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An external fixation device, system and method for coordinate calibration

A technology of coordinate calibration and calibration device, which is applied in the field of medical equipment, can solve the problems of poor reset accuracy, easy increase of infection probability, joint adhesion, etc., and achieve the effect of improving accuracy and saving operation time

Active Publication Date: 2022-04-29
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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  • An external fixation device, system and method for coordinate calibration
  • An external fixation device, system and method for coordinate calibration
  • An external fixation device, system and method for coordinate calibration

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Experimental program
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Embodiment 1

[0034] Such as 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 calibratio...

Embodiment 2

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

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

[0054] The processor is used to model the calibration sphere as a virtual sphere according to the obtained coordinates of the center of the sphere, and match the coordinates of the center of the sphere in the reference coordinate system to the virtual sphere, and align the virtual coordinate system of the virtual sphere with the reference coordinate system, Perform fixed path planning in the virtual coordinate system, and execute the fixed path in the reference coordinate system.

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

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 fractured bones as an example, put the bone needle into the V-shaped groove of the holder of the holding device, and fix the holder so that the relative positions of the distal and proximal ends of the bone are fixed, as shown in Figure 5 shown;

[0061] (2) CT scanning is used to carry out three-dimensional panoramic modeling of the external fixation device with clamped objects;

[0062] In this embodiment, CT scanning is used to carry out three-dimensional panoramic modeling of the external fixation device and bones, and to perform segmentation and solid modeling of the structures necessary for the reduction and fixation of robot fractures;

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

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Abstract

The invention discloses an external fixation device, system and method for coordinate calibration, comprising: a clamping device, a calibration device and a bracket; the clamping device includes a chute rod and a clamper, and the chute rod One end is connected to the bracket through the first fixing piece, and the holder is installed in the groove of the chute bar; the calibration device includes a calibration bracket, and one end of the calibration bracket is connected to the bracket through the first connector, and a calibration ball is installed on the calibration bracket. The calibration ball is provided with a calibration hole leading to the center of the ball. The clamping object to be fixed is clamped by the clamping device, and the coordinates of the center of the calibration ball are read through the calibration hole on the calibration ball. After unifying the reference coordinate system and the virtual coordinate system according to the coordinates of the center of the ball, 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 Patents(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