CN112370290B

CN112370290B - Reduction and fixation integrated operation system for limb fracture

Info

Publication number: CN112370290B
Application number: CN202011268283.XA
Authority: CN
Inventors: 毕建平; 马平
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-11-13
Filing date: 2020-11-13
Publication date: 2022-09-30
Anticipated expiration: 2040-11-13
Also published as: CN112370290A

Abstract

The invention discloses a reduction and fixation integrated operation system for limb fracture and a control method, wherein the system comprises: an electric operating table, a mechanical arm and a demonstrator; the mechanical arm is connected to the electric operating table through the movable base, the tail end of the mechanical arm is used for being connected with the broken bone clamping device, and the tail end of the mechanical arm is provided with a posture sensor; the electric operating table is provided with a connecting device for connecting the external skeleton fixing device; the demonstrator is respectively connected with the attitude sensor and the mechanical arm and is used for acquiring the pose of the tail end of the mechanical arm in real time and sending a control instruction to the mechanical arm. The bone external fixing device and the broken bone clamping device are connected on the operating table, and through the matching of the bone external fixing device and the broken bone clamping device, two processes of resetting and fixing can be realized based on one device.

Description

Reduction and fixation integrated operation system for limb fracture

Technical Field

The invention belongs to the technical field of medical auxiliary systems, and particularly relates to a reduction and fixation integrated operation system for limb fracture and a control method.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

The limb fracture is a common orthopedic disease and has the characteristics of universal morbidity, high disability rate and the like. Aiming at the condition of limb fracture, currently, most hospitals adopt fracture incision reduction internal fixation operation and manual reduction plaster/splint external fixation operation, but both have obvious disadvantages. Wherein, the incision reduction internal fixation has larger wound, damages blood circulation, increases infection probability, easily causes joint adhesion, and seriously influences fracture healing and recovery; the accuracy of manual reduction is poor, the fixing effect is poor, the activity of the affected limb is limited, the requirements on the experience of the operator are high, the safety and the effectiveness of the reduction and the rehabilitation treatment of the fracture of the limbs are seriously influenced, and the current clinical treatment requirements on the fracture of the limbs cannot be met.

In recent years, with the breakthrough of a plurality of technical researches such as novel mechanisms, materials, driving, sensing, control, simulation and the like, people invent a plurality of medical/rehabilitation intelligent robot systems. By utilizing the learning and cognition of an intelligent system and the man-machine interaction and cooperation, the high reduction precision, the short reduction time and the rapid healing of the image-assisted operation of the fracture of the four limbs of the human body are realized, and the method becomes the mainstream direction of the development of the reduction treatment of the fracture of the four limbs of the human body. But at present, no practical research result exists for the whole research of the robot system integrating accurate reduction and fixation of the long diaphysis fracture of the limbs of the human body at home and abroad.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides a reduction and fixation integrated operation system and a control method for limb fracture, wherein the reduction and fixation integrated operation system and the control method can realize two processes of reduction and fixation based on one device by connecting an external skeleton fixing device and a broken bone clamping device on an operating table; in addition, the unification of a mechanical coordinate system and a three-dimensional model space coordinate system is realized through coordinate calibration systems on the external skeleton fixing device and the broken bone clamping device, so that the system can realize accurate automatic reset.

In order to achieve the above object, one or more embodiments of the present invention provide the following technical solutions:

an integrated reduction and fixation surgical system for limb fractures, comprising: the system comprises an electric operating table, a mechanical arm control cabinet and a demonstrator; the mechanical arm is connected to the electric operating table through the movable base, and the tail end of the mechanical arm is used for being connected with the broken bone clamping device; the electric operating table is provided with a connecting device for connecting the external skeleton fixing device; the mechanical arm control cabinet is respectively connected with the mechanical arm and the demonstrator, sends a control instruction to the mechanical arm, and acquires the terminal pose of the mechanical arm in real time and displays the pose through the demonstrator.

Furthermore, the electric operating table comprises an operating table base and an operating table main body, wherein a curved bracket and a mechanical arm mounting and positioning device are arranged on the operating table base and are respectively used for mounting the bone external fixing device and the mechanical arm movable base.

Further, the broken bone clamping device comprises a fixing base, wherein the fixing base is used for connecting the universal clamping device; the fixed base is used for being connected with the tail end of the mechanical arm; the universal gripper comprises a sliding rod and a tail end gripping mechanism arranged on the sliding rod, and is connected with the fixed base through a universal rotating part, wherein the tail end gripping mechanism is used for gripping a threaded needle.

