WO2012102685A1 - Procédé et appareil informatiques d'identification et de gestion de position avec agencement géométrique à bords perpendiculaires - Google Patents

Procédé et appareil informatiques d'identification et de gestion de position avec agencement géométrique à bords perpendiculaires Download PDF

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Publication number
WO2012102685A1
WO2012102685A1 PCT/TR2011/000034 TR2011000034W WO2012102685A1 WO 2012102685 A1 WO2012102685 A1 WO 2012102685A1 TR 2011000034 W TR2011000034 W TR 2011000034W WO 2012102685 A1 WO2012102685 A1 WO 2012102685A1
Authority
WO
WIPO (PCT)
Prior art keywords
arms
platform
motion
image
software
Prior art date
Application number
PCT/TR2011/000034
Other languages
English (en)
Inventor
Tamer ISIN
Original Assignee
Isin Tamer
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Isin Tamer filed Critical Isin Tamer
Priority to PCT/TR2011/000034 priority Critical patent/WO2012102685A1/fr
Priority to TR2012/01064T priority patent/TR201201064T1/xx
Publication of WO2012102685A1 publication Critical patent/WO2012102685A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • 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
    • A61B17/60—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 for external osteosynthesis, e.g. distractors, contractors
    • A61B17/62—Ring frames, i.e. devices extending around the bones to be positioned
    • 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
    • A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'

