CN113303899A - C-arm machine with AI fracture reduction mechanical arm and use method thereof - Google Patents

C-arm machine with AI fracture reduction mechanical arm and use method thereof Download PDF

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Publication number
CN113303899A
CN113303899A CN202110615947.3A CN202110615947A CN113303899A CN 113303899 A CN113303899 A CN 113303899A CN 202110615947 A CN202110615947 A CN 202110615947A CN 113303899 A CN113303899 A CN 113303899A
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broken bone
bone block
arm
fracture
mechanical arm
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祖雪晴
嵇良超
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Wuxi Yibaijia Technology Co ltd
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Wuxi Yibaijia Technology Co ltd
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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
    • A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
    • A61B17/8866—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices for gripping or pushing bones, e.g. approximators
    • 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
    • A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
    • 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
    • A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
    • A61B17/92—Impactors or extractors, e.g. for removing intramedullary devices
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • 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
    • A61B34/30—Surgical robots
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/50—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications
    • A61B6/505—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications for diagnosis of bone
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy

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Abstract

The invention discloses a C-arm machine with an AI fracture reduction mechanical arm and a use method thereof, the C-arm machine comprises a C-arm machine body, a control host machine and the mechanical arm, wherein a connecting part is arranged at the free end part of the mechanical arm, and the control host machine can control the mechanical arm to move so that the connecting part moves in any direction; the bone fracture resetting machine also comprises a plurality of positioning rods, one ends of the positioning rods can enter the bone fracture blocks to be temporarily fixed with the bone fracture blocks, the other ends of the positioning rods can be temporarily and fixedly connected or separated from the connecting part, and when the positioning rods are fixedly connected with the connecting part, the control host can control any mechanical arm to move in any direction and can enable the positioning rods to move in any direction to reset the bone fracture blocks; the C-arm machine body is provided with a display for storing and displaying X-ray images shot by the C-arm machine body on the fracture surface. The C-arm machine is utilized to shorten the operation time, improve the accuracy of the reduction of the fractured bone, and has the advantages of low cost, convenience in use, convenience, safety and reliability.

Description

C-arm machine with AI fracture reduction mechanical arm and use method thereof
Technical Field
The invention relates to medical equipment, in particular to a C-arm machine with an AI fracture reduction mechanical arm and a using method thereof.
Background
Bone fractures are a common condition of bone surgery, and the recovery of bone fractures firstly needs to restore normal anatomical structures, which is the best condition for bone fracture recovery, and can promote fracture healing, and the generation of complications is very critical. At present, the fracture reduction in clinic depends on the minimally invasive reduction under an external fixing bracket under an X-ray or the reduction of an internal steel plate obtained by cutting and buckling.
The current fracture reduction has the following defects: when the fracture is closed or reduced through incision, an orthopedist judges the relation of fracture surfaces according to the X-ray shooting of the C-arm machine at the fracture part, and then reduces. During reduction, a doctor performs reduction action according to personal experience, and after the reduction action is completed, the fracture part is photographed again to verify the reduction effect, and finally fracture block fixing operation is performed. After the reduction action is finished, the fracture block is not fixed, the fixation effect is unstable only by means of artificial fixation, and when the fracture block is fixed, the fracture block is easy to displace, so that the original reduced fracture block is dislocated again, and the fracture block needs to be reduced again. Even the reduction operation of the fracture block is repeated for a plurality of times, so that the patient receives X-ray shooting for a plurality of times, and a large amount of ineffective operation time is wasted. The clinical urgent need is a can be to fracture piece steady fixed, when fracture piece reduction operation and fracture piece fixed operation, strictly avoid the fracture piece dislocation once more, ensures that fracture piece reduction and fixed operation once only accomplish, avoids the repeated fracture piece reduction operation that resets, reduces in the operation X-ray and claps the piece number of times, saves a kind of instrument that resets of operation time.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the C-arm machine with the AI fracture reduction mechanical arm and the use method thereof.