Furthermore, the universal rotating part is a universal joint and comprises a ball head connecting rod and end covers arranged at two ends of the ball head connecting rod, and grooves matched with a ball head of the ball head connecting rod are arranged in the end covers; the fixing base is of a disc shape, a plurality of holder fixing seats are uniformly distributed in the circumferential direction, and the shapes of the holder fixing seats are matched with those of universal holder end covers.

Further, the bone external fixation device comprises a fixed base, a vertical support, a curved surface fixing frame and a clamp holder, wherein the clamp holder is connected with the vertical support, the clamp holder comprises a sliding rod and a tail end clamping mechanism arranged on the sliding rod, and the tail end clamping mechanism is used for clamping a threaded needle.

Further, the tail end clamping mechanism comprises a lower locking screw, a convex block, a rotating block, a pressing block and an upper locking screw from bottom to top; the lower locking screw is used for connecting the tail end clamping mechanism with the sliding rod, and the upper locking screw is used for fastening the convex block, the rotating block and the pressing block.

Furthermore, the broken bone clamping device is also provided with a calibration needle, a curved surface fixing frame of the external bone fixing device is provided with a plurality of calibration holes which are not coplanar, and the calibration needle corresponds to the calibration holes in size.

Furthermore, four metal balls with non-coplanar sphere centers are arranged on the curved surface fixing frame of the skeleton external fixation device, and calibration holes leading to the sphere centers are formed in the metal balls.

One or more embodiments provide a control method applied to the surgical system, including:

acquiring a CT image containing the affected limb and the bone external fixing device, and performing three-dimensional modeling to obtain a three-dimensional model;

obtaining coordinates of the sphere center of each metal ball on the fractured bone clamping device in a mechanical arm coordinate system, and generating metal ball models with the same size in a three-dimensional model space based on the sphere center coordinates;

registering a metal ball model generated in a three-dimensional model space and a metal ball in the three-dimensional model to enable a coordinate system of the three-dimensional model to be unified with a mechanical arm coordinate system;

and virtually resetting the far end of the broken bone to obtain virtual reset path data and sending the virtual reset path data to the mechanical arm.

Further, the virtual reduction of the distal end of the fractured bone, and the obtaining of the reduction path data includes:

the method comprises the steps of virtually resetting a broken bone far end, simulating the matching process of the broken bone far end from the current position and a broken bone near end fracture surface, selecting a plurality of transition positions in the process, respectively recording displacement and deflection posture data of reference points at the transition positions relative to an initial position, and performing collision test to obtain reset path data.

The above one or more technical solutions have the following beneficial effects:

according to the operation system, the external skeleton fixing device and the broken bone clamping device are connected to the operation table, and two processes of resetting and fixing can be realized on the basis of one device through the matching of the external skeleton fixing device and the broken bone clamping device;

the bone external fixing device and the broken bone clamping device are provided with the calibration needle and the calibration hole which are matched with each other, so that the two devices can be unified under the same mechanical coordinate system, the unification of the mechanical coordinate system and a three-dimensional model space coordinate system is realized by means of a three-dimensional modeling technology, the virtual reset result executed in a three-dimensional space can provide a real reference, and the accurate automatic reset of the system can be realized.

Compared with the existing fracture reduction mode, the virtual simulation reduction and actual reduction operation virtual-real interaction operation mode is adopted, so that higher fracture reduction precision can be obtained under the condition of no incision; the operation risk can be greatly reduced, and the pain of the patient can be reduced; the high-precision mechanical arm is selected, so that the designated operation can be accurately executed, the influence of uncertain factors of doctors is eliminated, meanwhile, the requirement on operators is low, and the large-scale popularization and application are facilitated.

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 view of an integrated surgical system according to an embodiment of the present invention;

FIG. 2 is a schematic view of a 6 degree-of-freedom robotic arm in an embodiment of the present invention;

FIG. 3 is a schematic diagram of a teach pendant in an embodiment of the present invention;

FIG. 4 is a schematic view of a robot arm control cabinet according to an embodiment of the present invention;

FIG. 5 is a schematic view of a motorized surgical table according to an embodiment of the present invention;

FIG. 6 is a schematic view of an embodiment of the bone external fixation device of the present invention;

FIG. 7 is a schematic view of a fractured bone clamping device in an embodiment of the invention;

FIG. 8 is a schematic diagram of the construction of gimbal clamp 1 in an embodiment of the present invention;

FIG. 9 is a schematic view of the end gripping mechanism 106 according to an embodiment of the present invention;

FIG. 10 is a schematic view of a skeletal model in accordance with an embodiment of the present invention.

