CN215994218U - Remote fracture reduction system - Google Patents
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- CN215994218U CN215994218U CN202121781732.0U CN202121781732U CN215994218U CN 215994218 U CN215994218 U CN 215994218U CN 202121781732 U CN202121781732 U CN 202121781732U CN 215994218 U CN215994218 U CN 215994218U
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Abstract
The utility model relates to a remote fracture reduction system, which is characterized by comprising: the system comprises an optical tracer, a first camera, a mechanical arm, a workstation and a remote workstation; the optical tracer is arranged on the fractured bone and carries out CT scanning together with the fractured bone through CT scanning equipment to obtain CT data; the first camera is connected with the workstation and used for shooting an image of the optical tracer and obtaining coordinate and attitude data of the optical tracer; the tail end of the mechanical arm is provided with a clamping structure for clamping a broken bone, and the mechanical arm is connected with the workstation; the workstation generates the spatial pose data of the fractured bone according to the CT data and the coordinate and posture data of the optical tracer; the workstation is in communication connection with the remote workstation; the remote workstation comprises multimedia equipment and information acquisition equipment, wherein the multimedia equipment is used for displaying data received by the remote workstation, and the information acquisition equipment is used for acquiring remote control instructions of the mechanical arm and/or audio and video information fed back by a user.
Description
Technical Field
The utility model relates to the field of medical instruments, in particular to a remote fracture reduction system.
Background
Fracture or broken bone refers to the complete or partial breakdown of the continuity of bone structure. It is common to children and the elderly, and occurs in the middle-aged and young. Patients often have one site fractured and a few multiple fractures. After timely and proper treatment, most patients can recover the original functions, and a few patients can leave sequelae with different degrees.
For patients with fractures and broken bones, the common treatment method comprises two stages, firstly, the fracture part is reset and closed; then, the fracture site after reduction closure is fixed, for example, internally by using an intramedullary nail, a striking plate, or the like, or externally by using an external fixation stent, plaster, or the like. The resetting method has various methods, for example, the resetting can be realized by the hand feeling of a doctor according to the experience of the doctor; or manual reduction under fluoroscopy is carried out by means of intraoperative X-ray fluoroscopy; in addition, open reduction can be performed by cutting open the skin and soft tissue and visualizing the fracture site.
The existing several reduction methods need to directly or indirectly observe the position and the specific shape of the fracture or broken bone part, but the fracture or broken bone part is wrapped by skin, if open reduction is adopted, the skin and tissues are cut, the specific shape of the fracture or broken bone part is positioned by visual observation, the injury to a patient is large, and the postoperative recovery time is long. While for other reduction methods, the specific shape of the fracture or broken bone portion cannot be located by visual inspection. Specifically, if the reduction is performed by a manipulation, the doctor only needs to know the personal experience of the doctor, so that the situation of poor reduction is inevitable; if the fractured bone posture is obtained by adopting an intraoperative X-ray fluoroscopy mode, radiation injury of doctors and patients is increased, and the X-ray image only provides two-dimensional information and cannot completely know the real-time three-dimensional space position of the fractured bone.
Therefore, how to accurately determine the position and the specific shape of the fracture or the broken bone part under the condition of no perspective or no wound and tissue stripping, and execute accurate and precise reduction operation aiming at the broken bone condition to improve the fracture reduction effect becomes a problem which needs to be solved at present.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a remote fracture reduction system, which solves the technical problems that the position and the specific shape of a fracture or a broken bone part cannot be accurately determined and the accurate reduction is performed according to the broken bone condition in the prior art.