In order to achieve the technical purpose, the invention adopts the following technical scheme: a C-arm machine provided with AI fracture reduction mechanical arms comprises a C-arm machine body and a control host, wherein at least one mechanical arm is arranged on each of two sides of a C-shaped arm of the C-arm machine body, a connecting part is arranged at the free end part of each mechanical arm, and the control host can control the mechanical arms to move so that the connecting parts move in any direction;
the bone fracture resetting machine is characterized by further comprising a plurality of positioning rods, one ends of the positioning rods can enter the bone fracture blocks to be temporarily fixed with the bone fracture blocks, the other ends of the positioning rods can be temporarily and fixedly connected or separated from the connecting part, when the positioning rods are fixedly connected with the connecting part, the control host can control any one mechanical arm to move in any direction, and the positioning rods can move in any direction to reset the bone fracture blocks;
the C arm machine body is provided with a display, and can store and display X-ray images shot by the C arm machine body on the fracture surface.
Furthermore, an AI intelligent learning system is arranged in the control host, and can store and analyze the image data of each broken bone block and the motion trail of each mechanical arm when the broken bone block is reset.
Furthermore, the mechanical arm is provided with a support frame at one side far away from the C-shaped arm direction of the C-arm machine body, the support frame can lift and support the limb far away from one side of the fracture surface, and the support frame is detachably mounted.
Further, the X-ray shielding plate is further included, and the control host is arranged behind the X-ray shielding plate.
Furthermore, a power system and a space sensing system are arranged in the mechanical arm, and can drive all parts of the mechanical arm to move relatively and determine the relative space positions of all parts of the mechanical arm.
Furthermore, a doctor operating station is arranged behind the X-ray shielding plate, the control host can be operated on the doctor operating station, and the display can be controlled and observed.
Further, each mechanical arm can be at least matched with one connecting part, and each connecting part (4) can be at least provided with one positioning rod.
The use method of the C-arm machine provided with the AI fracture reduction mechanical arm comprises the following steps:
taking the largest broken bone block close to the center of the trunk of the patient as a first broken bone block, taking the broken bone block adjacent to the first broken bone block as a second broken bone block, and so on, and taking the broken bone block farthest away from the body of the patient as an Nth broken bone block;
placing the fracture surface between the first fractured bone block and the second fractured bone block at the shooting position of the C-arm machine body;
drilling a first broken bone block and a second broken bone block and fixing at least one positioning rod, and fixedly connecting the corresponding connecting parts to the corresponding positioning rods so that the first broken bone block and the second broken bone block correspond to at least one mechanical arm;
connecting parts corresponding to the positioning rods of the first broken bone block and the second broken bone block are respectively and fixedly connected with the corresponding mechanical arms, and X-rays are shot on the fracture surface between the first broken bone block and the second broken bone block through the C-arm machine body and are output through the display;
under the X pieces of fracture surfaces of the first broken bone block and the second broken bone block output by the display, the mechanical arm is controlled by the control host machine to adjust the position of the first broken bone block to be proper and keep the first broken bone block still; the control host controls the mechanical arm corresponding to the second broken bone block to move a distance a in the direction far away from the first broken bone block, so that a proper distance b is generated between the second broken bone block and the first broken bone block; then the control host controls the mechanical arm corresponding to the second broken bone block to perform adaptive motion, so that the second broken bone block corresponds to the fracture surface of the first broken bone block and gradually approaches to the fracture surface of the first broken bone block, and finally the second broken bone block is correctly reset;
placing fracture surfaces of the second broken bone block and the third broken bone block at shooting positions of the C-arm machine body; using the same operation method to correctly reduce the fracture surfaces of the second broken bone block and the third broken bone block;
then the control host sequentially controls the mechanical arm corresponding to the next broken bone block and the previous broken bone block to be sequentially and correctly reset; until all adjacent broken bone blocks are correctly reset, the position reset of all the broken bone blocks is completed;
clamping and fixing each positioning rod by using a plurality of external fixing rods, and separating each connecting part from each positioning rod to finish the external fixation of each broken bone block;
or cutting soft tissue on the other side of each broken bone without connecting the positioning rod to expose each fracture block, and placing a steel plate and a screw to implement internal fixation of the fracture; finally, soft tissues are sutured, and the connecting parts are separated from the positioning rods, so that the reduction and internal fixation of each broken bone block is completed.
And further, drilling and fixing at least two positioning rods on the broken bone block with the longest distance length to be reset being more than or equal to 4cm, and drilling and fixing one positioning rod on the broken bone block with the longest distance length being less than 4 cm.