The robot system comprises a robot system 1, a mechanical arm 101, a demonstrator 102, a mechanical arm control cabinet 103, a movable base 104, a pin hole 105 and a locking threaded hole 106; 2, an electric operating table, 201, an operating table main body, 202, a curved bracket, 203, a mechanical arm positioning pin and 204, a locking stud; 3 external skeletal fixation device, 301L-shaped bracket, 302 proximal skeletal clamping device, 303 plastic fixation frame, 304 metal ball, 305 distal skeletal clamping device; 4, a broken bone clamping device, a 401 disc-shaped fixing frame, a 402 calibration needle and a 403 universal clamp; 403-1 end cover, 403-2 sliding rod, 403-3 convex block, 403-4 rotating block, 403-5 pressing block, 403-6 locking screw, 403-6-1 upper locking screw, 403-6-2 gasket, 403-6-3 lower locking screw, 403-8 ball head connecting rod and 403-9 top block; 5 is a bone model, 501 is a broken bone far end, 502 is a broken bone near end, 503 is a spicule.

Detailed Description

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.

The embodiments and features of the embodiments of the present invention may be combined with each other without conflict.

Example one

The embodiment discloses a reduction and fixation integrated operation system for limb fracture, as shown in fig. 1, comprising: the robot system 1, the electric operating table 2, the external bone fixing device 3 and the broken bone clamping device 4.

The robot system 1 includes a robot arm 101, a teach pendant 102, and a robot arm control cabinet 103, as shown in fig. 2-4. The mechanical arm 101 is connected with the electric operating table 2 through a movable base; the mechanical arm control cabinet 103 is respectively connected with the mechanical arm 101 and the demonstrator 102, is used for sending a control signal to the mechanical arm, has an expansion port, can be accessed to an external control signal, and displays the terminal coordinate and the posture information of the mechanical arm through the demonstrator, and the demonstrator has the capabilities of online programming and loading an external control program and sends a control instruction to the mechanical arm control cabinet 103 in a reset stage. Wherein the bone external fixation device 3 and the broken bone clamping device 4 are connected with the broken bone through a threaded needle 503.

In the embodiment, the mechanical arm has six degrees of freedom, and can realize the adjustment of the motion and the posture of the tail end joint at any position in the motion range; the arm passes through the screw consolidation with portable base and is in the same place, and the two is a whole in the course of the work, is equipped with the round pin hole and the screw hole that link up on the base, and the round pin hole is used for being connected the location with electric operating table, and the screw hole is used for locking portable base and electric operating table base.

As shown in fig. 5, the electric operating table 2 includes an operating table base, an operating table main body 201, a curved bracket 202, a robot arm positioning pin 203, and a locking stud 204. The operating table main body is arranged on the operating table base, and the position and the posture of a patient can be adjusted through the motor; the curved bracket is connected to the base of the electric operating table through a bolt and is used for fixing the external skeletal fixation device; it will be appreciated that the curved bracket is only one means of connecting the external bone fixation device to the operating table and may be curved or of any shape. The mechanical arm positioning pin is used for positioning the movable base, the locking stud is connected with the motor, the mechanical arm positioning pin and the locking stud are fastened together through screwing in a threaded hole in the movable base, the positioning pin and the locking stud are arranged on two sides of the base of the electric operating table, and the mechanical arm can be installed on the corresponding side of the operating table according to the fracture condition.

As shown in fig. 6, the external bone fixation device 3 is fixed on the curved bracket 202 of the electric operating table by screws and comprises an L-shaped bracket 301, a proximal bone clamping device 302, a distal bone clamping device 305 and a coordinate calibration device. The proximal bone holding device 302 has one end rotatably connected to the L-shaped bracket 301 and the other end threadably connected to the distal bone holding device 305, wherein the proximal bone holding device 302 and the distal bone holding device 305 are adapted to hold the proximal and distal ends of a broken bone, respectively. Both the proximal bone gripping device 302 and the distal bone gripping device 305 include a sliding rod 403-2 and at least two end gripping mechanisms disposed on the sliding rod.