Definitions

  • the invention relates to a mechanism providing usage of two plates having various shapes (circular, diagonal or unshaped) in relation with each other or two planes or surfaces in relation with each other via their collective or independent movements.
  • the invention particularly relates to an external locating mechanism for use in robotic technologies, medical technologies, weapon industry, and construction industry etc. all kinds of industrial branches with its rotating, angle forming, extending, shortening, displacement in horizontal axis etc. motions and functions in 3 dimensions and 6 axes via performing more numbers of the same function without being restricted to two pieces when simultaneous usage is needed at the same time in the additional piece or plane and in this way providing management of the motion of another piece or system with the control achieved with this motion.
  • Hexagonally (HEXAPOD) arranged spatiajjattj.ee systems developed in 1950's for opening and closing manhole covers are used in weapon and robot technologies and then this technique has started to be used in the medical sector.
  • Various robotic systems are produced and used with this technique used in medicine.
  • this technique has to be used in the orthopaedics sector in 1990's.
  • it is aimed to perform correction operations in 6 axes and 3 dimensions and assistance of computer has been necessary in order to perform the required operations for achieving this purpose.
  • hexagonally arranged spatial lattice systems are used for 3-dimensional operations, their operation functions and principles are also 3-dimensional. While moving, the system also moves in 3 dimensions.
  • the eight-leg arrangement systems Since there is no perpendicular edge geometry in arrangement of the eight-leg arrangement systems, they can not be standardized with a geometric formulation and correspondingly they can. operate in restricted areas with restricted motions. In the eight-leg arrangement without perpendicular edges, the legs form line with different angles. In this case, due to the difficulty of formulation, narrowing takes place based on motion in the platform because of the positions of the legs.
  • the purpose of the invention is to determinelhe change of form through the image in order to determine the change of form occurred in a geometrical shape previously defined in the software and calculate the amount and position of the determined change.
  • Another purpose of the invention is. to, m . akje. . th ⁇ measurements and calculations to determine the movement direction and amount of the mechanism in order to provide movement of a motion mechanism according to a defined geometry by identifying the position and shape of the mechanism through the image and bring it into the defined shape.
  • Another purpose of the invention is to perform the desired correction by providing movement of the platform in 6 axes via arrangement of the connection arms of the platform on the perpendicular edge geometry, wherein the platform is formed of the connection arms between the plates forming the correction mechanism to be used in converting the defined geometrical shape into the desired shape.
  • the purpose of the invention is to enable motion in 6 axes by supporting a range of main arms between the plates with auxiliary ⁇ arms.
  • a purpose of the invention is to move the two plates or two or more numbers of plates connected to each other linearly and circularly in 3 dimensions (x, y, and z axes). 3-dimensional motion is performed in 6 axes, which are the x, y, and z axes in ⁇ directions.
  • Another purpose of the invention is to use standard software by standardization of the formula and calculations via a symmetrical geometric arrangement.
  • Another purpose of the invention is to eliminate conflict of dimension during data in using 2-dimensional image data in 3 dimensions and thus prevent loss of data.
  • Another purpose of the invention is to perform 3-dimensional operation with 2- dimensional motion mechanism. Dependency on software is eliminated by 3- dimensional operation which can be obtained from 2-dimensional motion. Another purpose of the invention is to eliminate sensitivity from occurring in the complete system due to having low number of angled arms and the , shortness of the angled arms because of the arrangement and as a result eliminate the margin of error. Another purpose of the invention is to form a larger field of application for formal use thanks to the arrangement. The purpose is to provide a light and quick system.
  • Another purpose of the invention is to eliminate measurement related errors via the software used in measurements and thus obtain error-free results from the operation. Usage becomes easier, speed of application increases, and margin decreases thanks to this software.
  • Another purpose of the invention is to eliminate the necessary for circular plate form. In this way, the purpose is to form a wider area of usage.
  • Another purpose of the invention is to eliminate the locking possibility of the system during motion thanks to the design enabling rotation of the arms around their own axes.
  • the invention is the perpendicular edge platform method in order to eliminate the above said drawbacks and it relates to arrangement and motion of arms (20, 40) on the perpendicular edged geometric line (D) with the help of a range of main arms (20) between two plates (10, 30) and a range of auxiliary arms (40) or apparatus.
  • the structural and characteristic features o the invention and all advantages will be understood better in detailed descriptions with the figures given below and with reference to the figures, and therefore, the assessment should be made taking into account the said figures and detailed explanations. Description of the Figures
  • Figure 1 is the front perspective view of the platform of the invention, wherein the main arms are in mounted position.
  • Figure 2 is the front perspective view of the platform of the invention, wherein 2 auxiliary arms are in mounted position.
