CN112245005B - External fixing device, system and method for coordinate calibration - Google Patents
External fixing device, system and method for coordinate calibration Download PDFInfo
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- CN112245005B CN112245005B CN202011269776.5A CN202011269776A CN112245005B CN 112245005 B CN112245005 B CN 112245005B CN 202011269776 A CN202011269776 A CN 202011269776A CN 112245005 B CN112245005 B CN 112245005B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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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
- A61B17/60—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 for external osteosynthesis, e.g. distractors, contractors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
Abstract
The invention discloses an external fixing device, a system and a method for coordinate calibration, which comprise the following steps: the device comprises a clamping device, a calibration device and a bracket; the clamping device comprises a sliding groove rod and a clamp, one end of the sliding groove rod is connected with the bracket through a first fixing piece, and the clamp is arranged in a groove of the sliding groove rod; the calibration device comprises a calibration support, one end of the calibration support is connected with the support through a first connecting piece, a calibration ball is arranged on the calibration support, and a calibration hole leading to the center of the ball is formed in the calibration ball. Clamping objects needing to be fixed through the clamping device, reading the coordinates of the center of the calibration ball through the calibration hole in the calibration ball, unifying the reference coordinate system and the virtual coordinate system according to the coordinates of the center of the ball, and outputting an optimal reset path.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to an external fixing device, system and method for coordinate calibration.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The fracture of limbs is a common disease in orthopedics, and surgical reduction and internal fixation and manual reduction and external fixation are mostly adopted for the fracture of limbs. After the fracture is reset by the operation resetting and internal fixing method, the soft tissue of the fracture part needs to be cut, the fracture section is exposed, and the fracture is reset under direct vision; the method of manual reduction and external fixation is that after the fracture is reduced by the manual method, a splint or an external bone fixator is arranged outside the fractured limb, and the external bone fixator is an external steel frame assembled by a chuck and a steel tube, which can support the skeleton and correct various displacements of the skeleton in the healing process.
However, the inventor believes that the internal fixation method is an invasive method, the wound is large, the infection probability is easy to increase, joint adhesion is easy to cause, and fracture healing and recovery are seriously influenced; the external fixation method and the manual reduction have poor accuracy and strong dependence on the operation experience of a reduction patient, and the fracture function recovery is easy to be incomplete. At present, the optimal limb fracture reduction and fixation method is robot reduction and fixation guided by medical images, but the robot reduction and fixation need the unification of a robot reference coordinate system and a medical image virtual coordinate system, otherwise, coordinate points of bones needing reduction cannot be accurately obtained, and the optimal reduction path of the bones cannot be accurately obtained.
Disclosure of Invention
In order to solve the problem of unification of a robot reference coordinate system and a medical image virtual coordinate system, the invention provides an external fixing device, a system and a method for coordinate calibration.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, the present invention provides an external fixation device for coordinate calibration, comprising: the device comprises a clamping device, a calibration device and a bracket;
the clamping device comprises a sliding groove rod and a clamp, one end of the sliding groove rod is connected with the bracket through a first fixing piece, and the clamp is arranged in a groove of the sliding groove rod;
the calibration device comprises a calibration support, one end of the calibration support is connected with the support through a first connecting piece, a calibration ball is arranged on the calibration support, and a calibration hole leading to the center of the ball is formed in the calibration ball.
In a second aspect, the present invention provides an external fixation system for coordinate calibration, comprising: the external fixation device and the processor of the first aspect;
the external fixing device is used for placing the clamping object in the clamping device, inserting the calibration needle into the calibration hole of the calibration ball and acquiring the center coordinates of the ball under the reference coordinate system;
the processor is used for carrying out virtual sphere modeling on the calibration sphere according to the obtained sphere center coordinates, matching the sphere center coordinates under the reference coordinate system to the virtual sphere, carrying out reset path planning under the virtual coordinate system after unifying the virtual coordinate system of the virtual sphere and the reference coordinate system, and executing the reset path under the reference coordinate system.
In a third aspect, the present invention provides an external fixation method for coordinate calibration, including:
placing the clamping object in a clamping device of an external fixing device, inserting a calibration needle into a calibration hole of a calibration ball, and acquiring a ball center coordinate under a reference coordinate system;
and performing virtual sphere modeling on the calibration sphere according to the obtained spherical center coordinates, matching the spherical center coordinates under the reference coordinate system to the virtual sphere, unifying the virtual coordinate system of the virtual sphere and the reference coordinate system, performing reset path planning under the virtual coordinate system, and executing a reset path under the reference coordinate system.