The structure of the coordinate calibration device comprises a support frame 303 and a plurality of non-coplanar calibration holes which are arranged on the support frame and matched with the calibration pins. In this embodiment, the supporting frame is a plastic fixing frame, and the shape is a curved surface, four metal balls with sphere centers not on the same plane are arranged on the curved surface, and a calibration hole leading to the sphere center is arranged on each metal ball 304. The calibration hole size should match the calibration needle and the opening should remain up.

The external skeleton fixing device 3 has a universal clamping function and is divided into two working states, the proximal end and the distal end of the fractured bone are fixed by clamping bone pins before the reduction operation, and only the proximal end of the fractured bone is fixed during the reduction operation.

As shown in fig. 7, the fractured bone clamping device 4 includes a universal clamp 403, a fixed base 401, and a calibration pin 402, where the universal clamp 403 and the calibration pin 402 are respectively fixed on the fixed base 40, and the calibration pin is used to realize coordinate calibration of any point in a working space. The fixing base realizes that the broken bone clamping device is connected with the tail end of the mechanical arm and is used as a fixing piece of the universal clamp holder and the calibration needle. Optionally, the fixed base may adopt a disc-shaped fixing frame, and the disc-shaped fixing frame is provided with a threaded through hole and fixed at the tail end of the mechanical arm through a screw. The fixing base is connected with the mechanical arm, so that the spatial position of the clamping device can be adjusted. The fixing frame is provided with symmetrical screw holes, and the fixing needle and the universal clamp holder are respectively fixed through the screw holes. The symmetrical structure is adopted, the calibration coordinate conversion can be simplified, and the coordinate solving efficiency is improved. The fixed base can also be provided with a fixed seat matched with the end cover of the universal clamp holder, and the shape of the fixed seat is matched with the end cover.

In this embodiment, as shown in fig. 8 to 9, the universal clamper 403 includes a universal rotary member, a slide bar 403-2, and an end clamping mechanism 403-6 provided on the slide bar, which are connected in this order. Optionally, the universal rotating part may adopt a universal joint 403-1, and the specific structure may include a ball connecting rod 403-8 and end caps 403-9 disposed at both ends of the ball connecting rod, in which a groove matching with a ball of the ball connecting rod is disposed. The universal rotating part can realize rotation in a three-dimensional space and is used as a rotating joint of the universal clamp holder, so that the flexibility of angle adjustment is improved.

The slide bar comprises a slide bar body and a sliding groove arranged in the slide bar body and used for setting the length and the width. The movement of the tail end clamping mechanism is limited through the sliding groove, and the far and near sliding of the tail end clamping mechanism can be realized through the sliding rod.

The end clamping mechanisms involved in the bone external fixation device 3 and the fractured bone clamping device 4 are identical in structure. From bottom to top, the device comprises a lower locking screw 403-6-3, a convex block 403-3, a rotating block 403-4, a pressing block 403-5 and an upper locking screw 403-6-1; the centers of the convex block 403-3, the rotating block 403-4 and the pressing block 403-5 are provided with through threaded holes, and the upper locking screw 403-6-1 fastens the convex block 403-3, the rotating block 403-4 and the pressing block 403-5 through the threaded holes; the lower locking screw 403-6-3 is used for connecting the terminal clamping mechanism with the sliding rod 403-2, specifically, the relative position between the terminal clamping mechanism and the sliding rod 403-2 can be fixed by adopting a screw 403-6-3 and a gasket 403-6-2, the screw 403-6-3 can be screwed into a threaded hole of the convex block 403-3 from the lower part, and the gasket is pressed on the sliding rod by screwing the screw, so that the terminal clamping mechanism is fixed at a set position in the sliding groove of the sliding rod. And a threaded needle fixing hole is formed in the contact surface of the rotating block and the pressing block and used for fixing a threaded needle. Alternatively, the screw fixing hole may be provided as a V-shaped groove.

The rotation between the convex block 403-3 and the rotating block 403-4 can be realized by adjusting the upper locking screw 403-6-1, the outer surface of the circular groove arranged at the upper end of the convex block is matched with the inner wall of the rotating block, the positioning of the rotating block is realized, and the rotating block cannot move transversely in the rotating process; the adjustment of the position of the end clamping mechanism on the sliding rod can be achieved by adjusting the lower locking screw 403-6-3. The tail end clamping mechanism can rotate 360 degrees and can be used as a rotary joint of the universal clamp holder.

