CN117174224A - Electronic prescription generation method for fracture bone deformity treatment based on Ortho-SUV external fixation support - Google Patents
Electronic prescription generation method for fracture bone deformity treatment based on Ortho-SUV external fixation support Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 206010017076 Fracture Diseases 0.000 title claims abstract description 12
- 208000032170 Congenital Abnormalities Diseases 0.000 title claims description 14
- 206010061619 Deformity Diseases 0.000 title claims description 14
- 238000009434 installation Methods 0.000 claims abstract description 11
- 210000000988 bone and bone Anatomy 0.000 claims description 56
- 210000004872 soft tissue Anatomy 0.000 claims description 8
- 208000010392 Bone Fractures Diseases 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 208000026137 Soft tissue injury Diseases 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 230000001131 transforming effect Effects 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 206010070918 Bone deformity Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000036244 malformation Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
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Abstract
An electronic prescription generation method for fracture bone orthodontic treatment based on an Ortho-SUV external fixing bracket, which comprises an external fixing bracket used by the method, a proximal ring, a distal ring and 6 telescopic rods, and comprises the following steps: 1) Establishing a global coordinate system; 2) Knowing the length of the rod, solving a positive solution, and solving global coordinates of all connection points on the ring according to the determined length of the 6 rods; 3) Inputting frame installation parameters and deformity parameters; 4) Determining a frame adjustment amount according to the deformity parameters, and adjusting the pose (alpha, beta, gamma, a, b, c) of the proximal ring; 5) Solving the inverse solution of the known pose, and determining the length of the rod according to the pose of the proximal ring of the target; 6) Avoidance of the risk location; 7) And generating an electronic prescription. The invention effectively solves the problem of forward and inverse kinematics solution of the Ortho-SUV frame and avoidance of the risk position.
Description
Technical Field
The invention relates to the field of medical orthopaedics rehabilitation, in particular to a method for generating an electronic prescription for treating fracture bone deformity based on an Ortho-SUV external fixing bracket.
Background
The fixing device is an indispensable surgical instrument in the field of bone surgery. According to the different use modes, the method can be mainly divided into internal fixation and external fixation. The internal fixation is usually in the form of intramedullary nails, internal fixation steel plates, etc., and the external fixation is usually in the form of a single-arm external fixation frame, an Ilizarov external fixation frame, a six-axis spatial external fixation frame, etc.
The Ortho-SUV frame, as an external bone fixation frame, typically comprises a proximal ring and a distal ring with six telescoping rods secured between the rings. One end of each of the six rods is connected to the ring, and the other end is connected to the other adjacent rod. The relative pose of the near end ring and the far end ring can be adjusted by adjusting the rod lengths of the six telescopic rods. The proximal and distal rings of the Ortho-SUV frame are typically attached to the bone by steel needles, kirschner wires, or the like. The position and the posture of bones can be adjusted by adjusting the position and the posture of the proximal ring and the distal ring.
But determining how to install the structure and how to adjust the structure after the installation is completed requires the electronic prescription to be generated through software for operation guidance, and the core of the electronic prescription is the forward and inverse kinematics solution of the external fixation frame structure and the avoidance of the risk position.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an electronic prescription generation method for fracture bone orthodontic treatment based on an Ortho-SUV external fixing support, which aims to solve the problem of solving the normal and inverse kinematics of the Ortho-SUV support and avoiding the risk position, and abstracts the normal and inverse kinematics into solving of mathematical three-dimensional coordinates and abstracting the avoidance of the risk pose into interference inspection according to the structure of the Ortho-SUV external fixing support.