Further, still include: when the number of the mechanical arms is smaller than the number N of the fractured bone pieces, the main large bone pieces are reset and fixed, then all the mechanical arms are separated, the reset fractured bone pieces which are not reset and fixed are regarded as the first fractured bone pieces, and then the accurate resetting is carried out.
In conclusion, the invention achieves the following technical effects:
1. the fracture reduction device can realize one-time alignment, reduce repeated dragging and moving of fracture blocks in soft tissues and avoid secondary injury;
2. one person can complete the operation, thereby avoiding the radiation irradiation of medical staff and reducing the radiation irradiation of patients;
3. the operation time is shortened, the operation risk is reduced, and the operation cost is reduced;
4. ensure the sterile environment of the operation room and reduce the infection probability of the wound surface.
Drawings
FIG. 1 is a schematic view of a C-arm machine with an AI fracture reduction mechanical arm according to an embodiment of the invention;
FIG. 2 is a schematic top view of a fractured bone piece being reduced;
FIG. 3 is a schematic view of a positioning rod;
FIG. 4 is a schematic view of a connection;
FIG. 5 is a schematic view of a robotic arm;
FIG. 6 is a schematic view of the C-arm machine with the bone fragments attached to the attachment portion;
FIG. 7 is a state diagram of a reset process;
FIG. 8 is a schematic diagram of yet another state of the reset process;
FIG. 9 is a schematic diagram of the final state of the reset process;
fig. 10 is a schematic view of fracture reduction of N broken bone pieces.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Example (b):
as shown in fig. 1, a C-arm machine with AI fracture reduction mechanical arms comprises a C-arm machine body 6 and a control host 1, wherein at least one mechanical arm 3 is respectively arranged on two sides of a C-shaped arm of the C-arm machine body 6, a connecting part 4 is arranged at the free end part of each mechanical arm 3, the control host 1 can control at least two mechanical arms 3 to move so that the connecting parts 4 move in any direction, and the purpose of controlling the movement of the connecting parts 4 is to reduce the movement of fractured bone blocks of fracture.
As shown in fig. 1, in the present embodiment, two mechanical arms 3 are respectively disposed on two sides of a C-arm machine body 6, and are used for controlling the movement and the restoration of a fractured bone block through a connecting portion 4, wherein the C-arm machine further includes a plurality of positioning rods 5, one end of each of the plurality of positioning rods 5 can enter the fractured bone block and be temporarily fixed to the fractured bone block, and the other end of each of the plurality of positioning rods 5 can be connected to or separated from the connecting portion 4, when the positioning rods 5 are connected to the connecting portion 4, the control host 1 can control any one of the mechanical arms 3 to move in any direction, and can enable the positioning rods 5 to move in any direction to restore the fractured bone blocks.
One end of the C-arm machine body 6 is a transmitting end 61, the other end is a receiving end 62, and rays emitted by the transmitting end 61 can be irradiated on the fracture surface of the fractured bone and then displayed on the display 2.
The C-arm machine body 6 is provided with a display 2 which can store and display X-ray images of the fracture surface shot by the C-arm machine body 6.
In the invention, the control host 1 is internally provided with an AI intelligent learning system, can store and analyze the image data of each broken block and the motion trail of each mechanical arm when the broken bone blocks are reset, can manually or automatically learn the resetting mode, the resetting distance data and the like before use, and increases the intelligence.
As shown in fig. 1, the arm 3 is equipped with support frame 7 in the one side of the C shape arm direction of keeping away from C arm machine body 6, can lift the limbs of keeping away from fracture face one side of supporting, and support frame 7 can be installed and dismantled temporarily, and wherein, support frame 7 is rotatable mode, and the purpose is the trunk of being convenient for adjust height or front and back position in order to adapt to support, prevents that patient's trunk is unsettled to cause inconvenience.
The X-ray shielding plate comprises lead-containing glass; the control host 1 is disposed behind the X-ray shielding plate. The doctor operation station is arranged behind the X-ray shielding plate, and when a doctor sits on the doctor operation station, the doctor can operate the control host 1 and control and observe the display 2. Wherein, set up a light shielding board of X ray (not shown in the figure) between C arm machine body 6 and operation station for the separation ray avoids causing the discomfort to medical personnel, and in addition, the rear side of the light shielding board of X ray is the operation station, and the operation station divide into at least three, and left side operation station corresponds left arm 3, and middle operation station corresponds the control of C arm machine, and right side operation station corresponds arm 3 on right side, places chair and mesa on every operation station, and the medical personnel of being convenient for operate.