The utility model provides a remote fracture reduction system, comprising: an optical tracer 1, a first camera 2, a mechanical arm 3, a workstation 4 and a remote workstation 5;
the optical tracer 1 is arranged on a broken bone 6 and performs CT scanning together with the broken bone 6 through a CT scanning device 7 to obtain CT data;
the first camera 2 is connected with the workstation 4, and the first camera 2 is used for recognizing the image of the optical tracer 1 and obtaining the coordinate and attitude data of the optical tracer 1;
the tail end of the mechanical arm 3 is provided with a clamping structure for clamping the broken bone 6, and the mechanical arm 3 is connected with the workstation 4 and executes corresponding actions according to control commands of the workstation 4;
the workstation 4 generates spatial pose data of the fractured bone 6 according to the CT data and the coordinate and posture data of the optical tracer 1; the workstation 4 is in communication connection with the remote workstation 5;
the remote workstation 5 comprises a multimedia device and an information acquisition device, the multimedia device is used for displaying data received by the remote workstation 5, and the information acquisition device is used for acquiring remote control instructions of the mechanical arm 3 and/or audio and video information fed back by a user.
According to the utility model, the remote fracture reduction system further comprises: a first 5G terminal and a second 5G terminal;
According to the present invention, there is provided a remote fracture reduction system, the optical tracer 1 comprising: a fixing pin 10, a fixing block 11, a registration block 12 and an identification plate 13;
the fixing needle 10 is used for being fixedly arranged on the fractured bone 6;
the fixing block 11 is used for fixedly connecting the registration block 12 and the identification plate 13 with the fixing pin 10;
at least two metal marker balls capable of being developed in a CT image are arranged on the registration block 12;
the identification plate 13 is provided with a positioning mark.
According to the remote fracture reduction system provided by the utility model, the fixed block 11 comprises a fixed block body 111, a first mounting part 112 fixedly connected with the fixed block body 111 and a locking part 113; wherein, a through hole for the fixing needle 10 to pass through is formed on the fixing block body 111; the locking portion 113 is used for fixing the fixing block 11 and the fixing pin 10 penetrating the through hole relatively.
According to the remote fracture reduction system provided by the utility model, the registration block 12 comprises a second mounting part 122 which is pivotally connected with the first mounting part 112 and can be fixed relative to the first mounting part 112, a registration block body 121 which is fixedly connected with the second mounting part, and at least two marker balls 123 which are arranged on the registration block body 121 at intervals and can be developed in a CT image.
According to the remote fracture reduction system provided by the utility model, the identification plate 13 is detachably fixed on one side of the registration block body 121 far away from the fixed block 11, and one side of the identification plate 13 far away from the fixed block 11 is provided with a positioning mark.
According to the utility model, the remote fracture reduction system further comprises: a second camera;
the second camera is connected with the workstation 4 and is used for shooting video and audio data of a surgical scene;
the workstation 4 is also used to send video and audio data of the surgical scene to the remote workstation 5.
According to the remote fracture reduction system provided by the utility model, the first camera 2 is one of a monocular camera, a binocular camera and a trinocular camera.
According to the remote fracture reduction system provided by the utility model, the optical tracer 1 is multiple, and each optical tracer 1 is installed on a broken bone 6.
According to the remote fracture reduction system provided by the utility model, the mechanical arms 3 are multiple, and each mechanical arm 3 clamps a broken bone 6.
In the remote fracture reduction system provided by the utility model, the optical tracer and the CT scanning equipment collect broken bone CT data, and the first camera is used for shooting the image data of the optical tracer 1 and identifying the pose data of the optical tracer. And the workstation generates pose data of the broken bone according to the CT data of the broken bone and the pose data of the optical tracer and transmits the pose data to the remote workstation. The remote workstation displays the pose data of the broken bone in real time and collects the control instruction of the mechanical arm or the audio and video information of remote guidance, so that the mechanical arm can execute remote fracture reduction, or an operator directly controls the mechanical arm to perform fracture reduction operation or perform fracture reduction by hands according to the remote guidance of the audio and video information. The accurate positioning of the broken bone is realized, the diagnosis accuracy is improved by combining the judgment of a remote doctor, and the reduction operation of the broken bone is accurately executed through the mechanical arm, so that the reduction effect of the fracture is integrally improved.