The technical scheme adopted for solving the technical problems is as follows:
an electronic prescription generation method for fracture bone orthodontic treatment based on an Ortho-SUV external fixing support comprises an external fixing support, wherein the external fixing support used by the method comprises a proximal ring, a distal ring and 6 telescopic rods, the proximal ring is set to be a ring A, the distal ring is set to be a ring B, and the 6 rods are sequentially numbered as L 1-6 Wherein L is 1 ，L 3 ，L 5 Is connected to ring A at a point of connection A 1 ，A 2 ，A 3 The other end is connected with L 6 ，L 2 ，L 4 Are connected with each other, and the connection point is C 5 ，C 1 ，C 3 。L 2 ，L 4 ，L 6 Is connected to ring B at a point B 1 ，B 2 ，B 3 The other end is connected with L 1 ，L 3 ，L 5 Are connected with each other, and the connection point is C 6 ，C 2 ，C 4 Wherein the length of the short side on the bar is not adjustable in the application, i.e. A, as determined by the structural design 1 C 6 ，A 2 C 2 ，A 3 C 4 ，B 1 C 1 ，B 2 C 3 ，B 3 C 5 The structure is determined to be a fixed value;
the electronic prescription generation method for the fracture bone deformity treatment comprises the following steps:
1) Establishing a global coordinate system O, wherein the position of the global coordinate system O is a ring center of a proximal ring, namely a distal ring; establishing a local coordinate system O ', wherein the position of the local coordinate system O' is the ring center of the distal ring, namely the proximal ring; setting the connection point of the telescopic rod and the far end ring as A 1 ，A 2 ，A 3 Setting the connection point of the telescopic rod and the proximal ring as B 1 ，B 2 ，B 3 . Setting two ends of the far-end Bone segment as Bone 1 ，Bone 2 Setting two ends of the proximal Bone segment as Bone 3 ，Bone 4 ；
The three sides of the upper and lower rings are known to be long, according to the three-side lengths of the proximal end and the distal end ringObtaining the radius of the circumscribed circle of the proximal end and the distal end ring;
calculating the length and the diagonal angle of the vertical line segment according to the radius:
thereby solving for the local coordinates of a and B:
2) Knowing the length of the rod, solving a positive solution, and solving global coordinates of all connection points on the ring according to the determined length of the 6 rods;
setting the pose of the far end ring as (0, 0), setting the pose of the near end ring as (alpha, beta, gamma, a, b, c), and sequentially setting six pose parameters as rotation around an axis and displacement relative to an origin, wherein the six parameters of the pose of the near end ring are all unknowns, and calculating a rotation matrix of the near end ring relative to the far end ring.
R zyx ＝R z ×R y ×R x ,
Thereby obtaining global coordinates of B:
[B 1 ；1]＝T×[B 10 ；1]；[B 2 ；1]＝T×[B 20 ；1]；[B 3 ；1]＝T×[B 30 ；1]
defining the coordinates of C:
all coordinates of C are unknowns;
listing a solution equation set;
according to the conditions, the rod length is known, and an equation set is listed;
from the conditions, the short side length is known, the system of equations is listed:
six three-point lines are known to exist and are co-directional, listing the set of equations:
according to the equation set, using software to solve, obtaining six parameters of the pose of the near end ring and all C point coordinates, and completing the equation solving process;
3) Inputting frame installation parameters and deformity parameters, namely, associating Bone coordinates with global coordinates, and connecting Bone segment endpoints Bone 1 ，Bone 2 ，Bone 3 ，Bone 4 Becomes a known quantity, if the bone condition is complex, the step is conducted into a bone model or a CT three-dimensional reconstruction model for subsequent path planning;
4) Determining a frame adjustment amount according to the deformity parameter and the installation parameter, and adjusting the pose (alpha, beta, gamma, a, b, c) of the proximal ring;
5) Solving the inverse solution of the known pose, and determining the length of the rod according to the pose of the proximal ring of the target;
knowing the proximal ring pose (α, β, γ, a, b, C), the array is variedIs a known quantity;
global coordinates of B can be obtained by transforming the array T:
[B 1 ；1]＝T×[B 10 ；1]；[B 2 ；1]＝T×[B 20 ；1]；[B 3 ；1]＝T×[B 30 ；1]
also assume that the coordinates of C are of unknown quantity:
listing a solution equation set;
from the conditions, the short side length is known, the system of equations is listed:
six three-point lines are known to exist and are co-directional, listing the set of equations:
and solving by using software according to the equation set, namely acquiring all the coordinates of the C point. According to all the coordinates of the C point and the coordinates of the known A point and the known B point, calculating the Euler distance to obtain the lengths of 6 telescopic rods, thereby completing the equation solving process;
6) Avoidance of risk locations
The risk position avoidance is divided into two types, namely collision avoidance and soft tissue injury avoidance, and the collision avoidance is further divided into simple collision avoidance and complex collision avoidance;
7) Electronic prescription generation
And planning an adjustment route to generate an electronic prescription according to the adjustment target and the risk point avoidance condition.