Fig. 2 is a schematic top view of the resetting operation, wherein the C-arm camera is vertically shooting, so that only the emitting end 61 is seen in the top view, and the broken bone block is placed at the shooting position, and the mechanical arms 3 on both sides are fixedly connected with the broken bone block through a connecting part 4 and a corresponding positioning rod 5.
In the invention, the positioning rod 5 is rod-shaped, can enter a broken bone block and can be connected with the mechanical arm 3, and of course, the positioning rod can be made into a nail shape, and only the nail-shaped positioning rod can be conveniently connected with the mechanical arm 3.
In this embodiment, the positioning rod 5 is a rod, as shown in fig. 3, the positioning rod 5 includes a screw tip 51, a screw rod 52, and a fixing arm 53, which are connected in sequence, wherein the screw tip 51 is used for entering into a broken bone block of a patient, an external thread can be arranged on the screw rod 52 to facilitate fixing, the screw rod 52 is cylindrical as a whole, which facilitates driving into the broken bone block, the fixing arm 53 is used for being connected with the connecting portion 4, the fixing arm 53 is non-cylindrical, which is a better fixed connection with the connecting portion 4, thereby preventing slipping or shaking between the cylindrical shape and the connecting portion 4. Specifically, the shape of the fixing arm 53 may be an elliptic cylinder shape, a regular triangle shape, or the like, and the fixing arm 53 is connected to the connecting portion 4 as a handle, so that convenience in connection is improved. In addition, the size of the fixing arm 53 may be the same as or different from that of the screw rod 52, and may be determined according to actual needs.
In the present invention, the connecting portion 4 is formed in a clamping shape so as to be capable of automatically opening and closing the clamping positioning rod 5 for facilitating the connection with the positioning rod 5. In this embodiment, as shown in fig. 4, the connecting portion 4 includes a base 41, two clamping plates 42 are slidably disposed on the base 41, wherein a sliding rail assembly can be disposed on the base 41 to facilitate movement of the clamping plates 42, the clamping plates 42 are connected to a driving member 43, the driving member 43 is a sliding table cylinder or other driving member, and the driving member 43 can drive the two clamping plates 42 to clamp or release the positioning rod 5, so that the two clamping plates 42 clamp or release the positioning rod 5. In addition, since the two clamp plates 42 are opened and closed when the positioning rod 5 is clamped, the driving member 43 may be a system for driving only one of the clamp plates and fixing the other clamp plate, or a system for driving both clamp plates simultaneously.
For better connection and fixation with the fixing arm 53, in the present embodiment, at least one clamping groove 44 is formed on the opposite side of the clamping plate 42, and the clamping groove 44 matches the shape of the fixing arm 53, so as to prevent instability or shaking between the clamping plate and the fixing arm.
Of course, the connecting portion 4 may also be of a clamp type, and the fixing arm is manually clamped by a manual method, in this embodiment, the fixing arm is automatically clamped by a driving member.
The connecting portion 4 is provided with a unique mark, the mechanical arm 3 is provided with a first identification device for identifying the identification, and when the positioning rod 5 enters the broken bone block, the position of the positioning rod 5 is in butt joint with the corresponding connecting portion 4, so that the positioning rod 5, the connecting portion 4 and the mechanical arm 3 can be accurately positioned. Of course, after the positioning rod 5 is set, the connecting portion 4 is directly fixed to the positioning rod 5, and then the connecting portion 4 and the arm 3 are connected. When the robot arm 3 connects the connection portion 4, the robot arm 3 can automatically read that the connection portion 4 is the fourth one, so as to facilitate the determination of the order between the broken bone pieces.
The connecting portion 4 has different specifications, but the positional relationship between the clamping grooves 44 is the same, so that the connecting portion can be easily connected to the positioning rod 5.
In addition, the distance between two positioning rods 5 nailed into each broken bone block is equal, and the broken bone blocks are conveniently and uniformly connected with the connecting part 4.