  • Figure 3 is the front perspective view of ? hej)latform of the invention, wherein 4 auxiliary arms are in mounted position.
  • Figure 4 is the figure showing the motion of the platform in -x and -y axes.
  • Figure 5 is the figure showing the motion of the platform in +x and -y axes.
  • Figure 6 is the figure showing the motion of the platform in -y axis.
  • Figure 7 is the figure showing the rotating motion of the platform around y axis.
  • Figure 8 is the figure showing the rotating motion of the platform around y axis in the opposite direction.
  • Figure 9 is the figure showing the motion of the locating platform in -z axis.
  • Figure 10 is the figure showing the motion of the platform in +x and +z axes.
  • Figure 1 1 is the figure showing arrangement of the mechanism arms of the invention on the perpendicular edge.
  • Figure 12 is the perspective view of the connectors of the invention.
  • Figure 13 is the general perspective view of the arm of the invention.
  • the invention is the method of placement of a range of vertical arms (20) between a range of plates (10, 30) vertically in accordance with the perpendicular edge geometric arrangement and providing motion of the vertical arms (20) on the perpendicular edge line (D) by connection of the angle forming arms (40), which are in the form of auxiliary arm etc. other connectors, between the vertical arms (20) and the lower plate (30) via the arm connector (22), and relates a locating mechanism (1 ) to be used for this method ( Figures 1 , 2, 3, ⁇ A).
  • the invention is a mechanism (1 ) having the property of a motion platform operating via the motions of a range of vertical arms (20), which are principally 4 arms (figure 1 ) placed on the circular or diagonal plates (10, 30), on the perpendicular edge motion plane (D) principally with perpendicular edge geometric arrangement and it comprises various apparatus forming the mechanism (1 ).
  • the invention provides transferring of images in various formats onto the computer screen and then using of image processing method on the image found on the screen, and thus provides identification of the target image found on the picture via software according to the purpose of usage.
  • the invention uses software, which calculates the displacement required for bringing the object(s) into the desired position after marking of the object or objects on the image found on the screen, provides the required position calculation and the required data for control of the mechanism (1 ) in order to enable the mechanism (1 ) perform this displacement, and determines the route map of the platform for the target position.
  • a vertical line (D) is formed on a lower plate (30) by the contact points (31 , 31 1 ) of the said arms (20, 40) as shown in Figure 1 1 . All the arms (20, 40) are on the lines (D) which are perpendicular to each other.
  • the connection points (31) of the yer jcal. arm (20) and the connection points (31 1) of the angled arms (40) both form perpendicular lines (D). Therefore, this technique is called the perpendicular edge technique.
  • the said invention is a system, which analyzes the formal difference between the geometrical forms defined by the software and the present image of the mechanism (1 ) by using the position determination and calculation software, and which plans the formal changes that has to be made on the platform for the required correction operations.
  • An obstacle, which would prevent rotation of the arm connector (23) connected on the arms (20, 40), is formed for the additional arm or the apparatus to be used for providing horizontal motion to the arms (20, 40).
  • no piece is used on the arm (20, 40) for reading marks and thus the axial motion of the grooved bar (24, 44) found inside the arm (20, 40) is enabled and the observation opening (25, 45) of the grooved bar (24, 44) is facilitated for reading marks.
  • These openings (25, 45) are placed on the arms (20, 40) considering that the user would have to make observation from different angles ( Figures 12, 13).
  • An obstacle (42) is formed for the additional arms or the apparatus, which are to be used for providing horizontal motion to the arms (20, 40), in a way/type that it would prevent rotation of the middle joint (22) connected on the arms (20, 40) ( Figure 1 1).
  • Holes (1 1 ) are positioned on the plates (10, 30) given in Figure 1 as the connection points where the arms (20, 40) would be connected in a way that is convenient with the perpendicular edge method.
  • the software With the software; markings are made, which would define the target object found on the image on the screen and the size and position of the platform in relation with the object. With these markings, the software identifies the target object and the size and position of the platform (1) and compares the . geometry of the object with the defined geometry, and if there is difference between them, then it finds and calculates the difference. Afterwards, it makes the planning which would manage the position of the platform (1) for the required changes for correcting the difference. It plans the amount, order, and time of the motion on the arms in order to perform the motion of the platform (1). And the geometrical deformity is eliminated by application of these data on the platform (1).
  • Operation steps of the software used in automation usage of the said platform (1) are as follows; • Determination of the image of the target object (by photographing etc. methods),
  • the invention is used in treatment of bone disorders especially in the medical sector as the corrector mechanism (1) for singular or multiple use, and it is used in robotic technologies together with robotic motion mechanism (1) and software again starting from the medical sector, weapon, machine industries, and all other branches of the industry in all kinds of mechanisms providing linear and circular motion in 6 axes (x, y, z) and 3 dimensions with the help of the arms (20, 40) found between two or more plates (10, 30).