Further, in the step 7), if the reset is quick, a one-time synchronous quick adjustment can be performed; if the correction is malformed, the correction is carried out for a plurality of times per day according to the prescription, and the adjustment amount of each time is specified by doctors and is not more than 0.2mm.
In step 6), the risk avoidance operation is not performed under the condition of simple collision avoidance, namely, the average division from the length of the starting rod to the length of the tail end rod is directly completed; or performing simple track planning, namely firstly pulling away the distance between two bone ends, adjusting the pose alignment, and then pulling in to complete the joint;
under the condition of complex collision avoidance, each step is subjected to interference check to ensure that no collision exists, and if the collision exists, a path planning algorithm such as a heuristic algorithm is adopted to re-plan a route;
under the condition of soft tissue avoidance, because the image is difficult to acquire soft tissue risk conditions, doctors are required to indicate the existence of risk points, and the algorithm performs path planning to avoid the risk points.
The beneficial effects of the invention are mainly shown in the following steps: effectively solves the problem of forward and inverse kinematics solution of the Ortho-SUV frame and avoidance of the risk position.
Drawings
Fig. 1 is a structural principle model of an Ilizarov external fixator.
Fig. 2 is a partial coordinate system established for the proximal and distal rings of the Ilizarov external fixator, respectively.
Fig. 3 is a model of bone structure with an Ilizarov external fixator installed.
Fig. 4 is an overall model of an embodiment.
Fig. 5 is a corrected model.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1 to 5, an external fixing frame used in the method comprises a proximal ring, a distal ring and 6 telescopic rods, wherein the proximal ring is set to be a ring A, the distal ring is set to be a ring B, and the 6 rods are sequentially numbered as L 1-6 . Wherein L is 1 ，L 3 ，L 5 Is connected to ring A at a point of connection A 1 ，A 2 ，A 3 The other end is connected with L 6 ，L 2 ，L 4 Are connected with each other, and the connection point is C 5 ，C 1 ，C 3 。L 2 ，L 4 ，L 6 Is connected to ring B at a point B 1 ，B 2 ，B 3 The other end is connected with L 1 ，L 3 ，L 5 Are connected with each other, and the connection point is C 6 ，C 2 ，C 4 Wherein the length of the short side on the rod is defined byStructural design decisions cannot be adjusted in the application, i.e. A 1 C 6 ，A 2 C 2 ，A 3 C 4 ，B 1 C 1 ，B 2 C 3 ，B 3 C 5 The structure is determined to be a fixed value;
the electronic prescription generation method for the fracture bone deformity treatment comprises the following steps:
1) Establishing a global coordinate system O, wherein the position of the global coordinate system O is a ring center of a proximal ring, namely a distal ring; establishing a local coordinate system O ', wherein the position of the local coordinate system O' is the ring center of the distal ring, namely the proximal ring; setting the connection point of the telescopic rod and the far end ring as A 1 ，A 2 ，A 3 Setting the connection point of the telescopic rod and the proximal ring as B 1 ，B 2 ，B 3 . Setting two ends of the far-end Bone segment as Bone 1 ，Bone 2 Setting two ends of the proximal Bone segment as Bone 3 ，Bone 4 ；
The three sides of the upper and lower rings are known to be long, respectively solving the radius of the circumscribed circle of the proximal end and the distal end ring according to the three-edge lengths of the proximal end and the distal end ring;
calculating the length and the diagonal angle of the vertical line segment according to the radius:
thereby solving for the local coordinates of a and B:
2) Knowing the length of the rod, solving a positive solution, and solving global coordinates of all connection points on the ring according to the determined length of the 6 rods;
setting the pose of the far end ring as (0, 0), setting the pose of the near end ring as (alpha, beta, gamma, a, b, c), and sequentially setting six pose parameters as rotation around an axis and displacement relative to an origin, wherein the six parameters of the pose of the near end ring are all unknowns, and calculating a rotation matrix of the near end ring relative to the far end ring.