Drawings
FIG. 1 is a schematic structural view of a remote fracture reduction system according to the present invention;
FIG. 2 is a schematic structural diagram of an optical tracer in a remote fracture reduction system according to the present invention;
fig. 3 is a schematic structural diagram of a fixing block 11 in a remote fracture reduction system according to the present invention;
fig. 4 is a schematic structural diagram of the registration block 12 in the remote fracture reduction system provided by the utility model.
In the figure:
1-optical tracer; 2-a first camera; 3, a mechanical arm;
4-a workstation; 5-a remote workstation; 6-breaking the bone; 7-CT scanning equipment;
10, fixing the needle; 11-a fixed block; 12-a registration block; 13-an identification plate;
111-fixed block body; 112 — a first mounting portion; 113-a locking part;
121-registering block body; 122 — a second mounting portion; 123-marker ball.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "first", "second", and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Fig. 1 is a schematic structural diagram of a remote fracture reduction system provided by the present invention, and as shown in fig. 1, the remote fracture reduction system provided by the present invention includes: an optical tracer 1, a first camera 2, a mechanical arm 3, a workstation 4 and a remote workstation 5; the optical tracer 1 is arranged on a broken bone 6 and performs CT scanning together with the broken bone 6 through a CT scanning device 7 to obtain CT data; the first camera 2 is connected with the workstation 4, and the first camera 2 is used for recognizing the image of the optical tracer 1 and obtaining the coordinate and attitude data of the optical tracer 1; the tail end of the mechanical arm 3 is provided with a clamping structure for clamping the broken bone 6, and the mechanical arm 3 is connected with the workstation 4 and executes corresponding actions according to control commands of the workstation 4; the workstation 4 generates spatial pose data of the fractured bone 6 according to the CT data and the coordinate and posture data of the optical tracer 1; the workstation 4 is in communication connection with the remote workstation 5; the remote workstation 5 comprises a multimedia device and an information acquisition device, the multimedia device is used for displaying data received by the remote workstation 5, and the information acquisition device is used for acquiring remote control instructions of the mechanical arm 3 and/or audio and video information fed back by a user.
Specifically, the optical tracer 1 may be one or more, the optical tracer 1 has a metal marker ball capable of being developed in CT scanning for displaying in a CT coordinate system, before an operation, the optical tracer 1 is mounted on a fractured bone 6, and performs preoperative CT scanning together with the fractured bone 6 through a CT scanning device 7, acquires CT data, and guides the CT data into the workstation 4, so as to assist the workstation 4 in acquiring a corresponding position relationship between the marker ball and the fractured bone 6. It should be noted that the CT scanning device 7 may be directly connected to the workstation 4 through a data cable to transmit CT data, and the CT scanning device 7 may also import CT data into the workstation 4 through a medical imaging system (such as a pacs system), and may also import CT data into the workstation 4 through a removable storage medium, which is not limited herein. The first camera 2 is used for capturing image data of the optical tracer 1 and recognizing coordinate and posture data of the optical tracer 1. The workstation 4 obtains the corresponding position relation between the marker ball and the fractured bone 6 according to the CT data acquired from the CT scanning device 7, and determines the spatial pose data of the fractured bone 6 by combining the coordinate and the pose data of the optical tracer 1 acquired from the first camera 2, so that the position and the pose of the fractured bone 6 can be tracked in real time conveniently. It can be understood that the workstation 4 can also display the spatial pose data of the fractured bone 6 in real time through the display device. The workstation 4 transmits the spatial pose data of the fractured bone 6 to the remote workstation 5 through a communication network. The remote workstation 5 comprises multimedia equipment and information acquisition equipment, the multimedia equipment displays the spatial pose data of the fractured bone 6 received by the remote workstation 5 in real time, specifically, a 2D picture can also display a 3D image, a remote doctor can conveniently know the fractured bone information in real time, so that accurate judgment can be made, the remote doctor can input a remote control instruction to the mechanical arm 3 through the information acquisition equipment of the remote workstation 5 after making judgment, the mechanical arm 3 is remotely controlled to execute the fractured bone resetting operation, the remote doctor can input audio and video information aiming at the illness state of a patient through the information acquisition equipment of the remote workstation 5, the fractured bone resetting operation of an operator is remotely guided, and the operator can directly control the mechanical arm 3 to perform the fractured bone resetting operation according to the audio and video guide information sent by the remote workstation 5.