Compared with the prior art, the invention has the beneficial effects that:
the clamping device realizes universal clamping through the movable clamp holder in the chute rod and the connection of the chute rod and the bracket, and can clamp a clamped object from any angle.
The clamp holder in the clamping device is provided with the V-shaped groove, which is beneficial to locking a clamped object.
The calibration ball is provided with the calibration hole, the calibration ball is arranged on the curved surface, the center of the ball is not positioned on the same plane, the virtual coordinate system is constructed, the center coordinates of the calibration ball in the real reference coordinate system correspond to the virtual coordinate system, the unification of the real reference coordinate system and the software virtual coordinate system is realized, the reset path coordinate is conveniently recorded when the skeleton is virtually reset in the virtual system, and the path is realized in the real coordinate system.
The invention integrates the real environment and the virtual environment, carries out the route planning of the fracture reduction in software to obtain the optimal feasible route, finally directly inputs the route coordinates into the actual execution system to execute the optimal route, can improve the precision of the fracture reduction and greatly saves the operation time.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
Fig. 1 is a schematic structural diagram of an external fixing device for coordinate calibration according to embodiment 1 of the present invention;
fig. 2 is a schematic structural diagram of a clamping device according to embodiment 1 of the present invention;
FIG. 3 is a schematic view of a stent structure provided in example 1 of the present invention;
fig. 4 is a schematic structural diagram of a calibration apparatus provided in embodiment 1 of the present invention;
fig. 5 is a schematic structural diagram of an external fixing device for coordinate calibration according to embodiment 2 of the present invention;
the device comprises a clamping device 1, a clamping device 101, an end cover 102, a sliding groove rod 103, a convex block 104, a rotating block 105, a pressing block 106, a screw 107, an eccentric rod 108, a double-ball-head connecting rod 109 and a top block; 2. calibration device, 201, calibration support, 202, calibration ball, 3, support, 301, fixing platform, 302, holder fixing piece, 5, spicule, 6 and bone.
The specific implementation mode is as follows:
the invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only terms of relationships determined for convenience of describing structural relationships of the parts or elements of the present invention, and are not intended to refer to any parts or elements of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and may be a fixed connection, or may be an integral connection or a detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be determined according to specific situations by persons skilled in the relevant scientific or technical field, and are not to be construed as limiting the present invention.
Example 1
As shown in fig. 1, the present embodiment provides an external fixation device for coordinate calibration, which can be applied to an external bone fixation device with coordinate calibration function in an orthopedic robotic surgery, and the device performs coordinate calibration with different coordinate systems for the main purpose, and in the present embodiment, the bone fixation example specifically includes: the device comprises a clamping device 1, a calibration device 2 and a bracket 3;
the clamping device 1 comprises a chute rod 102 and a clamp, one end of the chute rod 102 is connected with the bracket 3 through a first fixing piece, and the clamp is arranged in a groove of the chute rod 102;
the calibration device 2 comprises a calibration support 201, one end of the calibration support 201 is connected with the support 3 through a first connecting piece, a calibration ball 202 is installed on the calibration support 201, and a calibration hole leading to the center of the ball is formed in the calibration ball 202.
In the present embodiment, as shown in fig. 2, the holder includes a convex block 103, a rotation block 104, a compression block 105, and a screw 106; the convex block 103, the rotating block 104 and the pressing block 105 are provided with bolt holes matched with the bolts 106, and the bolts 106 penetrate through the bolt holes to fixedly connect the convex block 103, the rotating block 104 and the pressing block 105 in sequence;
preferably, the width of the convex block 103 is larger than the groove width of the chute rod 102, the holder is arranged in the groove, and the convex block 103 is arranged on the surface of the groove and can move in the groove;
preferably, a V-shaped groove is reserved between the rotating block 104 and the pressing block 105, and the holder clamps the bone pins to lock the bone pins in the V-shaped groove;
preferably, the rotating block 104 and the pressing block 105 are combined to clamp the bone needle at any angle around the screw 106, and the universal clamping is realized through the double-ball-head connecting rod 108 and the end cover 101.
In this embodiment, as shown in fig. 2, the first fixing member includes an end cover 101, an eccentric rod 107, a double-ball-head connecting rod 108, and a top block 109;
an inner hole of the end cover 101 is provided with a top block 109, and the top block 109 can be placed into the inner hole at one end part of the chute rod;
one end of the sliding chute rod is connected with the end cover in a threaded fit mode, a radial through hole is formed in the end portion of the sliding chute rod, an eccentric rod 107 is placed in the radial through hole, the sliding chute rod is fixed to the end cover 101, the eccentric rod 107 is in contact with the bottom of the ejector block 109, and when the eccentric rod 107 is rotated, the ejector block 109 can move axially along the sliding chute rod.