When nailing, because the fracture position may be broken into several pieces, some broken bone pieces are long, some broken bone pieces are short, the long broken bone pieces need to be positioned and reset by driving at least two positioning rods 5, the short broken bone pieces can be nailed one by one, of course, if the broken bone pieces are very small, the nailing tool is not needed if the nailing tool cannot be used. In addition, a suitable distance is given in this embodiment: two positioning rods 5 are drilled into and fixed on the broken bone block with the longest distance length to be restored being larger than 4cm, and one positioning rod 5 is drilled into and fixed on the broken bone block with the longest distance length being smaller than 4 cm.
Meanwhile, when the positioning rods are driven, the positioning rods are kept at the same side of the broken bone block, so that the connecting part 4 can be clamped and fixed conveniently.
Further, the length setting of locating lever 5 is longer, and because the fracture position probably is in many places, for example leg bone, pelvis, arm bone etc. the distance that locating lever 5 got into the broken bone piece and the outside distance of soft tissue are inequality generally, consequently, the longer some of locating lever 5 length can make things convenient for the centre gripping and the fixing of connecting portion 4, even the length that leaks outward differs, also can be held simultaneously.
In addition, when the control host 1 controls the movement of the robot arm 3, various modes can be adopted, and one of the modes is given in this embodiment: as shown in fig. 5, the robot arm 3 is a robot arm, and the robot arm 3 includes at least a base 31, a first lever portion 32, a second lever portion 33, and a third lever portion 34; a first rotating shaft 35, a second rotating shaft 36 and a third rotating shaft 37 are respectively arranged between the base 31 and the first rod part 32, between the first rod part 32 and the second rod part 33, and between the second rod part 33 and the third rod part 34, wherein the first rotating shaft 35, the second rotating shaft 36 and the third rotating shaft 37 are perpendicular to each other, and the movement on the xyz three axes is realized.
When the three axes of the manipulator 3 are controlled to rotate, the fit between two adjacent broken bone pieces is controlled, which is difficult to be observed by human eyes, so the control of the control host is adopted in the embodiment. In addition, when the three axes rotate, a mode of manually pressing a button can also be adopted.
Further, the mechanical arm 3 and the connecting portion 4 are detachably connected.
Meanwhile, a power system and a space induction system are arranged in the mechanical arm 3, and can drive each part of the mechanical arm 3 to move relatively and determine the relative space position of each part of the mechanical arm 3. In addition, the positioning rod 5 is provided with a unique identifier, the mechanical arm 3 is provided with a second identification device for identifying the identifier, the identifier can be any identifiable mark such as a bar code, a two-dimensional code and the like, and the second identification device can be a code scanning gun or other devices capable of reading and displaying. For example, a two-dimensional code is pasted on each positioning rod 5, the two-dimensional code and the positioning rod 5 are uniquely corresponding to each other, after the positioning rod 5 is fixed with a broken bone block and the mechanical arm 3 is connected with the positioning rod 5, the second identification device on the mechanical arm 3 automatically reads the two-dimensional code and records the number of the positioning rod 5, so that all the positioning rods 5 in the same operation correspond to different numbers. For example, 8 positioning rods 5 are used in the operation, after the two-dimensional code is read by the mechanical arm 3, the control host 1 numbers the 8 positioning rods 5, and numbers 1, 2 and 3.
In the invention, each mechanical arm 3 can be at least matched with one connecting part 4, and each connecting part 4 can be at least assembled with one positioning rod 5, so that the device can be flexibly used, is suitable for various occasions and is suitable for operations with more broken bone blocks.
As shown in fig. 6, the broken line is a ray, and the fracture surface between two fractured fragments is placed in the ray region for real-time imaging, but the trunk of the patient, the support frame 7 for supporting the trunk, the robot arm 3 for driving the connecting part 4 to move, the control main unit 1, the display 2, and the like are omitted in the figure.
Of course, the mechanical arm 3 may be configured such that both sides move to achieve the reset, or the mechanical arm 3 on one side (the side close to the trunk) may be kept stationary, and only the mechanical arm 3 on the other side (the side away from the trunk) is driven.