It will be appreciated that the optical tracer 1, the first camera 2, the robotic arm 3, and the workstation 4 are deployed centrally, for example, in a ward, an operating room, or the like. The remote workstation 5 is deployed at a remote medical work site. The workstation 4 is in remote communication with a remote workstation 5 so that a physician can remotely perform or guide the performance of a fractured bone reduction.
In the remote fracture reduction system provided by the embodiment, the optical tracer 1 and the CT scanning device 7 collect fractured bone CT data, and the first camera 2 is used for shooting image data of the optical tracer 1 and identifying pose data of the optical tracer 1 in a spatial coordinate system. The workstation 4 generates the pose data of the fractured bone 6 according to the fractured bone CT data and the pose data of the optical tracer 1 and transmits the pose data to the remote workstation 5. The remote workstation 5 presents the pose data of the fractured bone 6 in real time and collects the control instruction of the mechanical arm 3 or the audio and video information of remote guidance, so that the mechanical arm 3 can execute remote fracture reduction, or an operator directly controls the mechanical arm 3 to perform fracture reduction operation or perform fracture reduction by bare hands according to the remote guidance of the audio and video information. The accurate positioning of the broken bone is realized, the diagnosis accuracy is improved by combining the judgment of a remote doctor, and the broken bone reduction operation is accurately executed through the mechanical arm 3, so that the fracture reduction effect is integrally improved.
Based on the above embodiments, in one embodiment, a remote fracture reduction system further comprises: a first 5G terminal and a second 5G terminal; workstation 4 passes through first 5G terminal connection 5G network, remote workstation 5 passes through second 5G terminal connection 5G network, first 5G terminal with second 5G terminal carries out data interaction through 5G network.
In this embodiment, the first 5G terminal and the second 5G terminal are introduced, so that the workstation 4 and the remote workstation 5 can perform stable low-delay data interaction, thereby implementing medical resource sharing.
Fig. 2 is a schematic structural diagram of an optical tracer in a remote fracture reduction system according to the present invention, as shown in fig. 2, and according to any of the above embodiments, in an embodiment, the optical tracer includes: a fixing pin 10, a fixing block 11, a registration block 12 and an identification plate 13; the fixing needle 10 is used for being fixedly arranged on the fractured bone 6, and the fixing needle 10 can adopt a Schneider's needle or a Kirschner's needle and the like; the fixing block 11 is used for fixedly connecting the registration block 12 and the identification plate 13 with the fixing pin 10; at least two metal marker balls capable of being developed in a CT image are arranged on the registration block 12; the recognition board 13 is provided with a pattern for the first camera 2 to recognize and calculate the position and posture of the recognition board 13.
The fixing block in the embodiment fixes the registration block and the identification plate on the fractured bone through the fixing pin, and the marker ball in the registration block can be used for developing in CT data and positioning the position relation of the marker ball relative to the fractured bone in a CT coordinate system. The recognition board is convenient for the first camera to shoot and is used for determining the position and posture information of the recognition board in the space coordinate system. Because the broken bone, the fixing pin, the fixing block, the registration block and the identification plate are fixedly connected, the spatial position and posture data of the broken bone can be accurately and truly determined by the data, and the next diagnosis is facilitated.
