing the iterations.
The invention discloses a kind of prescribed parameters optimization method of parallel connection type exter-nal fixer, the method includes：It determines
Corresponding points in mobile bone section；According to the movement locus of the corresponding points in the mobile bone section, prescribed parameters are obtained；According to most
Excellent index optimizes the prescribed parameters, obtains the prescribed parameters after optimization.It avoids mobile position of bone appearance point and is adjusting drive
The patient pain caused by irregular broken line movement, and the problem that risk is larger are presented during lever, to what is improved
Patient comfort is conducive to the rehabilitation of patient.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, obtained also according to these attached drawings other
Attached drawing shall fall within the protection scope of the present invention.
Fig. 1 is a kind of prescribed parameters optimization method flow chart of parallel connection type exter-nal fixer provided in an embodiment of the present invention；
Fig. 2 is a kind of prescribed parameters optimization method flow chart of parallel connection type exter-nal fixer provided in an embodiment of the present invention.
Specific implementation mode
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached in the embodiment of the present invention
Figure, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only this
Invention a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art exist
The every other embodiment obtained under the premise of creative work is not made, shall fall within the protection scope of the present invention.
Embodiment one
An embodiment of the present invention provides a kind of prescribed parameters optimization methods of parallel connection type exter-nal fixer, shown referring to Fig.1,
Method includes：
101, the corresponding points in mobile bone section are determined.
102, according to the movement locus of the corresponding points in mobile bone section, prescribed parameters are obtained.
103, according to optimal index, prescribed parameters are optimized, obtain the prescribed parameters after optimization.
Wherein optimal index includes the fitness highest of prescribed parameters；Prescribed parameters are used to adjust the length of drive rod.
Optionally, determine that the corresponding points in mobile bone section include：
From the initial parameter included by image data, the corresponding points that doctor is marked in the image data are obtained.
Optionally, according to the movement locus of the corresponding points in mobile bone section, obtaining prescribed parameters includes：
Establish the mathematical model of parallel connection type exter-nal fixer executing agency；Mathematical model is for describing mobile bone in three-dimensional space
Between location information and movable information；
Straight path planning is carried out to mobile bone section by rectangular co-ordinate path clustering method, obtains the position appearance of mobile bone section
State parameter；
According to the position and attitude parameter of mobile bone section, the length parameter of multiple drive rods is obtained.
Optionally, establishing the mathematical model corresponding to parallel connection type exter-nal fixer executing agency includes：
Local coordinate system { B } is established by origin of reference rings center, local coordinate system is established using shift(ing) ring center as origin
{ P }, to be that origin establishes global coordinate system { U } with reference to " starting point " of bone section；
Read the initial value of parallel connection type exter-nal fixer six roots of sensation drive rod bar length：L1、L2、L3、L4、L5、L6, just using pose
Resolving Algorithm calculates initial pose of the moving platform (shift(ing) ring) relative to silent flatform (with reference to ring), uses position auto―controlIt indicates：
In formula,Indicate pose transformation matrix of the moving platform coordinate { P } relative to silent flatform coordinate { B },3P4It indicates { P }
Position of the coordinate origin relative to { B } coordinate system；
Measure positive bit image, the angle of side bit image is multiple axial accumulated angles, wherein set around fixing axle X-Y-Z
Corner be α ', β ' and γ ', obtained from the lopsided parameter of measurement：
In formula, c α=cos α, s α=sin α, c β=cos β, s β=sin β, c γ=cos γ, s γ=sin γ
It enables
Simultaneous formula (2) and (3) obtainThe result of solution is as follows：
(1) β ' ≠ 0 item cos：
α '=Atan2 (r23,r33)
γ '=Atan2 (r12,r11)
(2) β '=± 90 ° then：
α '=0
γ '=± Atan2 (r21,r22)
Wherein, the symbol of Atan2 (y, x) expressions bivariate arctan function, x and y determine the quadrant where angle, above formula
Solve [a', β ', γ ']TAs rotation amount of the exter-nal fixer around X, Y, Z axis in practice.
It obtains using relative to the position auto―control with reference to bone with reference to ring from the frame parameter of measurementIt indicates, is moved
Ring is for the position auto―control with reference to bone：
It will be fitted to using local coordinate system { P }, { V } that corresponding points are established as origin described in shift(ing) ring center, mobile bone section
Global coordinate system obtains position auto―control of the shift(ing) ring relative to mobile bone:
In formula,Indicate that mobile bone photo for the position auto―control with reference to bone, is made of variable [x y z α ', β ', γ '],
In [x y z] and [α ', β ', γ '] indicate the displacement bias of the corresponding points in three directions relative to " starting point " respectively
Amount and the rotation angle in three directions.