Abstract

La présente invention concerne la technique de la plateforme à bords perpendiculaires, et plus particulièrement l'agencement et le mouvement des bras (20, 40) sur la ligne géométrique à bords perpendiculaires (D) à l'aide d'un ensemble de bras principaux (20) entre deux plaques (10, 30) et d'un ensemble de bras auxiliaires (40), ou un appareil.
PCT/TR2011/000034 2011-01-28 2011-01-28 Procédé et appareil informatiques d'identification et de gestion de position avec agencement géométrique à bords perpendiculaires WO2012102685A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/TR2011/000034 WO2012102685A1 (fr) 2011-01-28 2011-01-28 Procédé et appareil informatiques d'identification et de gestion de position avec agencement géométrique à bords perpendiculaires
TR2012/01064T TR201201064T1 (tr) 2011-01-28 2011-01-28 Dik kenar geometrik dizilimi ile bilgisayar yardımlı konum tanımlama ve yönetme metod ve aparatları.@

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/TR2011/000034 WO2012102685A1 (fr) 2011-01-28 2011-01-28 Procédé et appareil informatiques d'identification et de gestion de position avec agencement géométrique à bords perpendiculaires

Publications (1)

Publication Number Publication Date
WO2012102685A1 true WO2012102685A1 (fr) 2012-08-02

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Family Applications (1)

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PCT/TR2011/000034 WO2012102685A1 (fr) 2011-01-28 2011-01-28 Procédé et appareil informatiques d'identification et de gestion de position avec agencement géométrique à bords perpendiculaires

Country Status (2)

Country Link
TR (1) TR201201064T1 (fr)
WO (1) WO2012102685A1 (fr)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2700370A3 (fr) * 2012-08-23 2014-05-14 Stryker Trauma SA Cadre de fixation externe de transport osseux
US8834467B2 (en) 2010-08-11 2014-09-16 Stryker Trauma Sa External fixator system
US8858555B2 (en) 2009-10-05 2014-10-14 Stryker Trauma Sa Dynamic external fixator and methods for use
US8945128B2 (en) 2010-08-11 2015-02-03 Stryker Trauma Sa External fixator system
CN104915498A (zh) * 2015-06-08 2015-09-16 广东工业大学 基于模型识别与等效简化的高速平台运动参数自整定方法
WO2016159901A1 (fr) * 2015-04-03 2016-10-06 Akcali Ibrahim Deniz Fixateur lambda
US9936975B2 (en) 2014-09-09 2018-04-10 Integra Lifesciences Corporation External fixation system
EP3354214A1 (fr) * 2017-01-30 2018-08-01 Stryker European Holdings I, LLC Fixations d'entretoise pour cadre de fixation externe
CN109771020A (zh) * 2019-02-11 2019-05-21 北京工业大学 一种用于胫骨畸形矫正的三杆并联外固定器
EP3416583A4 (fr) * 2016-02-17 2019-10-16 Rowan University Systèmes robotiques et procédés pour chirurgies orthopédiques minimalement invasives
CN111481280A (zh) * 2020-04-22 2020-08-04 北京工业大学 一种用于长骨畸形矫正的y型支链外固定器
US11141196B2 (en) 2010-08-11 2021-10-12 Stryker European Operations Holdings Llc External fixator system
CN114199218A (zh) * 2021-12-17 2022-03-18 中铁四局集团路桥工程有限公司 一种用于悬空位置放点定位的辅助装置及方法
US11457953B2 (en) * 2017-08-31 2022-10-04 J & A Medical Llc External fixation alignment gauge

Citations (1)

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US20030191466A1 (en) * 2002-04-05 2003-10-09 Ed Austin Orthopaedic fixation method and device

Patent Citations (1)

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US20030191466A1 (en) * 2002-04-05 2003-10-09 Ed Austin Orthopaedic fixation method and device