Based on any one of the above embodiments, in one embodiment, the specific structures of the fixing block 11, the registration block 12, and the identification plate 13 are as follows:
fig. 3 is a schematic structural view of the fixing block 11, and as shown in fig. 3, based on any of the above embodiments, in one embodiment, the fixing block 11 includes a fixing block body 111, a first mounting portion 112 fixedly connected to the fixing block body 111, and a locking portion 113, where a through hole for the fixing pin 10 to pass through is formed in the fixing block body 111; the locking portion 113 is used to fix the fixing block 11 and the fixing pin 10 inserted into the through hole relatively.
Fig. 4 is a schematic structural diagram of the registration block 12, and as shown in fig. 4, according to any of the above embodiments, in one embodiment, the registration block 12 includes a second mounting portion 122 pivotally connected to the first mounting portion 112 and capable of being fixed relative to the first mounting portion 112, a registration block body 121 fixedly connected to the second mounting portion, and at least two marker balls 123 spaced apart from the registration block body 121 and capable of being visualized in a CT image.
Based on any one of the above embodiments, in one embodiment, the recognition plate 13 is detachably fixed on the side of the registration block body 121 away from the fixed block 11, and the side of the recognition plate 13 away from the fixed block 11 is provided with a positioning mark for facilitating the recognition by the first camera 2 and for calculating the position and posture data of the recognition plate 13. The positioning mark is used for providing positioning data and can be an identification pattern designed according to a certain rule, and the identification pattern is printed or pasted on the first identification plate.
The fixing block in the embodiment fixes the registration block and the identification plate on the fractured bone through the fixing pin, and the marker ball in the registration block can be used for developing in CT data and positioning the position relation of the marker ball relative to the fractured bone in a CT coordinate system. The recognition board is convenient for the first camera to shoot and is used for determining the position and posture information of the recognition board in the space coordinate system. Because the broken bone, the fixing pin, the fixing block, the registration block and the identification plate are fixedly connected, the spatial position and posture data of the broken bone can be accurately and truly determined by the data, and the next diagnosis is facilitated.
In one embodiment, based on any of the above embodiments, the remote fracture reduction system further includes: a second camera; the second camera is connected with the workstation 4 and is used for shooting video and audio data of a surgical scene; the workstation 4 is also used to send video and audio data of the surgical scene to the remote workstation 5.
The operation scene data is acquired through the second camera in the embodiment, so that the workstation can record and file conveniently, and the operation scene data can also be sent to a remote workstation, and the remote doctor can know the real-time dynamic state of the operation conveniently.
Based on any of the above embodiments, in one embodiment, the first camera 2 is one of a monocular camera, a binocular camera, and a trinocular camera.
In this embodiment, the first camera is one of a monocular camera, a binocular camera and a trinocular camera, so that the first camera can acquire data more accurately, and a workstation can conveniently and accurately position the optical tracer.
Based on any one of the above embodiments, in one embodiment, the optical tracer 1 is multiple, and each optical tracer 1 is installed on a fractured bone 6. Multiple optical tracers 1 may locate multiple fractured bones 6.
Based on any one of the above embodiments, in one embodiment, the mechanical arm 3 is multiple, and each mechanical arm 3 holds one broken bone 6.
It can be understood that the number of mechanical arms is zero, i.e. the mechanical arms are reset by hands; the number of the mechanical arms is one, the mechanical arms are connected with the distal fractured bone, and the proximal fractured bone is fixed by other instruments; in this embodiment, there are a plurality of mechanical arms, and each mechanical arm and one broken bone are connected to a plurality of mechanical arms, so that the mechanical arms can cooperate with each other to perform the broken bone reduction operation.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A remote fracture reduction system, comprising: the system comprises an optical tracer (1), a first camera (2), a mechanical arm (3), a workstation (4) and a remote workstation (5);
the optical tracer (1) is arranged on a broken bone (6) and carries out CT scanning together with the broken bone (6) through a CT scanning device (7) to obtain CT data;
the first camera (2) is connected with the workstation (4), and the first camera (2) is used for shooting images of the optical tracer (1) and obtaining coordinate and attitude data of the optical tracer (1);
the tail end of the mechanical arm (3) is provided with a clamping structure for clamping the broken bone (6), the mechanical arm (3) is connected with the workstation (4), and corresponding actions are executed according to control commands of the workstation (4);
the workstation (4) generates spatial pose data of the fractured bone (6) according to the CT data and the coordinate and posture data of the optical tracer (1); the workstation (4) is in communication connection with the remote workstation (5);
the remote workstation (5) comprises multimedia equipment and information acquisition equipment, the multimedia equipment is used for displaying data received by the remote workstation (5), and the information acquisition equipment is used for acquiring remote control instructions of the mechanical arm (3) and/or audio and video information fed back by a user.