R zyx ＝R z ×R y ×R x ,
Thereby obtaining global coordinates of B:
[B 1 ；1]＝T×[B 10 ；1]；[B 2 ；1]＝T×[B 20 ；1]；[B 3 ；1]＝T×[B 30 ；1]
definition of coordinates of C All coordinates of C are unknowns;
listing a solution equation set;
according to the conditions, the rod length is known, and an equation set is listed;
from the conditions, the short side length is known, the system of equations is listed:
six three-point lines are known to exist and are co-directional, listing the set of equations:
according to the equation set, using software to solve, obtaining six parameters of the pose of the near end ring and all C point coordinates, and completing the equation solving process;
3) Inputting frame installation parameters and deformity parameters, namely, bone is to be formedThe coordinates are linked with global coordinates, bone segment end point Bone 1 ，Bone 2 ，Bone 3 ，Bone 4 Becomes a known quantity, if the bone condition is complex, the step is conducted into a bone model or a CT three-dimensional reconstruction model for subsequent path planning;
4) Determining a frame adjustment amount according to the deformity parameter and the installation parameter, and adjusting the pose (alpha, beta, gamma, a, b, c) of the proximal ring;
5) Solving the inverse solution of the known pose, and determining the length of the rod according to the pose of the proximal ring of the target;
knowing the proximal ring pose (α, β, γ, a, b, c), the array is variedIs a known quantity;
global coordinates of B can be obtained by transforming the array T:
[B 1 ；1]＝T×[B 10 ；1]；[B 2 ；1]＝T×[B 20 ；1]；[B 3 ；1]＝T×[B 30 ；1]
also assume that the coordinates of C are of unknown magnitude
Listing a solution equation set;
from the conditions, the short side length is known, the system of equations is listed:
six three-point lines are known to exist and are co-directional, listing the set of equations:
and solving by using software according to the equation set, namely acquiring all the coordinates of the C point. According to all the coordinates of the C point and the coordinates of the known A point and the known B point, calculating the Euler distance to obtain the lengths of 6 telescopic rods, thereby completing the equation solving process;
6) The risk location evades.
The risk position avoidance is divided into two types, namely collision avoidance and soft tissue injury avoidance, and the collision avoidance is further divided into simple collision avoidance and complex collision avoidance;
the simple collision avoidance is suitable for the conditions of smoother bone section such as simple fracture, bone deformity correction and the like; in this case, the program may directly complete the equipartition of the length of the starting rod to the length of the end rod without performing risk avoidance operations; or performing simple track planning, namely firstly pulling away the distance between two bone ends, adjusting the pose alignment, and then pulling in to complete the joint;
the complex collision avoidance, namely interference detection, is suitable for the conditions of rough or even broken bone sections such as complex fracture and the like; in this case, the program needs to perform interference check on each step to ensure that no collision exists, and if collision exists, a path planning algorithm such as a heuristic algorithm is adopted to re-plan the route;
soft tissue avoidance: because the image is difficult to acquire the risk condition of the soft tissue, a doctor is required to point out the existence condition of the risk point, and the algorithm executes path planning to avoid the risk point;
7) Electronic prescription generation
According to the adjustment targets and the avoidance situations of the risk points, planning an adjustment route to generate an electronic prescription, and if the electronic prescription is quickly reset, carrying out one-time synchronous quick adjustment; if the correction is malformed, the correction should be carried out several times a day according to the prescription, and the adjustment amount of each time is specified by the doctor, and is generally not more than 0.2mm.
In this embodiment, an Ortho-SUV frame with a distal ring diameter of 135mm is selected, and the application process is simulated by using a program.
