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External fixing device, system and method for coordinate calibration

A coordinate calibration and calibration device technology, which is applied in the field of medical equipment, can solve the problems of easy increase of infection rate, poor reset accuracy, and inability to accurately obtain the optimal bone reset path, so as to save operation time and improve accuracy

Active Publication Date: 2021-01-22
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the inventor believes that the internal fixation method is an invasive method, and the large trauma is likely to increase the probability of infection, easily cause joint adhesion, and seriously affect the fracture healing and recovery; the external fixation method and manual reduction are poor in accuracy and depend on the experience of the resetter. Strong, easy to cause imperfect recovery of fracture function
At present, the best method for the reduction and fixation of limb fractures is the robot reset and fixation under the guidance of medical images, but the robot reset and fixation requires the unification of the robot reference coordinate system and the medical image virtual coordinate system, otherwise the coordinates of the bones that need to be reset cannot be accurately obtained points, and the optimal reset path that cannot accurately obtain the bones

Method used

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  • External fixing device, system and method for coordinate calibration
  • External fixing device, system and method for coordinate calibration
  • External fixing device, system and method for coordinate calibration

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0034] like figure 1 As shown, this embodiment provides an external fixation device for coordinate calibration, which can be applied to bone external fixation devices with coordinate calibration functions in orthopedic robotic surgery. The main purpose of this device for coordinate calibration is to unify different coordinate systems. In this embodiment, taking bone fixation as an example, it specifically includes: a clamping device 1, a calibration device 2 and a bracket 3;

[0035] Described clamping device 1 comprises chute bar 102 and clamper, and one end of described chute bar 102 connects bracket 3 through first fixture, and clamper is installed in the groove of chute bar 102;

[0036] The calibration device 2 includes a calibration bracket 201, one end of the calibration bracket 201 is connected to the bracket 3 through a first connector, and a calibration ball 202 is installed on the calibration bracket 201, and the calibration ball 202 is provided with a calibration h...

Embodiment 2

[0052] This embodiment provides an external fixation system for coordinate calibration, including: the external fixation device and the processor described in Embodiment 1;

[0053] The external fixing device is used to place the clamped object in the clamping device, insert the calibration needle into the calibration hole of the calibration ball, and obtain the coordinates of the center of the ball in the reference coordinate system;

[0054] The processor is used to perform virtual sphere modeling on the calibration sphere according to the obtained sphere center coordinates, and match the sphere center coordinates under the reference coordinate system to the virtual sphere, and after the virtual coordinate system of the virtual sphere and the reference coordinate system are one, The fixed path planning is carried out in the virtual coordinate system, and the fixed path is executed in the reference coordinate system.

[0055] It should be understood that, in this embodiment, ...

Embodiment 3

[0058] This embodiment provides an external fixation method for coordinate calibration, including:

[0059] (1) Place the gripping object in the gripper of the gripping device;

[0060] In this embodiment, taking the reduction and fixation of the fractured bone as an example, the bone needle is placed in the V-shaped groove of the holder of the clamping device, and the holder is fixed to fix the relative position of the distal and proximal ends of the bone, such as Figure 5 shown;

[0061] (2) 3D panoramic modeling of the external fixation device holding the clamped object by CT scanning;

[0062] In this embodiment, CT scan is used to perform three-dimensional panoramic modeling of the external fixation device and the bone, and segmentation and solid modeling are performed for the structures necessary for the reduction and fixation of the robot fracture;

[0063] (3) Fix the whole device on the workbench, insert the calibration needle into the calibration hole of the calib...

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PUM

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Abstract

The invention discloses an external fixing device, system and method for coordinate calibration. The external fixing device comprises a clamping device, a calibration device and a support, wherein theclamping device comprises a sliding groove rod and a clamper, one end of the sliding groove rod is connected with the support through a first fixing piece, and the clamper is mounted in a groove of the sliding groove rod; and the calibration device comprises a calibration support, one end of the calibration support is connected with the support through a first connecting piece, calibration ballsare mounted on the calibration support, and a calibration hole leading to the sphere center is formed in each calibration ball. A clamping object needing to be fixed is clamped through the clamping device, the ball center coordinates of the calibration balls are read through the calibration holes in the calibration balls, and after a reference coordinate system and a virtual coordinate system areunified according to the ball center coordinates, the optimal reset path is output.

Description

technical field [0001] The invention relates to the technical field of medical equipment, in particular to an external fixation device, system and method for coordinate calibration. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] Limb fractures are common orthopedic diseases. Surgical reduction and internal fixation, manual reduction and external fixation are mostly used for limb fractures. Surgical reduction and internal fixation After the fracture is reduced, it is necessary to cut open the soft tissue of the fracture, expose the fracture segment, and reduce the fracture under direct vision; the manual reduction and external fixation method is to use manipulation to reduce the fracture and place it outside the fractured limb. Install a splint or an external fixator. The external fixator is an external steel frame assembled by chucks and...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/10A61B17/60
CPCA61B34/10A61B17/60A61B2034/107A61B2034/102A61B2034/105
Inventor 张勤河蔡晨需韩莹孙春生孙从雨郭延超
Owner SHANDONG UNIV