2. The remote fracture reduction system of claim 1, further comprising: a first 5G terminal and a second 5G terminal;
workstation (4) pass through first 5G terminal connection 5G network, remote workstation (5) pass through second 5G terminal connection 5G network, first 5G terminal with second 5G terminal carries out data interaction through 5G network.
3. The remote fracture reduction system of claim 1, wherein the optical tracer comprises: the device comprises a fixing needle (10), a fixing block (11), a registration block (12) and an identification plate (13);
the fixing needle (10) is fixedly arranged on the fractured bone (6);
the fixing block (11) is used for fixedly connecting the registration block (12) and the identification plate (13) with the fixing needle (10);
at least two metal marker balls capable of being developed in a CT image are arranged on the registration block (12);
and the identification plate (13) is provided with a positioning mark.
4. The remote fracture reduction system according to claim 3, wherein the fixing block (11) comprises a fixing block body (111), a first mounting portion (112) fixedly connected with the fixing block body (111), and a locking portion (113); the fixing block body (111) is provided with a through hole for the fixing needle (10) to pass through; the locking part (113) is used for fixing the fixing block (11) and the fixing needle (10) which penetrates through the through hole relatively.
5. The remote fracture reduction system of claim 4, wherein the registration block (12) includes a second mounting portion (122) pivotally coupled to the first mounting portion (112) and securable relative to the first mounting portion (112), a registration block body (121) fixedly coupled to the second mounting portion, and at least two marker balls (123) spaced apart on the registration block body (121) and capable of being visualized in a CT image.
6. The remote fracture reduction system of claim 5, wherein the identification plate (13) is removably secured to the side of the registration block body (121) remote from the fixation block (11), and wherein the side of the identification plate (13) remote from the fixation block (11) is provided with positioning indicia.
7. The remote fracture reduction system of claim 1, further comprising: a second camera;
the second camera is connected with the workstation (4) and is used for shooting video and audio data of a surgical scene;
the workstation (4) is further configured to send video and audio data of the surgical scene to the remote workstation (5).
8. A remote fracture reduction system according to claim 1, wherein the first camera (2) is one of a monocular camera, a binocular camera, and a trinocular camera.
9. A remote fracture reduction system according to claim 1, wherein said optical tracer (1) is plural, each of said optical tracer (1) being mounted on a fractured bone (6).
10. A system for remote reduction of bone fracture according to claim 1, characterized in that said mechanical arms (3) are plural, each of said mechanical arms (3) holding a fractured bone (6).
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| CN202121781732.0U CN215994218U (en) | 2021-08-02 | 2021-08-02 | Remote fracture reduction system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116236278A (en) * | 2023-05-08 | 2023-06-09 | 江苏省人民医院（南京医科大学第一附属医院） | Bone tunnel establishment system |
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2021
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116236278A (en) * | 2023-05-08 | 2023-06-09 | 江苏省人民医院（南京医科大学第一附属医院） | Bone tunnel establishment system |
| CN116236278B (en) * | 2023-05-08 | 2023-07-18 | 江苏省人民医院（南京医科大学第一附属医院） | Bone tunnel establishment system |
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