CN1261081C - Robot assisted locking system with lock marrow internal nail based on image navigation - Google Patents
Robot assisted locking system with lock marrow internal nail based on image navigation Download PDFInfo
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- CN1261081C CN1261081C CNB2004100136309A CN200410013630A CN1261081C CN 1261081 C CN1261081 C CN 1261081C CN B2004100136309 A CNB2004100136309 A CN B2004100136309A CN 200410013630 A CN200410013630 A CN 200410013630A CN 1261081 C CN1261081 C CN 1261081C
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Abstract
The present invention discloses a robot assisted locking system with lock-carried intramedullary nails on the basis of image navigation, which relates to a medical system, particularly to a robot assisted locking system with lock-carried intramedullary nails on the basis of image navigation. A C-shaped arm X-ray unit (3) and a navigation robot (4) are respectively arranged on the left and the right of an operation table (2), and the working spaces of the C-shaped arm X-ray unit (3) and the navigation robot (4) are coincident with the working space of the operation table (2); a control data output and input end of the operation table (2) is connected with a control data input and output end of an industrial computer (1), a control data output and input end and an image data output end of the C-shaped arm X-ray unit (3) are respectively connected with the control data input and output end and an image data input end of the industrial computer (1), and a control data output and input end of the navigation robot (4) is connected with the control data input and output end of the industrial computer (1). The present invention can lock the position of a lock hole for one time, can prevent medical care personnel from working under the radiation of X rays for a long time when intramedullary nails deform, can complete the operation process in a full automatic mode or a man-machine integration mode, has high universality, and can realize long distance operations.
Description
Technical field
The present invention relates to a kind of medical system, specifically is a kind of robot auxiliary band lock intramedullary nail locking system based on image-guidance.
Background technology
Expanded the indication of intramedullary nail treatment greatly in the intramedullary nail with lock technology of the early stage introduction eighties.Intramedullary nail with lock is a kind ofly can reach near-end and the optimum fixed better method of distal fragment, can satisfy comminuted fracture, near-end and the requirement of far-end fixation of fractures, can effectively avoid rotation, sidesway, one-tenth angle and isolating generation, good operation effect has obtained continuous popularization.Modal mode with lock is with the screw that passes a side cortical layer, by a hole on the nail, pins the cortex of far-end.Static force type fixedly intramedullary pin must be fixed with bone at far-end and near-end.At present, the general mode with lock that adopts outside sight in operation promptly by the lockhole of outside sight centering intramedullary pin near-end and far-end, under the telescopic guiding of sight, is finished the operation of boring and pinning.Because intramedullary pin has born suitable curved power and twisting resistance after inserting medullary cavity, especially stressing conditions is more abominable in not expanding the marrow operation, cause intramedullary pin to produce distortion, the relative position relation of outside sight and intramedullary pin changes, by the lockhole of sight sleeve pipe on can't locking of intramedullary nails.When this situation occurring, doctor's centering lockhole under the X-ray machine direct irradiation of having to is finished pinning, and needing sometimes to repeat repeatedly could be successful.This has all produced adverse influence to doctor and patient.The sight of different manufacturers can only lock the intramedullary pin of own producer in addition, does not possess versatility, has caused application limit.
Summary of the invention
The purpose of this invention is to provide a kind of robot auxiliary band lock intramedullary nail locking system based on image-guidance.The present invention can solve in the existing system will be under the X-ray machine direct irradiation centering lockhole, and repeatedly repeat could be successful shortcoming.The present invention is made up of industrial control computer 1, operation table 2, C shape arm X-ray machine 3, navigating robot 4; C shape arm X-ray machine 3, navigating robot 4 are placed in the left and right sides of operation table 2 respectively, and the work space of C shape arm X-ray machine 3, the work space of navigating robot 4 and the work space of operation table 2 are coincided; The control data I/O of operation table 2 connects the control data input/output terminal of industrial control computer 1, control data input/output terminal, view data input that the control data I/O of C shape arm X-ray machine 3, view data outfan connect industrial control computer 1 respectively, the control data I/O of navigating robot 4 connects the control data input/output terminal of industrial control computer 1; Described operation table 2 is made up of motion control card 2-1, horizontal mobile device 2-2, longitudinal moving device 2-3, vertical lift mobile device 2-4, bed surface 2-5; The lower surface of longitudinal moving device 2-3 is connected on the upper surface of horizontal mobile device 2-2, the lower surface of vertical lift mobile device 2-4 is connected on the upper surface of longitudinal moving device 2-3, and the lower surface of bed surface 2-5 is connected on the upper surface of vertical lift mobile device 2-4; Three data control I/Os of motion control card 2-1 connect the Data Control input/output terminal of horizontal mobile device 2-2, longitudinal moving device 2-3, vertical lift mobile device 2-4 respectively, and the controlled end of motion control card 2-1 connects the control data input/output terminal of industrial control computer 1.Operation principle: the patient lies on the operation table 2, the doctor inserts intramedullary pin in the medullary cavity of patient's knochenbruch, doctor's remote manipulation C shape arm X-ray machine 3 is taken the X-ray photograph of knochenbruch, handle by 1 pair of X-ray photograph of industrial control computer, obtain the position and the attitude information of lockhole, industrial control computer 1 passes to navigating robot 4 with the position and the attitude information of lockhole, and navigating robot 4 carries out the lockhole location, automatically hole by doctor or navigating robot 4, then pinning.The position of the disposable definite lockhole of the present invention's energy can avoid medical personnel will work under the long-time irradiation of X-ray when intramedullary pin deforms, and can full-automatic or man-machine cooperation finish operation process, has versatility, and operating time is short, and can realize remote operation.