In another embodiment, a method for using a C-arm machine with an AI fracture reduction robotic arm, comprising the steps of:
taking the largest broken bone block close to the center of the trunk of the patient as a first broken bone block, taking the broken bone block adjacent to the first broken bone block as a second broken bone block, and so on, and taking the broken bone block farthest away from the body of the patient as an Nth broken bone block;
placing the fracture surface between the first fractured bone block and the second fractured bone block at the shooting position of the C-arm machine body 6;
drilling a first broken bone block and a second broken bone block and fixing at least one positioning rod 5, and fixedly connecting corresponding connecting parts 4 to the corresponding positioning rods 5 to enable the first broken bone block and the second broken bone block to at least correspond to one mechanical arm 3;
connecting parts 4 corresponding to positioning rods 5 of the first broken bone block and the second broken bone block are respectively fixedly connected with corresponding mechanical arms 3, and X-pieces are shot on a fracture surface between the first broken bone block and the second broken bone block through a C-arm machine body 6 and are output through a display 2;
under the X pieces of fracture surfaces of the first broken bone block and the second broken bone block output by the display 2, the mechanical arm 3 is controlled by the control host 1 to adjust the position of the first broken bone block to be proper and keep the first broken bone block still; the control host 1 controls the mechanical arm 3 corresponding to the second broken bone block to move a distance a in a direction away from the first broken bone block, so that a proper distance b is generated between the second broken bone block and the first broken bone block; then, the control host 1 controls the mechanical arm 3 corresponding to the second broken bone block to perform adaptive motion, so that the second broken bone block corresponds to the fracture surface of the first broken bone block and gradually approaches to the fracture surface of the first broken bone block, and finally, the second broken bone block is correctly reset;
placing fracture surfaces of the second broken bone block and the third broken bone block at the shooting position of the C-arm machine body 6; using the same operation method to correctly reduce the fracture surfaces of the second broken bone block and the third broken bone block;
then the mechanical arm 3 corresponding to the next broken bone block and the previous broken bone block are sequentially controlled by the control host 1 to be sequentially and correctly reset; until all adjacent broken bone blocks are correctly reset, the position reset of all the broken bone blocks is completed;
clamping and fixing each positioning rod 5 by using a plurality of external fixing rods 6, separating each connecting part 4 from each positioning rod 5, and completing the reduction and external fixation of each broken bone block;
or cutting soft tissue on the other side of each broken bone without connecting the positioning rod 5 to expose each fracture block, and placing a steel plate and a screw to perform internal fracture fixation; finally, soft tissues are sutured, and the connecting parts 4 are separated from the positioning rods 5, so that the reduction and internal fixation of each broken bone block is completed.
In the method, at least two positioning rods 5 are drilled into and fixed on the broken bone block with the longest distance length to be restored being more than or equal to 4cm, and one positioning rod 5 is drilled into and fixed on the broken bone block with the longest distance length being less than 4 cm.
The method further comprises the following steps: when the number of the mechanical arms 3 is less than the number N of the bone fragments, the main bone fragments are reset and fixed, then all the mechanical arms 3 are separated, the reset bone fragments which are not reset and fixed are adjacent to the mechanical arms and are regarded as the first bone fragments, and then the accurate reset is carried out.
Meanwhile, the distance a is 0.5-3cm, and the distance b is 0.5-1.5 cm.
For example, two bone fragments shown in fig. 7-9 are taken as an example, the C-arm machine body 6 is omitted in the figure, and the reduction relationship between the bone fragments is directly shown:
taking two broken bone blocks of the thigh as an example, the 1 st broken bone block is close to the body, and the 2 nd broken bone block is close to the shank: the 1 st broken bone block is a longer broken bone block, two positioning rods 5 are arranged on the same side of the broken bone block, so that part of the screw tip 51 and part of the screw rod 52 of the positioning rod 5 enter the broken bone block, the 2 nd broken bone block is a shorter broken bone block, but the two positioning rods 5 can be arranged, so the two positioning rods 5 are also arranged on the 2 nd broken bone block; further, when 2 positioning rods 5 are driven, since the fixed arm 53 of the positioning rod 5 is not circular, at this time, a nail is nailed in the direction of the clip groove 44 on the joint 4, and then the joint 4 is clipped to the 2 positioning rods 5: the driving piece 43 is started to separate the two clamping plates 42 by a certain distance, the mechanical arm 3 is close to the positioning rod 5, the clamping groove 44 of the clamping plate 42 is aligned with the two fixing arms 53, the driving piece 43 is started to enable the two clamping plates 42 to clamp the fixing arms 53, and similarly, the positioning rod on the 2 nd broken bone block is clamped on the other connecting part 4 in the same way;
the fracture surface position of a patient is placed under a ray, the mechanical arm 3 is correspondingly connected to the connecting portion 4, the mechanical arm 3 automatically reads marks on the connecting portion 4 to identify that the connecting portion 4 corresponds to a few broken bone blocks, then the marks on the positioning rods 5 are read to identify the few positioning rods 5, in the embodiment, only 2 broken bone blocks correspond to 2 mechanical arms 3 and 4 positioning rods 5, and identification is not needed when the number is small.