1 creates an Ortho-SUV rack in space, determines frame parameters, and generates a positive side view thereof (fig. 4). The frame parameters (side length (mm) of the triangle of the proximal and distal rings) are: s0= [100,100,100,100,100,100].
And 2, acquiring the malformation parameters and the installation parameters according to the positive side view. The deformity parameters (three angles (rad) and three displacements (mm)) are: [0, -0.3114,0,20,39, -5]. The installation parameters (three angles (rad) and three displacements (mm)) are: [0, -0.2118,0, -20,12,50].
3, according to the deformation parameters, the installation parameters and the frame parameters, calculating and outputting the adjustment quantity, namely the target length (mm) of each rod: [205.78,208.40,196.16,222.84,204.14,198.96].
4, acquiring a target view. At this time, each adjustment amount can be adjusted, and the adjustment condition is judged through the bone contour lines and the characteristic points. If there is a problem, returning to the second step.
5 collision avoidance
5.1 simple collision avoidance. The bone segments are pulled far and then pulled back in again by using simple collision avoidance.
5.2 Complex collision avoidance. It is necessary to introduce a three-dimensional bone model and perform an interference check on the bone model. As shown in the simple model, if interference occurs in the middle region, collision avoidance is required, and the position is adjusted as shown in the figure.
5.3 Soft tissue evasion. Due to its specificity, soft tissue requires a physician to identify it empirically, which is equivalent to manually adding an obstacle to the map. If the area needing to be avoided is set in the figure, the adjustment is needed to be carried out according to the position as shown in the figure.
6 electronic prescription Generation
In this embodiment, no obstacle is provided and the bone is moved directly to the target location. Fig. 5 is a corrected model. Table 1 is an electronic prescription (mm) table of examples.
TABLE 1
The embodiments described in this specification are merely illustrative of the manner in which the inventive concepts may be implemented. The scope of the present invention should not be construed as being limited to the specific forms set forth in the embodiments, but the scope of the present invention and the equivalents thereof as would occur to one skilled in the art based on the inventive concept.
Claims (3)
1. An electronic prescription generation method for fracture bone deformity treatment based on an Ortho-SUV external fixing support is characterized in that the external fixing support used by the method comprises a proximal ring, a distal ring and 6 telescopic rods, wherein the proximal ring is set to be a ring A, the distal ring is set to be a ring B, and the 6 rods are sequentially numbered as L 1-6 Wherein L is 1 ，L 3 ，L 5 Is connected to ring A at a point of connection A 1 ，A 2 ，A 3 The other end is connected with L 6 ，L 2 ，L 4 Are connected with each other, and the connection point is C 5 ，C 1 ，C 3 。L 2 ，L 4 ，L 6 Is connected to ring B at a point B 1 ，B 2 ，B 3 The other end is connected with L 1 ，L 3 ，L 5 Are connected with each other, and the connection point is C 6 ，C 2 ，C 4 Wherein the length of the short side on the bar is not adjustable in the application, i.e. A, as determined by the structural design 1 C 6 ，A 2 C 2 ，A 3 C 4 ，B 1 C 1 ，B 2 C 3 ，B 3 C 5 The structure is determined to be a fixed value;
the electronic prescription generation method for the fracture bone deformity treatment comprises the following steps:
1) Establishing a global coordinate system O, wherein the position of the global coordinate system O is a ring center of a proximal ring, namely a distal ring; establishing a local coordinate system O ', wherein the position of the local coordinate system O' is the ring center of the distal ring, namely the proximal ring; setting the connection point of the telescopic rod and the far end ring as A 1 ，A 2 ，A 3 Setting the connection point of the telescopic rod and the proximal ring as B 1 ，B 2 ，B 3 Setting two ends of the far-end Bone segment as Bone 1 ，Bone 2 Setting two ends of the proximal Bone segment as Bone 3 ，Bone 4 ；
The three sides of the upper and lower rings are known to be long, respectively solving the radius of the circumscribed circle of the proximal end and the distal end ring according to the three-edge lengths of the proximal end and the distal end ring;
calculating the length and the diagonal angle of the vertical line segment according to the radius:
thereby solving for the local coordinates of a and B:
2) Knowing the length of the rod, solving a positive solution, and solving global coordinates of all connection points on the ring according to the determined length of the 6 rods;