The spherical end parts of the double-ball-head connecting rods 108 are respectively connected with the end covers 101, the end covers 101 are respectively connected with the chute rods and the support 3, and the spherical end parts of the double-ball-head connecting rods 108 can rotate at any angle, so that the chute rods are driven to rotate at any angle.
As shown in fig. 3, the bracket includes a fixing platform 301 and a holder fixing member 302, the holder fixing member 302 is a stepped cylinder, a radial through hole is provided on the end of the holder fixing member 302, the end is connected with the end cap 101 of the first fixing member by means of the eccentric rod 107 matching with the top block 109, the eccentric rod passes through the radial through hole on the end of the holder fixing member and contacts with the bottom of the top block in the end cap, and the chute rod is fixed with the holder fixing member.
In this embodiment, one end of the chute rod in the clamping device is connected with the bracket 3, and the other end of the chute rod can be sequentially connected with other chute rods in series, that is, a plurality of chute rods are connected in series for use, and the plurality of chute rods are also connected through the first fixing member.
As shown in fig. 4, the calibration bracket of the calibration device 2 is curved, and 4 metal calibration balls 202 are arranged on the curved bracket;
preferably, the calibration device 2 is connected with the bracket 3 through a bolt;
preferably, the centers of the calibration balls 202 are not on the same plane;
preferably, the calibration ball is provided with a calibration hole leading to the center of the ball, the calibration ball is matched with the calibration needle for use, the aperture size of the calibration hole is matched with the calibration needle, and the opening of the calibration hole is kept upward so as to conveniently read the coordinates of the center of the ball.
Example 2
The present embodiment provides an external fixation system for coordinate calibration, including: the external fixation device and the processor of example 1;
the external fixing device is used for placing the clamping object in the clamping device, inserting the calibration needle into the calibration hole of the calibration ball and acquiring the center coordinates of the ball under the reference coordinate system;
the processor is used for carrying out virtual sphere modeling on the calibration sphere according to the obtained sphere center coordinates, matching the sphere center coordinates under the reference coordinate system to the virtual sphere, carrying out fixed path planning under the virtual coordinate system after unifying the virtual coordinate system of the virtual sphere and the reference coordinate system, and executing the fixed path under the reference coordinate system.
It should be understood that in this embodiment, the processor may be a central processing unit CPU, and the processor may also be other general purpose processors, digital signal processors DSP, application specific integrated circuits ASIC, off-the-shelf programmable gate arrays FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and so on. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
In this embodiment, the method implemented by the processor may be implemented by a combination of hardware and software modules in the processor. The software modules may be located in ram, flash, rom, prom, or eprom, registers, among other storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.
Example 3
The embodiment provides an external fixing method for coordinate calibration, which comprises the following steps:
(1) placing the clamped object in a clamp holder of a clamping device;
in this embodiment, in the case of the reduction fixation of fractured bones, the bone pins are placed in the V-shaped grooves of the holder of the holding device, and the holder is fixed to fix the relative positions of the distal and proximal ends of the bones, as shown in fig. 5;
(2) carrying out three-dimensional panoramic modeling on the external fixing device clamping the clamped object by adopting CT scanning;
in the embodiment, CT scanning is adopted to carry out three-dimensional panoramic modeling on the external fixing device and the skeleton, and segmentation and solid modeling are carried out on the structure necessary for reduction and fixation of the robot fracture;
(3) fixing the whole device on a workbench, inserting a calibration needle into a calibration hole of a calibration ball, and sequentially measuring the center coordinates of the four calibration balls under a certain reference coordinate system;
(4) according to the obtained coordinates of the calibration balls in the reference coordinate system, virtual ball modeling is carried out on the image coordinate system according to the calibration balls, the four calibration balls are respectively matched with the virtual balls in the three-dimensional image, after the matching is successful, the center coordinates of the calibration balls in the reference coordinate system can be assigned to the virtual balls, and the virtual coordinate system of the virtual balls and the reference coordinate system are unified;
in this embodiment, a path planning for bone reduction is performed on a virtual sphere in a virtual coordinate system to obtain an optimal feasible path, and path coordinates in the virtual coordinate system are directly input into an actual execution system to execute the optimal path.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (7)
1. An external fixation system for coordinate calibration, an external fixation device for coordinate calibration, comprising: the device comprises a clamping device, a calibration device and a bracket;