Optionally, straight path planning is carried out to mobile bone section by rectangular co-ordinate path clustering method, obtains mobile bone section
Position and attitude parameter include：
Straight path planning is carried out to mobile bone using rectangular co-ordinate path clustering method：
Planning to track includes two parts in position and posture, and the corresponding points coordinate system is along straight line path in treatment week
By initial pose point P in phase T0Move to final pose point PT, each node homogeneous transform matrix between two pose points
It indicates：
The corresponding points are from P0It is moved to PTThe posture of coordinate is by R0Go to RT, the corresponding points and " starting point " are heavy at this time
Both lopsided knitting are closed, it is the time required to moment t will also carry out residual movement, to have for uniform motion to enable λ (t)：
Wherein, the time required to T is this section of track (treatment cycle), t is the time counted by this section of track starting point, then moves
The coordinate system of bone is expressed with two following formulas respectively in the position of t moment and posture：
P (t)=pT-λ(t)(pT-p0) (8)
R (t)=RTRot[n,-θλ(t)] (9)
Wherein, Rot (n, θ) is mobile bone coordinate posture by R0Switch to RTAnd n turns the rotation at the angles θ around the shaft.
Using the pose point of formula (8) and (9) every day that calculates mobile bone in moving process, to need that bone photo will be moved
For being equivalent to turn the rotation at the angles θ around K in the rotation of X-Y-Z axis directions with reference to bone：
K=kxi+kyj+kzκ
Wherein, K indicates zeroaxial vector, then sets and turn the spin matrix R (K, θ) at the angles θ around K and be expressed as：
In formula, s θ=sin θ, c θ=cos θ, vers θ=(1-cos θ)
It enables
Wherein, R from mobile bone photo for the position auto―control with reference to boneMiddle export, contact formula (10)-(11) then have：
Optionally, according to the position and attitude parameter of mobile bone section, the length parameter for obtaining multiple drive rods includes：
The Equivalent Axis found out using second step vertical (8)-(9) in parallel with effective rotation derives that shift(ing) ring is being moved through
Relative to the pose with reference to bone every day in journey：
Wherein, W is made of daily location matrix p (t) and attitude matrix R (K, λ (t) θ), in the pose for obtaining every day
The laggard anti-solution of line position appearance of matrix can be obtained prescription, and so far the process according to the Converse solved prescription of straight-line trajectory is all complete
At.
Optionally, according to optimal index, prescribed parameters are optimized, obtaining the prescribed parameters after optimization includes：
Binary coding is carried out to multiple prescribed parameters, obtains the prescribed parameters after multiple codings；
The group of prescribed parameters composition after multiple codings is initialized；
The individual adaptation degree of the prescribed parameters in group after all codings is calculated, after acquisition meets the coding of preset condition
Prescribed parameters：
Intersected to meeting the prescribed parameters after the coding of preset condition, made a variation, obtains progeny population；
Iterations are set, the prescribed parameters after genetic decoding is optimized are carried out to progeny population.
Optionally, the individual adaptation degree of the prescribed parameters in group after all codings is calculated, acquisition meets preset condition
Prescribed parameters after coding include：
The fitness of the prescribed parameters in sample { N } after all codings is calculated according to optimizing index, is constructed thus as follows
Fitness function：
Fi=c-fi
Wherein, c is that constant takes c=100, F hereiniIndicate the fitness value of each individual, fiFor the prescription after each coding
The index value of parameter, the then probability that each individual is selected are expressed as：
For the law of nature of the simulation nature survival of the fittest, we are using the method for roulette to the prescribed parameters after coding
Individual screened until obtain it is N number of meet the coding of preset condition after prescribed parameters.
Optionally, intersected to meeting the prescribed parameters after the coding of preset condition, made a variation, obtain progeny population packet
It includes：
The prescribed parameters after the coding of preset condition will be met and carry out random pair；
According to the crossover probability P of settingcWith aberration rate pm" chromosome " (binary sequence number) recombination is carried out to obtain intersecting change
Genes of individuals sequence after different；
Filtering repeats and the genes of individuals sequence of exception, obtains progeny population.