Resetting is carried out: as shown in fig. 7, the control host 1 controls the first mechanical arm 3 to keep still, so that the 1 st broken bone block keeps still, and then the control host 1 drives the second mechanical arm 3 to move for 1.5cm, and the moving directions are: the length direction of the 2 nd broken bone block ensures that a gap of 1.5cm exists between the 2 nd broken bone block and the 1 st broken bone block;
as shown in fig. 8, the fracture surface of the 2 nd fractured bone corresponds to the fracture surface of the 1 st fractured bone, and then the control host 1 controls the mechanical arm to approach the 1 st fractured bone for a distance, so that the two fracture surfaces are mutually attached, and the attached surfaces are as shown in fig. 9;
after resetting, the connecting part 4 is separated from the positioning rod 5, and the positioning rod 5 is locked.
If the operation is an open operation, after the reduction is completed, an incision is cut at the fracture position, a steel plate is put into the fracture position, the fracture position is positioned, and the positioning rod 5 is pulled out.
When the number of the positioning rods 5 is 2 or more, the robot arm 3 recognizes the number of the connecting portion 4, and when the number of the positioning rods 5 is 1, the robot arm 3 directly recognizes the number of the positioning rods 5.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications, equivalent changes and modifications made to the above embodiments according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.

Claims (10)

1. The utility model provides a C arm machine with AI arm that resets, includes C arm machine body (6), main control system (1), its characterized in that: two sides of a C-shaped arm of the C-arm machine body (6) are respectively provided with at least one mechanical arm (3), the free end part of each mechanical arm (3) is provided with a connecting part (4), and the control host (1) can control the mechanical arms (3) to move so that the connecting parts (4) move in any direction;
the bone fracture resetting machine is characterized by further comprising a plurality of positioning rods (5), one ends of the positioning rods (5) can enter the bone fracture blocks to be temporarily fixed with the bone fracture blocks, the other ends of the positioning rods (5) can be temporarily fixedly connected or separated from the connecting part (4), and when the positioning rods (5) are fixedly connected with the connecting part (4), the control host (1) can control any mechanical arm (3) to move in any direction and can enable the positioning rods (5) to move in any direction to reset the bone fracture blocks;
the C-arm machine body (6) is provided with a display (2) which can store and display X-ray images shot by the C-arm machine body (6) on the fracture surface.
2. The C-arm machine provided with an AI fracture reduction mechanical arm according to claim 1, wherein: an AI intelligent learning system is arranged in the control host (1) and can store and analyze the image data of each broken bone block and the motion trail of each mechanical arm (3) when the broken bone block is reset.
3. The C-arm machine provided with an AI fracture reduction robot arm according to claim 2, characterized in that: arm (3) are keeping away from one side of the C shape arm direction of C arm machine body (6) is equipped with support frame (7), support frame (7) can lift the limbs that support kept away from fracture face one side, the installation of support frame (7) dismantlement formula.
4. The C-arm machine provided with an AI fracture reduction mechanical arm according to claim 1, wherein: and an X-ray shielding plate () is also included, and the control host (1) is arranged behind the X-ray shielding plate ().
5. The C-arm machine provided with an AI fracture reduction mechanical arm according to claim 1, wherein: and a power system and a space sensing system are arranged in the mechanical arm (3) and can drive all the parts of the mechanical arm (3) to move relatively and determine the relative space positions of all the parts of the mechanical arm (3).
6. The C-arm machine provided with an AI fracture reduction mechanical arm according to claim 4, wherein: a doctor operation station is arranged behind the X-ray shielding plate (), the control host (1) can be operated on the doctor operation station, and the display (2) can be controlled and observed.