setting the pose of the far end ring as (0, 0), the pose of the near end ring as (alpha, beta, gamma, a, b, c), and the six pose parameters sequentially comprise rotation around x, y and z axes and displacement relative to an origin, wherein the six parameters of the pose of the near end ring are all unknown quantities, and thus, calculating a rotation matrix of the near end ring relative to the far end ring;
R zyx ＝R z ×R y ×R x ,
thereby obtaining global coordinates of B:
[B 1 ；1]＝T×[B 10 ；1]；[B 2 ；1]＝T×[B 20 ；1]；[B 3 ；1]＝T×[B 30 ；1]
defining the coordinates of C:
all coordinates of C are unknowns;
listing a solution equation set;
according to the conditions, the rod length is known, and an equation set is listed;
from the conditions, the short side length is known, the system of equations is listed:
six three-point lines are known to exist and are co-directional, listing the set of equations:
according to the equation set, using software to solve, obtaining six parameters of the pose of the near end ring and all C point coordinates, and completing the equation solving process;
3) Inputting frame installation parameters and deformity parameters, namely, associating Bone coordinates with global coordinates, and connecting Bone segment endpoints Bone 1 ，Bone 2 ，Bone 3 ，Bone 4 Becomes a known quantity, if the bone condition is complex, the step is conducted into a bone model or a CT three-dimensional reconstruction model for subsequent path planning;
4) Determining a frame adjustment amount according to the deformity parameter and the installation parameter, and adjusting the pose (alpha, beta, gamma, a, b, c) of the proximal ring;
5) Solving the inverse solution of the known pose, and determining the length of the rod according to the pose of the proximal ring of the target;
knowing the proximal ring pose (α, β, γ, a, b, c), the array is variedIs a known quantity;
global coordinates of B can be obtained by transforming the array T:
[B 1 ；1]＝T×[B 10 ；1]；[B 2 ；1]＝T×[B 20 ；1]；[B 3 ；1]＝T×[B 30 ；1]
also assume that the coordinates of C are of unknown quantity:
listing a solution equation set;
from the conditions, the short side length is known, the system of equations is listed:
six three-point lines are known to exist and are co-directional, listing the set of equations:
according to the equation set, software is used for solving, namely all C point coordinates are obtained, according to all C point coordinates and known A point and B point coordinates, the Euler distance is calculated to obtain the lengths of 6 telescopic rods, and therefore the equation solving process is completed;
6) Avoidance of risk locations
The risk position avoidance is divided into two types, namely collision avoidance and soft tissue injury avoidance, and the collision avoidance is further divided into simple collision avoidance and complex collision avoidance;
7) Electronic prescription generation
And planning an adjustment route to generate an electronic prescription according to the adjustment target and the risk point avoidance condition.
2. The method for generating an electronic prescription for treating bone fracture and orthodontic treatment based on an Ortho-SUV external fixation support according to claim 1, wherein in the step 7), if the quick reduction is performed, the one-time synchronous quick adjustment can be performed; if the correction is malformed, the correction is carried out for a plurality of times per day according to the prescription, and the adjustment amount of each time is specified by doctors and is not more than 0.2mm.
3. The method for generating an electronic prescription for treating bone fracture based on an Ortho-SUV external fixation support according to claim 1 or 2, wherein in the step 6), under the condition of simple collision avoidance, no risk avoidance operation is performed, and the average division from the length of the starting rod to the length of the end rod is directly completed; or performing simple track planning, namely firstly pulling away the distance between two bone ends, adjusting the pose alignment, and then pulling in to complete the joint;
under the condition of complex collision avoidance, each step is subjected to interference check to ensure that no collision exists, and if the collision exists, a path planning algorithm such as a heuristic algorithm is adopted to re-plan a route;
under the condition of soft tissue avoidance, because the image is difficult to acquire soft tissue risk conditions, doctors are required to indicate the existence of risk points, and the algorithm performs path planning to avoid the risk points.
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