The tail end clamping mechanism is used for directly fixing the threaded needle, the threaded needle is used for driving a broken bone to realize rigid connection with the broken bone, and in the bone resetting process, the threaded needles with proper quantity can be respectively driven into the broken bone near end and the broken bone far end.

Optionally, the calibration pin includes a calibration pin base and a metal pin disposed on the base.

The clamping device of the embodiment realizes coordinate calibration by arranging the calibration needle, can realize the mutual matching and cooperation of a plurality of clamping devices of the embodiment or devices of the embodiment and other devices to form a unified coordinate system, improves the action matching degree of each device, and can realize the clamping and bone setting operation of bones.

It can be understood that, after the clamping device is arranged on the mechanical arm, the fixed position relation between the clamping device and the mechanical arm is fixed, and the precise movement and the resetting of the far end of the fractured bone can be realized with high precision of the mechanical arm.

The software system applied to the teach pendant in the present embodiment includes a system operation interface system and three-dimensional digital medical software. The system operation interface system has the functions of mechanical arm manual operation, stepping motion and point coordinate driving motion, and can conveniently input coordinate points and preview the fracture distal end resetting track. The three-dimensional digital medical software has the functions of generating a three-dimensional model by a CT image, calibrating coordinates and simulating resetting.

The working process of the bone reduction and fixation integrated system is as follows:

(1) placing a patient on an electric operating table, and driving a proper number of bone nails into the proximal end and the distal end of a fractured bone respectively; as shown in fig. 10, the illustration of the fractured bone includes a bone nail inserted into the bone, a proximal fractured bone end having a fracture surface and a distal fractured bone end, and the fracture surfaces are contoured. The far end of the broken bone is a part of the broken bone which is relatively far away from the main body; the proximal end of the broken bone is a part of the broken bone which is relatively close to the main body;

(2) fixing the external skeleton fixing device on a curved bracket of an electric operating table, and fixing two sections of broken bones by using a universal clamp holder in the external skeleton fixing device so that the proximal ends and the distal ends of the broken bones cannot move relatively;

(3) putting the affected limb of the patient and the skeleton external fixing device into a CT scanner for scanning to obtain a CT image layer;

(4) the mechanical arm and the movable base connected with the mechanical arm are moved to the operation side of a patient, the mechanical arm and the movable base are positioned by using a pin between the mechanical arm and the base of the electric operation table, when a locking threaded hole in the movable base is contacted with a locking stud on the electric operation table, a power supply is pressed, the stud rotates under the action of a motor and enters the threaded hole, the movable base and the mechanical arm approach the operation table, when the movable base and the movable base reach a limited position, the motor stops, and the movable base and the base of the operation table are fastened into a whole;

(5) fixing a broken bone clamping device fixing frame on a flange plate at the tail end of a mechanical arm, installing and fixing a calibration needle, setting a coordinate reference point as a needle point of the calibration needle by using a tool coordinate system calibration method of the mechanical arm, and obtaining a real-time coordinate of the needle point of the calibration needle through a teaching interface under a mechanical arm coordinate system;

(6) dragging the mechanical arm above the external skeleton fixing device by using a teaching function of the mechanical arm, dragging the mechanical arm to enable the calibration needle to be inserted into a small hole of the metal ball, stopping when the needle point touches the bottom of the hole, and at the moment, the coordinate of the needle point of the calibration needle is the coordinate of the center of the metal ball; sequentially obtaining and recording the spherical center coordinates of the four metal balls;

(7) dragging the mechanical arm to a proper position, installing a universal clamp holder on a broken bone clamping device fixing frame, clamping a bone pin penetrating into the far end of a broken bone by using the universal clamp holder, and locking the clamp holder to fasten the far end of the broken bone and the tail end of the mechanical arm into a whole; removing the bone external fixing device to fix the universal holder at the far end of the broken bone, wherein the relative positions of the far end of the broken bone and the near end of the broken bone are the same as those of the CT scanning;

(8) importing the CT image into three-dimensional digital medical software to generate a three-dimensional model of the external bone fixing device and the broken bone; performing body segmentation operation to segment the far end and the near end of the fractured bone in the model into two parts capable of moving relatively, wherein four small balls in the bone external fixation device and the near end of the fractured bone are divided into a whole;