Cited By (39)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9351763B2 (en) 2009-10-05 2016-05-31 Stryker European Holdings I, Llc Dynamic external fixator and methods for use
US10149701B2 (en) 2009-10-05 2018-12-11 Stryker European Holdings I, Llc Dynamic external fixator and methods for use
US8858555B2 (en) 2009-10-05 2014-10-14 Stryker Trauma Sa Dynamic external fixator and methods for use
US8906020B2 (en) 2009-10-05 2014-12-09 Stryker Trauma Sa Dynamic external fixator and methods for use
US10285734B2 (en) 2010-08-11 2019-05-14 Stryker European Holdings I, Llc External fixator system
US8834467B2 (en) 2010-08-11 2014-09-16 Stryker Trauma Sa External fixator system
US10376285B2 (en) 2010-08-11 2019-08-13 Stryker European Holdings I, Llc External fixator system
US9220533B2 (en) 2010-08-11 2015-12-29 Stryker Trauma Sa External fixator system
US8945128B2 (en) 2010-08-11 2015-02-03 Stryker Trauma Sa External fixator system
US11141196B2 (en) 2010-08-11 2021-10-12 Stryker European Operations Holdings Llc External fixator system
US10080585B2 (en) 2010-08-11 2018-09-25 Stryker European Holdings I, Llc External fixator system
US9839445B2 (en) 2010-08-11 2017-12-12 Stryker European Holdings I, Llc External fixator system
US9717527B2 (en) 2010-08-11 2017-08-01 Stryker European Holdings I, Llc External fixator system
US9730730B2 (en) 2010-08-11 2017-08-15 Stryker European Holdings I, Llc External fixator system
US10405888B2 (en) 2012-08-23 2019-09-10 Stryker European Holdings I, Llc Bone transport external fixation frame
EP3092961A3 (fr) * 2012-08-23 2017-01-18 Stryker European Holdings I, LLC Cadre de fixation externe de transport osseux
US9820775B2 (en) 2012-08-23 2017-11-21 Styker European Holdings I, LLC Bone transport external fixation frame
US11744616B2 (en) 2012-08-23 2023-09-05 Stryker European Operations Holdings Llc Bone transport external fixation frame
EP2700370A3 (fr) * 2012-08-23 2014-05-14 Stryker Trauma SA Cadre de fixation externe de transport osseux
US9101398B2 (en) 2012-08-23 2015-08-11 Stryker Trauma Sa Bone transport external fixation frame
US11090086B2 (en) 2012-08-23 2021-08-17 Stryker European Operations Holdings Llc Bone transport external fixation frame
US9936975B2 (en) 2014-09-09 2018-04-10 Integra Lifesciences Corporation External fixation system
US10660672B2 (en) 2014-09-09 2020-05-26 Integra Lifesciences Corporation External fixation system
JP2018509961A (ja) * 2015-04-03 2018-04-12 アカリー, イブラヒム デニズAKCALI, Ibrahim Deniz ラムダ型固定装置
WO2016159901A1 (fr) * 2015-04-03 2016-10-06 Akcali Ibrahim Deniz Fixateur lambda
EA034003B1 (ru) * 2015-04-03 2019-12-18 Ибрахим Дениз Акджалы Лямбда-фиксатор
CN104915498A (zh) * 2015-06-08 2015-09-16 广东工业大学 基于模型识别与等效简化的高速平台运动参数自整定方法
WO2016197552A1 (fr) * 2015-06-08 2016-12-15 广东工业大学 Procédé auto-réglable de paramètre de mouvement de plate-forme à grande vitesse basé sur l'identification de modèle et une simplification équivalente
US10603122B2 (en) 2016-02-17 2020-03-31 Rowan University Surgical robot
EP3416583A4 (fr) * 2016-02-17 2019-10-16 Rowan University Systèmes robotiques et procédés pour chirurgies orthopédiques minimalement invasives
US11389256B2 (en) 2016-02-17 2022-07-19 Rowan University Surgical robot
US10874433B2 (en) 2017-01-30 2020-12-29 Stryker European Holdings I, Llc Strut attachments for external fixation frame
US11723690B2 (en) 2017-01-30 2023-08-15 Stryker European Operations Holdings Llc Strut attachments for external fixation frame
EP3354214A1 (fr) * 2017-01-30 2018-08-01 Stryker European Holdings I, LLC Fixations d'entretoise pour cadre de fixation externe
US11457953B2 (en) * 2017-08-31 2022-10-04 J & A Medical Llc External fixation alignment gauge
CN109771020A (zh) * 2019-02-11 2019-05-21 北京工业大学 一种用于胫骨畸形矫正的三杆并联外固定器
CN111481280A (zh) * 2020-04-22 2020-08-04 北京工业大学 一种用于长骨畸形矫正的y型支链外固定器
CN111481280B (zh) * 2020-04-22 2021-03-02 北京工业大学 一种用于长骨畸形矫正的y型支链外固定器
CN114199218A (zh) * 2021-12-17 2022-03-18 中铁四局集团路桥工程有限公司 一种用于悬空位置放点定位的辅助装置及方法

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