Description of drawings
Fig. 1 is a system structure sketch map of the present invention, Fig. 2 is an overall structure front view of the present invention, Fig. 3 is an overall structure vertical view of the present invention, Fig. 4 is the electrical block diagram of operation table 2, Fig. 5 is the electrical block diagram of C shape arm X-ray machine 3, Fig. 6 is the frame for movement sketch map of operation table 2, and Fig. 7 is the frame for movement sketch map of C shape arm X-ray machine 3.
The specific embodiment
In conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7 present embodiment is described, present embodiment is made up of industrial control computer 1, operation table 2, C shape arm X-ray machine 3, navigating robot 4; C shape arm X-ray machine 3, navigating robot 4 are placed in the left and right sides of operation table 2 respectively, and the work space of C shape arm X-ray machine 3, navigating robot 4 and the work space of operation table 2 are coincided; The control data I/O of operation table 2 connects the control data input/output terminal of industrial control computer 1, control data input/output terminal, view data input that the control data I/O of C shape arm X-ray machine 3, view data outfan connect industrial control computer 1 respectively, the control data I/O of navigating robot 4 connects the control data input/output terminal of industrial control computer 1; Described operation table 2 is made up of motion control card 2-1, horizontal mobile device 2-2, longitudinal moving device 2-3, vertical lift mobile device 2-4, bed surface 2-5; The lower surface of longitudinal moving device 2-3 is connected on the upper surface of horizontal mobile device 2-2, the lower surface of vertical lift mobile device 2-4 is connected on the upper surface of longitudinal moving device 2-3, and the lower surface of bed surface 2-5 is connected on the upper surface of vertical lift mobile device 2-4; Three data control I/Os of motion control card 2-1 connect the Data Control input/output terminal of horizontal mobile device 2-2, longitudinal moving device 2-3, vertical lift mobile device 2-4 respectively, and the controlled end of motion control card 2-1 connects the control data input/output terminal of industrial control computer 1; Said structure can move freely operation table 2 at three dimensions; C shape arm X-ray machine 3 by image pick-up card 3-1, X-ray machine head 3-2, servo motion control card 3-3, horizontal mobile device 3-4, longitudinal moving device 3-5, vertical lift mobile device 3-6, horizontally rotate device 3-7, vertical rotation device 3-8, C shape arm tumbler 3-9 forms; The lower surface of longitudinal moving device 3-5 is connected on the upper surface of horizontal mobile device 3-4, the lower surface of vertical lift mobile device 3-6 is connected on the upper surface of longitudinal moving device 3-5, the lower surface that horizontally rotates device 3-7 is connected on the upper surface of vertical lift mobile device 3-6, the lower surface of vertical rotation device 3-8 is connected on the upper surface that horizontally rotates device 3-7, the outside of C shape arm tumbler 3-9 is connected the side of vertical rotation device 3-8, and X-ray machine head 3-2 is connected on the termination at two ends of C shape arm of C shape arm tumbler 3-9; The output end of image of X-ray machine head 3-2 connects the image input of image pick-up card 3-1, the view data outfan of image pick-up card 3-1 connects the view data input of industrial control computer 1, six data control I/Os of servo motion control card 3-3 connect horizontal mobile device 3-4 respectively, longitudinal moving device 3-5, vertical lift mobile device 3-6, horizontally rotate device 3-7, vertical rotation device 3-8, C shape arm tumbler 3-9 Data Control input/output terminal, the control data input/output terminal of servo motion control card 3-3 connects industrial control computer 1 control data input/output terminal; Said structure makes C shape arm X-ray machine 3 have the motor function of six-freedom degree.The model that industrial control computer 1 is selected for use is to grind magnificent PCA-6006, the model that navigating robot 4 is selected for use is the SV3 of Japanese Motoman company, the model that motion control card 2-1 selects for use is HIT6502, horizontal mobile device 2-2, longitudinal moving device 2-3, the motor model that vertical lift mobile device 2-4 selects for use is the HN3451 of Italian MAE company entirely, the model that image pick-up card 3-1 selects for use is the Video-PCI-XR of Daheng, it is Xi'an fixed star NOVATR60 that X-ray machine head 3-2 selects model for use, the model that servo motion control card 3-3 selects for use is HIT6505, horizontal mobile device 3-4, longitudinal moving device 3-5, vertical lift mobile device 3-6, horizontally rotate device 3-7, the model of the motor that vertical rotation device 3-8 selects for use is the MHMA052C of Panasonic entirely, and the model of the motor that C shape arm tumbler 3-9 selects for use is the MHMA042C of Panasonic.