(9) inputting the coordinates of the four spherical centers obtained in the step (6) into the software, and respectively generating four spherical models as large as the metal ball at corresponding coordinate positions; matching the generated four ball models with four scanned small balls (step (8)) in three-dimensional digital medical software, finishing assignment of coordinates of centers of the scanned small balls after successful matching, wherein the coordinates of the centers of the scanned small balls in a three-dimensional software coordinate system are equal to the coordinates of the centers of the four metal small balls in a mechanical arm coordinate system, namely the three-dimensional software coordinate system and the mechanical coordinate system are unified;

(10) re-selecting the coordinate reference point of the mechanical arm as the central point of the flange plate at the tail end of the mechanical arm, and reading the coordinate of the coordinate reference point in the state; marking a point in the three-dimensional digital medical software corresponding to the coordinate position as a virtual reference point, and setting the relative position of the point and the distal end of the fractured bone to be fixed;

(11) dragging the far end of the fractured bone in three-dimensional digital medical software to enable the fracture surface of the far end of the fractured bone to be matched with the fracture surface of the near end of the fractured bone, simulating the fracture reduction process, selecting a plurality of transition positions in the process, and sequentially recording the displacement and deflection posture data of the virtual reference point at each transition position relative to the initial position;

(12) writing the virtual reference point displacement and attitude data recorded in the step (11) into a system operation interface in sequence, and instructing the mechanical arm to take the central point of the flange plate at the tail end as a coordinate reference point and move to a corresponding coordinate point in sequence in a corresponding attitude respectively; when the mechanical arm finishes the operation of skeleton reduction at all path points;

(13) the bone external fixing device is used for fixing the proximal end and the distal end of the broken bone into a whole again, the connection between the mechanical arm broken bone universal clamp and the bone needle is removed, and the mechanical arm and the electric operating bed are separated.

Example two

The purpose of this embodiment is to provide a control method, which is applied to the teach pendant in the first embodiment. During the reset and fix operations performed by the system, is configured to perform the steps of:

(1) after the near end and the far end of a broken bone are fixed by adopting a bone external fixing device, a CT image containing an electric operating bed, a patient and the bone external fixing device is obtained, and three-dimensional modeling is carried out;

(2) after the broken bone clamping device is installed at the tail end of the mechanical arm, acquiring the needle point coordinate of a calibration needle on the broken bone clamping device in real time; sending a control instruction to the mechanical arm to drive the calibration needle of the fractured bone clamping device to be respectively inserted into the metal balls on the bone external fixing device, so as to obtain coordinates of the ball centers of the metal balls;

(3) mounting universal holders on the broken bone clamping device, adopting one universal holder to fix the far end of the broken bone, removing the external bone fixing device to fix the far end of the broken bone, performing body segmentation on the three-dimensional model, segmenting the far end and the near end of the broken bone into two parts, and ensuring that a metal ball of the external bone fixing device and the near end of the broken bone are divided into one part;

(4) generating a sphere model with the same size as the metal sphere at a corresponding position in the three-dimensional model space according to the coordinates of the sphere center of each metal sphere; unifying a coordinate system of the three-dimensional model with a mechanical coordinate system based on a sphere model generated in a three-dimensional model space and a sphere in the three-dimensional model (a model reconstructed based on a CT image);

(5) recording the central point of a flange plate at the tail end of the mechanical arm as a reference point, setting the point to be fixed with the relative position of the broken bone far end, virtually resetting the broken bone far end, simulating the matching process of the broken bone far end from the current position and the broken bone near end section, selecting a plurality of transition positions in the process, and respectively recording the displacement and deflection posture data of the reference point at each transition position relative to the initial position to obtain reset path data;

by the method, a plurality of reset paths can be obtained, in order to obtain paths capable of being used for clinical practice, the collision test is also carried out in the embodiment, and path positions where collision can occur in the reset process are removed.

(6) And generating a control command based on the reset path data and sending the control command to the mechanical arm.

Compared with the existing fracture reduction mode, the virtual simulation reduction and actual reduction operation virtual-real interaction operation mode is adopted in the embodiment, and higher fracture reduction precision can be obtained under the condition of no incision. The operation risk can be greatly reduced, and the pain of the patient can be reduced; the execution system of the embodiment adopts the high-precision mechanical arm, can accurately execute the designated operation, eliminates the influence of uncertain factors of doctors, has low requirements on operators, and is favorable for enabling more medical institutions to have the capability of accurate fracture reduction.