Optionally, iterations are set, the prescribed parameters after genetic decoding is optimized are carried out to progeny population includes：
Iterations are set；
Prescribed parameters after the coding for being included to progeny population are decoded and calculate fitness value；
Retain fitness value and meet the prescribed parameters after the coding of preset condition as new progeny population, executing will meet
The step of prescribed parameters after the coding of preset condition carry out random pair；
Until completing iterations.
The invention discloses a kind of prescribed parameters optimization method of parallel connection type exter-nal fixer, the method includes：It determines
Corresponding points in mobile bone section；According to the movement locus of the corresponding points in the mobile bone section, prescribed parameters are obtained；According to most
Excellent index optimizes the prescribed parameters, obtains the prescribed parameters after optimization.It avoids mobile position of bone appearance point and is adjusting drive
The patient pain caused by irregular broken line movement, and the problem that risk is larger are presented during lever, to what is improved
Patient comfort is conducive to the rehabilitation of patient.
Embodiment two
An embodiment of the present invention provides a kind of prescribed parameters optimization methods of parallel connection type exter-nal fixer, shown referring to Fig.1,
Method includes：
201, the corresponding points in mobile bone section are determined.
Specifically, from the initial parameter included by image data, obtain what doctor was marked in the image data
Corresponding points.
202, the mathematical model of parallel connection type exter-nal fixer executing agency is established；Mathematical model is for describing mobile bone three
The location information and movable information of dimension space；
Specifically, establishing local coordinate system { B } by origin of reference rings center, part is established by origin of shift(ing) ring center
Coordinate system { P }, to be that origin establishes global coordinate system { U } with reference to " starting point " of bone section；
Read the initial value of parallel connection type exter-nal fixer six roots of sensation drive rod bar length：L1、L2、L3、L4、L5、L6, just using pose
Resolving Algorithm calculates initial pose of the moving platform (shift(ing) ring) relative to silent flatform (with reference to ring), uses position auto―controlIt indicates：
In formula,Indicate pose transformation matrix of the moving platform coordinate { P } relative to silent flatform coordinate { B },3P4It indicates { P }
Position of the coordinate origin relative to { B } coordinate system；
Measure positive bit image, the angle of side bit image is multiple axial accumulated angles, wherein set around fixing axle X-Y-Z
Corner be α ', β ' and γ ', obtained from the lopsided parameter of measurement：
In formula, c α=cos α, s α=sin α, c β=cos β, s β=sin β, c γ=cos γ, s γ=sin γ
It enables
Simultaneous formula (2) and (3) obtainThe result of solution is as follows：
(1) β ' ≠ 0 item cos：
α '=Atan2 (r23,r33)
γ '=Atan2 (r12,r11)
(2) β '=± 90 ° then：
α '=0
γ '=± Atan2 (r21,r22)
Wherein, the symbol of Atan2 (y, x) expressions bivariate arctan function, x and y determine the quadrant where angle, above formula
Solve [a', β ', γ ']TAs rotation amount of the exter-nal fixer around X, Y, Z axis in practice.
It obtains using relative to the position auto―control with reference to bone with reference to ring from the frame parameter of measurementIt indicates, is moved
Ring is relative to the position auto―control with reference to bone：
It will be fitted to using local coordinate system { P }, { V } that corresponding points are established as origin described in shift(ing) ring center, mobile bone section
Global coordinate system obtains position auto―control of the shift(ing) ring relative to mobile bone:
In formula,Indicate that mobile bone photo for the position auto―control with reference to bone, is made of variable [x y z α ', β ', γ '],
In [x y z] and [α ', β ', γ '] indicate the displacement bias of the corresponding points in three directions relative to " starting point " respectively
Amount and the rotation angle in three directions.
203, straight path planning is carried out to mobile bone section by rectangular co-ordinate path clustering method, obtains the position of mobile bone section
Set attitude parameter；
Specifically, carrying out straight path planning to mobile bone using rectangular co-ordinate path clustering method：
Planning to track includes two parts in position and posture, and the corresponding points coordinate system is along straight line path in treatment week
By initial pose point P in phase T0Move to final pose point PT, each node homogeneous transform matrix between two pose points
It indicates：
The corresponding points are from P0It is moved to PTThe posture of coordinate is by R0Go to RT, the corresponding points and " starting point " are heavy at this time
Both lopsided knitting are closed, it is the time required to moment t will also carry out residual movement, to have for uniform motion to enable λ (t)：
Wherein, the time required to T is this section of track (treatment cycle), t is the time counted by this section of track starting point, then moves
The coordinate system of bone is expressed with two following formulas respectively in the position of t moment and posture：
P (t)=pT-λ(t)(pT-p0) (8)
R (t)=RTRot[n,-θλ(t)] (9)
Wherein, Rot (n, θ) is mobile bone coordinate posture by R0Switch to RTAnd n turns the rotation at the angles θ around the shaft.
