Two-dimensional image-guided intramedullary nail distal locking robot system and its locking method
A robot system and two-dimensional image technology, applied in the field of surgical robots, can solve the problems of extra hospital trauma and high electromagnetic environment, achieve low hardware equipment requirements, avoid additional iatrogenic trauma, and simplify the surgical operation process Effect
Active Publication Date: 2022-04-01
TSINGHUA UNIV
View PDF7 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Among the existing studies on robot-assisted distal locking is a class of methods based on optical navigation, however the optical landmarks required for optical navigation must be rigidly fixed on the patient, causing additional hospital trauma
Another common computer-aided method is based on electromagnetic navigation, but this method needs to cooperate with a specially designed intramedullary needle containing an electromagnetic missing device, and has high requirements on the electromagnetic environment of the operating room
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0035] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.
[0036] In order to solve the technical problems mentioned in the background art above, image-based visual servoing technology is a potential solution that can be used for remote locking. In recent years, the application of visual servoing in the field of robotics has received more attention from researchers. Under the framework of visual servoing, the position and motion information of the target and the robot are captured by the visual sensor, so that the robot can be controlled in real time to complete specific tasks.
[0037]...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The present invention proposes a two-dimensional image-guided intramedullary needle distal locking robot system and its locking method, wherein the method includes: firstly adjusting the image acquisition device so that the keyhole outline on the intramedullary needle is a perfect circle in the field of view, and then Image distortion correction is performed, and then the doctor specifies the position of the keyhole on the graphical interface of the remote workstation, and then the remote workstation calculates the movement amount of the robot through the image feedback control rate and controls the movement of the robot. After the robot moves, the image is collected again, and the robot adjusts its position according to the new image. The "imaging-movement" step is automatically iterated several times until the guide is accurately aligned with the keyhole. After that, the operator manually drills through the bone through the guide. The guide hole of the lock hole, and then screw the locking screw through the guide hole to complete the distal locking. Thus, the operation process is simplified, and the additional iatrogenic trauma caused by installing optical markers on the patient is avoided.
Description
technical field [0001] The invention relates to the technical field of surgical robots, in particular to a robot system for locking the distal end of an intramedullary nail guided by a two-dimensional image and a locking method thereof. Background technique [0002] Intramedullary nailing has become the gold standard for minimally invasive treatment of fractures due to its advantages of high healing rate and low incidence of complications. However, the surgical manipulation of intramedullary nailing, especially the distal locking step, remains quite challenging for surgeons. Distal locking means that after the intramedullary nail is inserted into the bone medullary cavity, a number of screws passing through the keyhole at the distal end of the intramedullary nail are screwed in from the outside of the bone, so that the intramedullary nail and the bone are tightly locked together. Both ends of the intramedullary nail (distal and proximal) have several keyholes. Locking of t...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): A61B17/72A61B17/17A61B34/30
CPCA61B17/72A61B17/725A61B17/1717A61B17/1703A61B34/30A61B34/70
Inventor 祝世杰郑钢铁
Owner TSINGHUA UNIV