7. The C-arm machine provided with an AI fracture reduction mechanical arm according to claim 6, wherein: each mechanical arm (3) can be at least matched with one connecting part (4), and each connecting part (4) can be at least provided with one positioning rod (5).
8. The use method of the C-arm machine provided with the AI fracture reduction mechanical arm is characterized in that: the method is applied to the C-arm machine provided with an AI fracture reduction mechanical arm, according to any one of claims 1 to 7, and comprises the following steps:
taking the largest broken bone block close to the center of the trunk of the patient as a first broken bone block, taking the broken bone block adjacent to the first broken bone block as a second broken bone block, and so on, and taking the broken bone block farthest away from the body of the patient as an Nth broken bone block;
placing the fracture surface between the first fractured bone block and the second fractured bone block at the shooting position of the C-arm machine body (6);
drilling a first broken bone block and a second broken bone block and fixing at least one positioning rod (5), and fixedly connecting the corresponding connecting part (4) to the corresponding positioning rod (5) so that the first broken bone block and the second broken bone block correspond to at least one mechanical arm (3);
connecting parts (4) corresponding to the positioning rods (5) of the first broken bone block and the second broken bone block are respectively fixedly connected with the corresponding mechanical arms (3), and X pieces are shot on the fracture surface between the first broken bone block and the second broken bone block through the C-arm machine body (6) and output through the display (2);
under the X pieces of fracture surfaces of the first broken bone block and the second broken bone block output by the display (2), the mechanical arm (3) is controlled by the control host (1) to adjust the position of the first broken bone block to be proper and keep the first broken bone block still; the control host (1) controls the mechanical arm (3) corresponding to the second broken bone block to move a distance a in the direction far away from the first broken bone block, so that a proper distance b is generated between the second broken bone block and the first broken bone block; then the mechanical arm (3) corresponding to the second broken bone block is controlled to perform adaptive motion through the control host (1), so that the second broken bone block corresponds to the fracture surface of the first broken bone block and gradually approaches to the fracture surface of the first broken bone block, and finally, the second broken bone block is correctly reset;
placing fracture surfaces of the second broken bone block and the third broken bone block at the shooting position of the C-arm machine body (6); using the same operation method to correctly reduce the fracture surfaces of the second broken bone block and the third broken bone block;
then the mechanical arm (3) corresponding to the next broken bone block and the previous broken bone block are sequentially controlled to be correctly reset through the control host (1); until all adjacent broken bone blocks are correctly reset, the position reset of all the broken bone blocks is completed;
clamping and fixing each positioning rod (5) by using a plurality of external fixing rods (6), separating each connecting part (4) from each positioning rod (5) and completing the reduction and external fixation of each broken bone block;
or cutting soft tissues at the other side of each broken bone block which is not connected with the positioning rod (5) to expose each fracture block, and placing a steel plate and a screw to perform internal fracture fixation; finally, soft tissues are sutured, and the connecting parts (4) are separated from the positioning rods (5), so that the reduction and internal fixation of each broken bone block is completed.
9. The use method of the C-arm machine provided with the AI fracture reduction mechanical arm according to claim 8, wherein: at least two positioning rods (5) are drilled into and fixed on the broken bone block with the longest distance length to be restored being greater than or equal to 4cm, and one positioning rod (5) is drilled into and fixed on the broken bone block with the longest distance length being less than 4 cm.
10. The use method of the C-arm machine provided with the AI fracture reduction mechanical arm according to claim 9, wherein: further comprising: when the number of the mechanical arms (3) is smaller than the number N of the broken bone blocks, the main large bone blocks are reset and fixed, then all the mechanical arms (3) are separated, the reset broken bone blocks which are not reset and fixed are regarded as first broken bone blocks, and then the accurate resetting is carried out.
CN202110615947.3A 2021-06-02 2021-06-02 C-arm machine with AI fracture reduction mechanical arm and use method thereof Withdrawn CN113303899A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113855123A (en) * 2021-11-12 2021-12-31 郑州大学第一附属医院 Surgical operation auxiliary robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113855123A (en) * 2021-11-12 2021-12-31 郑州大学第一附属医院 Surgical operation auxiliary robot

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Application publication date: 20210827