Using the pose point of formula (8) and (9) every day that calculates mobile bone in moving process, to need that bone photo will be moved
For being equivalent to turn the rotation at the angles θ around K in the rotation of X-Y-Z axis directions with reference to bone：
K=kxi+kyj+kzκ
Wherein, K indicates that zeroaxial vector, then the spin matrix R (K, θ) for turning the angles θ around K are expressed as：
In formula, s θ=sin θ, c θ=cos θ, vers θ=(1-cos θ)
It enables
Wherein, R from mobile bone photo for the position auto―control with reference to boneMiddle export, contact formula (10)-(11) then have：
204, according to the position and attitude parameter of mobile bone section, the length parameter of multiple drive rods is obtained.
The Equivalent Axis found out using second step vertical (8)-(9) in parallel with effective rotation derives that shift(ing) ring is being moved through
Relative to the pose with reference to bone every day in journey：
Wherein, W is made of daily location matrix p (t) and attitude matrix R (K, λ (t) θ), in the pose for obtaining every day
The laggard anti-solution of line position appearance of matrix can be obtained prescription, and so far the process according to the Converse solved prescription of straight-line trajectory is all complete
At.
It is worth noting that, step 202 to step 204 is the movement rail realized according to the corresponding points in mobile bone section
Mark obtains the process of prescribed parameters, and other than the mode of above-mentioned steps, this can realize the process by other means, this
Inventive embodiments are not limited specific mode.
205, binary coding is carried out to multiple prescribed parameters, obtains the prescribed parameters after multiple codings；
206, the group of the prescribed parameters composition after multiple codings is initialized；
207, the individual adaptation degree for calculating the prescribed parameters in group after all codings, obtains the coding for meeting preset condition
Prescribed parameters afterwards：
Specifically, calculating the fitness of the prescribed parameters in sample { N } after all codings according to optimizing index, construct thus
Following fitness function：
Fi=c-fi
Wherein, c is that constant takes c=100, F hereiniIndicate the fitness value of each individual, fiFor the prescription after each coding
The index value of parameter, the then probability that each individual is selected are expressed as：
For the law of nature of the simulation nature survival of the fittest, we are using the method for roulette to the prescribed parameters after coding
Individual screened until obtain it is N number of meet the coding of preset condition after prescribed parameters.
208, intersected to meeting the prescribed parameters after the coding of preset condition, made a variation, obtain progeny population；
Specifically, carrying out random pair by the prescribed parameters after the coding of preset condition are met；
According to the crossover probability P of settingcWith aberration rate pm" chromosome " (binary sequence number) recombination is carried out to obtain intersecting change
Genes of individuals sequence after different；
Filtering repeats and the genes of individuals sequence of exception, obtains progeny population.
209, iterations are set, the prescribed parameters after genetic decoding is optimized are carried out to progeny population.
Specifically, setting iterations；
Prescribed parameters after the coding for being included to progeny population are decoded and calculate fitness value；
Retain fitness value and meet the prescribed parameters after the coding of preset condition as new progeny population, executing will meet
The step of prescribed parameters after the coding of preset condition carry out random pair；
Until completing iterations.
It is worth noting that, step 205 to step 209 is realized according to optimal index, prescribed parameters are optimized, are obtained
The process for taking the prescribed parameters after optimization, other than the mode of above-mentioned steps, also to realize the process by other means, this
Inventive embodiments are not limited specific mode.
The optimal index of the embodiment of the present invention includes the fitness highest of prescribed parameters；Prescribed parameters are for adjusting drive rod
Length.
The invention discloses a kind of prescribed parameters optimization method of parallel connection type exter-nal fixer, the method includes：It determines
Corresponding points in mobile bone section；According to the movement locus of the corresponding points in the mobile bone section, prescribed parameters are obtained；According to most
Excellent index optimizes the prescribed parameters, obtains the prescribed parameters after optimization.It avoids mobile position of bone appearance point and is adjusting drive
The patient pain caused by irregular broken line movement, and the problem that risk is larger are presented during lever, to what is improved
Patient comfort is conducive to the rehabilitation of patient.