the clamping device comprises a sliding groove rod and a clamp, one end of the sliding groove rod is connected with the bracket through a first fixing piece, and the clamp is arranged in a groove of the sliding groove rod;
the calibration device comprises a calibration support, one end of the calibration support is connected with the support through a first connecting piece, a calibration ball is arranged on the calibration support, and a calibration hole leading to the center of the ball is formed in the calibration ball, and the calibration device is characterized in that an external fixing system for coordinate calibration comprises: the external fixing device and the processor;
the external fixing device is used for placing the clamping object in the clamping device, inserting the calibration needle into the calibration hole of the calibration ball and acquiring the center coordinates of the ball under the reference coordinate system;
the processor is used for carrying out virtual sphere modeling on the calibration sphere according to the obtained sphere center coordinates, matching the sphere center coordinates under the reference coordinate system to the virtual sphere, carrying out reset path planning under the virtual coordinate system after unifying the virtual coordinate system of the virtual sphere and the reference coordinate system, and executing a reset path under the reference coordinate system;
the first fixing piece comprises an end cover, an eccentric rod, a double-ball-head connecting rod and a top block; the spherical end part of the double-ball-head connecting rod is respectively connected with an end cover, an inner hole of the end cover is provided with a top block, the top block is arranged at one end of the sliding groove rod, a radial through hole is formed in one end of the sliding groove rod, an eccentric rod is placed in the radial through hole and is in contact with the bottom of the top block, and when the eccentric rod is rotated, the top block moves along the axial direction of the sliding groove rod.
2. The external fixation system for coordinate calibration of claim 1, wherein the holder comprises a convex block, a rotating block and a compressing block; and the convex block, the rotating block and the pressing block are sequentially and fixedly connected through a second connecting piece.
3. The external fixation system for coordinate calibration of claim 2, wherein the width of the convex block is larger than the groove width of the sliding groove bar, and the convex block is disposed on the groove surface and movable in the groove.
4. The external fixation system for coordinate calibration as claimed in claim 1, wherein one end of the chute rod is connected to the bracket, the other end is connected to other chute rods in series, and the plurality of chute rods are connected to each other through the first fixing member.
5. The external fixation system for coordinate calibration of claim 1, wherein the bracket comprises a holder fixing member, the holder fixing member is provided with a radial through hole at an end thereof, and the end cap of the first fixing member is coupled to the holder fixing member by an eccentric rod passing through the radial through hole to cooperate with the top block.
6. The external fixation system for coordinate calibration as claimed in claim 1, wherein the calibration support is curved, and a plurality of calibration balls are disposed on the calibration support, and the centers of the calibration balls are not on the same plane.
7. An external fixation system for coordinate calibration as claimed in claim 1, wherein the calibration holes have a hole size matching the calibration pin and the calibration hole opening is held upward to read the center coordinates of the sphere.
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| CN202011269776.5A CN112245005B (en) | 2020-11-13 | 2020-11-13 | External fixing device, system and method for coordinate calibration |
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| CN202011269776.5A CN112245005B (en) | 2020-11-13 | 2020-11-13 | External fixing device, system and method for coordinate calibration |
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| WO2020029378A1 (en) * | 2018-08-10 | 2020-02-13 | 天津大学 | Automatic identification method for spatial pose of parallel external fixation for bone fracture |
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| US9370380B2 (en) * | 2013-03-15 | 2016-06-21 | Dne, Llc | External bone fixation system |
| WO2014197451A1 (en) * | 2013-06-03 | 2014-12-11 | Murphy Stephen B | Method and apparatus for performing anterior hip surgery |
| CN103791868B (en) * | 2014-01-18 | 2016-07-06 | 合肥工业大学 | A kind of space nominal volume based on virtual ball and scaling method thereof |
| CN205215354U (en) * | 2015-12-22 | 2016-05-11 | 仲恺农业工程学院 | A needle point calibration device for optics operation navigation |
| CN106859749A (en) * | 2017-02-22 | 2017-06-20 | 丁大发 | Homing position type external fixing rack |
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| CN109077785B (en) * | 2018-06-15 | 2020-08-18 | 天津大学 | Bone load detection method based on six-axis parallel bone external fixation device |
| CN110960303A (en) * | 2018-09-30 | 2020-04-07 | 上海交通大学医学院附属第九人民医院 | Mandibular bone external fixation device with navigation function |
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| CN101742972A (en) * | 2007-05-14 | 2010-06-16 | 金斯顿女王大学 | The surgical guidance tool of patient's special use and using method thereof |
| WO2020029378A1 (en) * | 2018-08-10 | 2020-02-13 | 天津大学 | Automatic identification method for spatial pose of parallel external fixation for bone fracture |
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