Claims (2)
1, based on the robot auxiliary band lock intramedullary nail locking system of image-guidance, it is made up of industrial control computer (1), operation table (2), C shape arm X-ray machine (3), navigating robot (4); C shape arm X-ray machine (3), navigating robot (4) are placed in the left and right sides of operation table (2) respectively, and the work space of C shape arm X-ray machine (3), the work space of navigating robot (4) and the work space of operation table (2) are coincided; The control data I/O of operation table (2) connects the control data input/output terminal of industrial control computer (1), the control data I/O of C shape arm X-ray machine (3), view data outfan connect control data input/output terminal, the view data input of industrial control computer (1) respectively, and the control data I/O of navigating robot (4) connects the control data input/output terminal of industrial control computer (1); It is characterized in that described operation table (2) is made up of motion control card (2-1), horizontal mobile device (2-2), longitudinal moving device (2-3), vertical lift mobile device (2-4), bed surface (2-5); The lower surface of longitudinal moving device (2-3) is connected on the upper surface of horizontal mobile device (2-2), the lower surface of vertical lift mobile device (2-4) is connected on the upper surface of longitudinal moving device (2-3), and the lower surface of bed surface (2-5) is connected on the upper surface of vertical lift mobile device (2-4); Three data control I/Os of motion control card (2-1) connect the Data Control input/output terminal of horizontal mobile device (2-2), longitudinal moving device (2-3), vertical lift mobile device (2-4) respectively, and the controlled end of motion control card (2-1) connects the control data input/output terminal of industrial control computer (1).
2, the robot auxiliary band lock intramedullary nail locking system based on image-guidance according to claim 1, it is characterized in that described C shape arm X-ray machine (3) by image pick-up card (3-1), X-ray machine head (3-2), servo motion control card (3-3), horizontal mobile device (3-4), longitudinal moving device (3-5), vertical lift mobile device (3-6), horizontally rotate device (3-7), vertical rotation device (3-8), C shape arm tumbler (3-9) and form; The lower surface of longitudinal moving device (3-5) is connected on the upper surface of horizontal mobile device (3-4), the lower surface of vertical lift mobile device (3-6) is connected on the upper surface of longitudinal moving device (3-5), the lower surface that horizontally rotates device (3-7) is connected on the upper surface of vertical lift mobile device (3-6), the lower surface of vertical rotation device (3-8) is connected on the upper surface that horizontally rotates device (3-7), the outside of C shape arm tumbler (3-9) is connected a side of vertical rotation device (3-8), and X-ray machine head (3-2) is connected on the termination at two ends of C shape arm of C shape arm tumbler (3-9); The output end of image of X-ray machine head (3-2) connects the image input of image pick-up card (3-1), the view data outfan of image pick-up card (3-1) connects the view data input of industrial control computer (1), six data control I/Os of servo motion control card (3-3) connect horizontal mobile device (3-4) respectively, longitudinal moving device (3-5), vertical lift mobile device (3-6), horizontally rotate device (3-7), vertical rotation device (3-8), C shape arm tumbler (3-9) Data Control input/output terminal, the control data input/output terminal of servo motion control card (3-3) connects industrial control computer (1) control data input/output terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100136309A CN1261081C (en) | 2004-03-17 | 2004-03-17 | Robot assisted locking system with lock marrow internal nail based on image navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100136309A CN1261081C (en) | 2004-03-17 | 2004-03-17 | Robot assisted locking system with lock marrow internal nail based on image navigation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1561926A CN1561926A (en) | 2005-01-12 |
| CN1261081C true CN1261081C (en) | 2006-06-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004100136309A Expired - Fee Related CN1261081C (en) | 2004-03-17 | 2004-03-17 | Robot assisted locking system with lock marrow internal nail based on image navigation |
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| CN (1) | CN1261081C (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101411630B (en) * | 2007-10-19 | 2011-03-02 | 北京航空航天大学 | Terminal operating system of robot and minimally invasive surgery robot with vision navigation |
| CN102727312A (en) * | 2012-07-03 | 2012-10-17 | 张春霖 | Surgical robot bone benchmark determining method based on in vitro marker |
| CN103315811B (en) * | 2013-05-22 | 2015-06-10 | 孙建松 | X-ray machine capable of imaging and navigating |
| RU2687826C2 (en) * | 2013-05-31 | 2019-05-16 | Конинклейке Филипс Н.В. | Assistance to the user during surgical procedure device |
| CN107616837B (en) * | 2017-10-27 | 2020-02-07 | 清华大学 | Visual servo control intramedullary nail distal locking screw nailing method and system |
| CN107854172A (en) * | 2017-12-12 | 2018-03-30 | 王亚军 | A kind of servicing unit in intramedullary pin internal fixation operation |
| CN112274167B (en) * | 2020-10-29 | 2021-07-06 | 西南医科大学附属中医医院 | All-round X ray inspection machine |
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2004
- 2004-03-17 CN CNB2004100136309A patent/CN1261081C/en not_active Expired - Fee Related
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Granted publication date: 20060628 Termination date: 20110317 |