The embodiment has good universality, and can achieve good reduction effect not only on limb fractures but also on fractures of other parts by inserting the spicules into proper positions.

Those skilled in the art will appreciate that the modules or steps of the present invention described above can be implemented using general purpose computer means, or alternatively, they can be implemented using program code that is executable by computing means, such that they are stored in memory means for execution by the computing means, or they are separately fabricated into individual integrated circuit modules, or multiple modules or steps of them are fabricated into a single integrated circuit module. The present invention is not limited to any specific combination of hardware and software.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by 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

1. The utility model provides a reset and fixed integration operation system towards four limbs fracture which characterized in that includes: the system comprises an electric operating table, a mechanical arm control cabinet and a demonstrator; the mechanical arm is connected to the electric operating table through the movable base, and the tail end of the mechanical arm is used for being connected with the broken bone clamping device; the electric operating table is provided with a connecting device for connecting the external skeleton fixing device; the mechanical arm control cabinet is respectively connected with the mechanical arm and the demonstrator and is used for sending a control instruction to the mechanical arm, acquiring the pose of the tail end of the mechanical arm in real time and displaying the pose through the demonstrator;

the electric operating table comprises an operating table base and an operating table main body, wherein a curved bracket and a mechanical arm mounting and positioning device are arranged on the operating table base and are respectively used for mounting a skeleton external fixing device and a mechanical arm movable base;

the broken bone clamping device comprises a fixing base, and the fixing base is used for connecting a universal clamp holder; the fixed base is used for being connected with the tail end of the mechanical arm; the universal clamp holder comprises a sliding rod and a tail end clamping mechanism arranged on the sliding rod, and is connected with the fixed base through a universal rotating part, wherein the tail end clamping mechanism is used for clamping a threaded needle;

the broken bone clamping device is also provided with a calibration needle, a curved surface fixing frame of the bone external fixing device is provided with a plurality of calibration holes which are not coplanar, and the calibration needle corresponds to the calibration holes in size;

four metal balls with non-coplanar ball centers are arranged on a curved surface fixing frame of the skeleton external fixation device, and calibration holes leading to the ball centers are formed in the metal balls;

the demonstrator acquires a CT image containing the affected limb and the external skeleton fixing device, and performs three-dimensional modeling to obtain a three-dimensional model;

acquiring the sphere center coordinates of each metal sphere on the fractured bone clamping device, and generating metal sphere models with the same size in a three-dimensional model space based on the sphere center coordinates;

registering a metal ball model generated in the three-dimensional model space and a metal ball in the three-dimensional model to ensure that a coordinate system of the three-dimensional model is unified with a mechanical arm coordinate system;

performing virtual reset on the far end of the broken bone to obtain reset path data and sending the reset path data to the mechanical arm;

the demonstrator virtually resets the broken bone far end, simulates the process of matching the broken bone far end with the broken bone near end section from the current position, selects a plurality of transition positions in the process, respectively records the displacement and deflection posture data of the reference point at each transition position relative to the initial position, and performs collision test to obtain reset path data.

2. The reduction and fixation integrated surgical system for four-limb fracture as claimed in claim 1, wherein the universal rotating component is a universal joint, and comprises a ball-head connecting rod and end covers arranged at two ends of the ball-head connecting rod, and grooves matched with the ball head of the ball-head connecting rod are arranged in the end covers; the fixing base is of a disc shape, a plurality of holder fixing seats are uniformly distributed in the circumferential direction, and the shapes of the holder fixing seats are matched with those of the universal holder end covers.

3. The reduction and fixation integrated surgical system for four-limb fracture according to claim 1, wherein the external skeletal fixation device comprises a fixation base, a vertical bracket, a curved surface fixation bracket and a holder, the holder is connected with the vertical bracket, the holder comprises a sliding rod and a terminal holding mechanism arranged on the sliding rod, wherein the terminal holding mechanism is used for holding a threaded needle.

4. The integrated reduction and fixation surgical system for limb fractures according to claim 1 or 3, wherein the end clamping mechanism comprises, from bottom to top, a lower locking screw, a convex block, a rotation block, a compression block and an upper locking screw; the lower locking screw is used for connecting the tail end clamping mechanism with the sliding rod, and the upper locking screw is used for fastening the convex block, the rotating block and the pressing block.