Above-mentioned all optional technical solutions form the alternative embodiment of the present invention using any combination, herein no longer one by one
It repeats.
The foregoing is merely a prefered embodiment of the invention, is not intended to limit the invention, all in the spirit and principles in the present invention
Within, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of prescribed parameters optimization method of parallel connection type exter-nal fixer, the exter-nal fixer include multiple drive rods,
It is characterized in that：
Determine the corresponding points in mobile bone section；
According to the movement locus of the corresponding points in the mobile bone section, prescribed parameters are obtained；
According to optimal index, the prescribed parameters are optimized, obtain the prescribed parameters after optimization；
The wherein described optimal index includes the fitness highest of the prescribed parameters；The prescribed parameters are for adjusting the driving
The length of bar.
2. according to the method described in claim 1, it is characterized in that, the corresponding points in the determining mobile bone section include：
From the initial parameter included by image data, the corresponding points that doctor is marked in the image data are obtained.
3. according to the method described in claim 2, it is characterized in that, the fortune according to the corresponding points in the mobile bone section
Dynamic rail mark, obtaining prescribed parameters includes：
Establish the corresponding mathematical model of parallel connection type exter-nal fixer executing agency；The mathematical model is for describing the shifting
The location information and movable information in three dimensions of dynamic bone；
Straight path planning is carried out to the mobile bone section by rectangular co-ordinate path clustering method, obtains the position of the mobile bone section
Set attitude parameter；
According to the position and attitude parameter of the mobile bone section, the length parameter of the multiple drive rod is obtained.
4. according to the method described in claim 3, it is characterized in that, the execution machine for establishing the parallel connection type exter-nal fixer
The corresponding mathematical model of structure includes：
Local coordinate system { B } is established by origin of reference rings center, local coordinate system { P } is established by origin of shift(ing) ring center,
To be that origin establishes global coordinate system { U } with reference to " starting point " of bone section；
Read the initial value of parallel connection type exter-nal fixer six roots of sensation drive rod bar length：L1、L2、L3、L4、L5、L6, calculated using direct position analysis
Method calculates initial pose of the moving platform (shift(ing) ring) relative to silent flatform (with reference to ring), uses position auto―controlIt indicates：
In formula,Indicate pose transformation matrix of the moving platform coordinate { P } relative to silent flatform coordinate { B },3P4Indicate that { P } coordinate is former
Position of the point relative to { B } coordinate system；
Measure positive bit image, the angle of side bit image is multiple axial accumulated angles, wherein set and turn around fixing axle X-Y-Z
Angle is α ', β ' and γ ', is obtained from the lopsided parameter of measurement：
In formula, c α=cos α, s α=sin α, c β=cos β, s β=sin β, c γ=cos γ, s γ=sin γ
It enables
Simultaneous formula (2) and (3) obtainThe result of solution is as follows：
(1) β ' ≠ 0 item cos：
α '=Atan2 (r23,r33)
γ '=Atan2 (r12,r11)
(2) β '=± 90 ° then：
α '=0
γ '=± Atan2 (r21,r22)
Wherein, the symbol of Atan2 (y, x) expressions bivariate arctan function, x and y determine that the quadrant where angle, above formula solve
[a', β ', γ ']TAs rotation amount of the exter-nal fixer around X, Y, Z axis in practice.
It obtains using relative to the position auto―control with reference to bone with reference to ring from the frame parameter of measurementIt indicates, obtains shift(ing) ring phase
For the position auto―control with reference to bone：
It will be fitted to the overall situation using local coordinate system { P }, { V } that corresponding points are established as origin described in shift(ing) ring center, mobile bone section
Coordinate system obtains position auto―control of the shift(ing) ring relative to mobile bone:
In formula,Indicate that mobile bone photo for the position auto―control with reference to bone, is made of, wherein [x variable [x y z α ', β ', γ ']
Y z] and [α ', β ', γ '] indicate respectively the corresponding points relative to " starting point " shift offset in three directions and
Rotation angle in three directions.
5. according to the method described in claim 4, it is characterized in that, it is described by rectangular co-ordinate path clustering method to the movement
Bone section carries out straight path planning, and the position and attitude parameter for obtaining the mobile bone section includes：
Straight path planning is carried out to mobile bone using rectangular co-ordinate path clustering method：
Planning to track includes two parts in position and posture, and the corresponding points coordinate system is along straight line path in treatment cycle T
It is interior by initial pose point P0Move to final pose point PT, each node homogeneous transform matrix table between two pose points
Show：
The corresponding points are from P0It is moved to PTThe posture of coordinate is by R0Go to RT, at this time the corresponding points overlapped with " starting point " both abnormal
Shape knitting, it is the time required to moment t will also carry out residual movement, to have for uniform motion to enable λ (t)：
Wherein, the time required to T is this section of track (treatment cycle), t is the time counted by this section of track starting point, then moves bone
Coordinate system is expressed with two following formulas respectively in the position of t moment and posture：
P (t)=pT-λ(t)(pT-p0) (8)
R (t)=RTRot[n,-θλ(t)] (9)
Wherein, Rot (n, θ) is mobile bone coordinate posture by R0Switch to RTAnd n turns the rotation at the angles θ around the shaft.
For using the pose point of formula (8) and (9) every day that calculates mobile bone in moving process, need to move bone photo for
It is equivalent in the rotation of X-Y-Z axis directions turn the rotation at the angles θ around K with reference to bone：
K=kxi+kyj+kzκ
Wherein, K indicates that zeroaxial vector, then the spin matrix R (K, θ) for turning the angles θ around K are expressed as：
In formula, s θ=sin θ, c θ=cos θ, vers θ=(1-cos θ)
It enables
Wherein, R from mobile bone photo for the position auto―control with reference to boneMiddle export, contact formula (10)-(11) then have：
6. according to the method described in claim 5, it is characterized in that, the position and attitude parameter according to the mobile bone section,
The length parameter for obtaining the multiple drive rod includes：
The Equivalent Axis found out using second step vertical (8)-(9) in parallel with effective rotation derives shift(ing) ring in moving process
Relative to the pose with reference to bone every day：
Wherein, W is made of daily location matrix p (t) and attitude matrix R (K, λ (t) θ), in the position auto―control for obtaining every day
The laggard anti-solution of line position appearance can be obtained prescription, is so far fully completed according to the process of the Converse solved prescription of straight-line trajectory.
7. according to the method described in claim 6, it is characterized in that, described according to optimal index, the prescribed parameters are carried out
Optimization, obtaining the prescribed parameters after optimization includes：
Binary coding is carried out to multiple prescribed parameters, obtains the prescribed parameters after multiple codings；
The group of prescribed parameters composition after the multiple coding is initialized；
The individual adaptation degree of the prescribed parameters in the group after all codings is calculated, the coding for meeting preset condition is obtained
Prescribed parameters afterwards：
Prescribed parameters after the coding for meeting preset condition are intersected, are made a variation, progeny population is obtained；
Iterations are set, the prescribed parameters after genetic decoding is optimized are carried out to the progeny population.
8. the method according to the description of claim 7 is characterized in that the place calculated in the group after all codings
The individual adaptation degree of square parameter, obtaining the prescribed parameters after meeting the coding of preset condition includes：
The fitness of the prescribed parameters in sample { N } after all codings is calculated according to the optimizing index, is constructed thus as follows
Fitness function：
Fi=c-fi
Wherein, c is that constant takes c=100, F hereiniIndicate the fitness value of each individual, fiFor the prescribed parameters after each coding
Index value, then the selected probability of each individual be expressed as：
For the law of nature of the simulation nature survival of the fittest, we are using the method for roulette to the prescribed parameters individual after coding
Screened until obtain it is N number of meet the coding of preset condition after prescribed parameters.
9. according to the method described in claim 8, it is characterized in that, the prescription to after the coding for meeting preset condition
Parameter is intersected, is made a variation, and is obtained progeny population and is included：
Prescribed parameters after the coding for meeting preset condition are subjected to random pair；
According to the crossover probability P of settingcWith aberration rate pmAfter progress " chromosome " (binary sequence number) recombination obtains cross and variation
Genes of individuals sequence；
Filtering repeats and the genes of individuals sequence of exception, obtains progeny population.
10. according to the method described in claim 9, it is characterized in that, the setting iterations, carry out the progeny population
Prescribed parameters after genetic decoding is optimized include：
Iterations are set；
Prescribed parameters after the coding for being included to progeny population are decoded and calculate fitness value；
Retain fitness value and meet the prescribed parameters after the coding of preset condition as new progeny population, execute it is described will be described
Meet the step of prescribed parameters after the coding of preset condition carry out random pair；
Until completing the iterations.
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