Nuss orthopedic bar forming machine and machining method

Abstract

A Nuss orthopedic bar forming machine, comprising a bar bending device (A1), a workstation (A2), and an image sensor (A3). The image sensor captures a cross-sectional image of an orthopedic bar to be bent placed in the bar bending device. According to the image of said orthopedic bar and a machining drawing, the workstation controls the bar bending device to bend said orthopedic bar, so that said orthopedic bar has a predetermined machining shape. Also disclosed is a machining method for the Nuss orthopedic bar. In the forming machine, a workstation is introduced to control a bar bending device to realize intelligent automatic bending of an orthopedic bar. In the bending process, a real-time state of an orthopedic bar to be bent is determined by collecting a cross-sectional image and recognizing an image of said orthopedic bar, so as to adjust the current state of said orthopedic bar, thereby realizing a more accurate bending process, and avoiding deviations caused by manual bending and damages to said orthopedic bar caused by repeated corrections.

Description

Nuss orthopedic plate shaping machine and processing method TECHNICAL FIELD

[0001] The present application relates to the technical field of implant processing, in particular to a Nuss orthopedic plate shaping machine and processing method. BACKGROUND

[0002] Nuss surgery is a Nuss minimally invasive surgery for treating pectus excavatum (PECTUS EXCAVATUM, PE) announced by an American doctor Nuss in 1998. Pectus excavatum is a deformity similar to a funnel formed by the inward indentation of the middle and lower segments of the sternum and the adjacent costal cartilages, the main feature of which is that the lower edge of the sternum to the xiphoid process is inclined and indented dorsally, and the corresponding costal cartilages on both sides are also curved dorsally, so that the lower part of the anterior chest wall is funnel-shaped, and the deepest indentation point is usually at the junction of the lower end of the sternum and the xiphoid process. Nuss surgery is to insert a Nuss orthopedic plate into the thoracic cavity under the guidance of a thoracoscope, lift up the collapsed sternum, and the deformed costal cartilages on both sides are pushed out together, and the Nuss orthopedic plate is fixed on both ends with a fixed crossbar with two holes on both sides, and the fixed crossbar is wound with a rib wire to support the collapsed sternum, thereby achieving the purpose of chest wall orthopedics. After the implantation of the steel plate, the orthopedic effect is achieved, and about two to three years after the thoracic shape is fixed, the orthopedic plate needs to be removed. Nuss surgery is a widely used orthopedic plate supporting pectus excavatum deformity surgery in recent years.

[0003] In the prior art, before the operation, the Nuss orthopedic plate usually needs to be pre-bent according to the chest X-ray of the patient and the experience of the doctor, so that the Nuss orthopedic plate meets the needs of the patient's orthopedics. In order to realize the bending of the Nuss orthopedic plate, the bending forceps are usually used to realize this process in the prior art.

[0004] For example, Chinese patent CN201721284013.1 discloses a new special tool for minimally invasive treatment of chest wall deformity. It comprises a base and a stand rod arranged on the base, the stand rod is sequentially sleeved with a fixing assembly, a bending assembly and a bending ring from top to bottom, the fixing assembly and the bending assembly are arranged close to the top of the stand rod, and the bending ring is arranged close to the base. This scheme utilizes the cooperation of the fixing assembly, the bending assembly and the bending ring arranged on the stand rod, effectively realizes the functions of large bending angle, multiple bending styles and multiple bending numbers, and solves the technical problems existing in the existing bending forceps.

[0005] For another example, Chinese patent CN201821588246.5 discloses a funnel chest correction steel plate shaping device, which comprises an arc-shaped main body, a steel plate clamping device, and a shaping rod. Steel plate clamping devices are arranged at both ends of the arc-shaped main body. The steel plate clamping device comprises a connecting shaft arranged on the arc-shaped main body, a sliding block in surface contact with the connecting shaft, a track groove arranged along the length direction of the sliding block and matched with the connecting shaft, a limiting nut arranged at the end of the connecting shaft away from the sliding block, a U-shaped clamping opening arranged at one end of the sliding block, a threaded fastener arranged at the opening end of the U-shaped clamping opening to press the steel plate, a shaping rod arranged at the center position of the arc-shaped main body, a threaded connecting rod connected with the clamping rod through a bearing, and the threaded connecting rod and the clamping rod can rotate freely. A U-shaped clamping frame is arranged at the front end of the clamping rod, and a limiting boss is arranged at the opening end of the U-shaped clamping frame. In use, the shaping device is used as a mold. The orthopedic plate is placed in the arc-shaped main body and bent to the corresponding shape to realize the bending process of the orthopedic plate.

[0006] For another example, Chinese patent CN200920000603.6 discloses a set of new special tools for minimally invasive treatment of chest wall deformity, which includes a bending pliers and a pair of bending wrenches, a total of three special tools. The bending pliers includes a pair of left and right symmetrical bending handles and three support columns with rotatable column sleeves. The metal medical device to be bent can be placed between the support columns to bend into different radii. The bending wrench has a different specification "C" shaped jaw at each end. The metal medical device to be bent can be placed in the "C" shaped jaws of the two wrenches. Through the cooperation of the two wrenches as the fulcrum, the radius of the metal medical device implanted in the body can be adjusted. Since the use of this tool to adjust the radius of the metal medical device basically does not have force acting on the patient's body, it can significantly reduce the damage to the patient's body. The operation is simple and convenient, which can shorten the operation time and improve the safety of the operation.

[0007] For example, Chinese patent CN200520144383.6 discloses a funnel chest orthopedic surgery set tool, which is composed of bending pliers, guide hooks and turning handles; the bending pliers include a pair of left and right bending handles, a pair of roller sleeves and a supporting mechanism in the middle; a through hole is formed in the head end of each bending handle for a pin shaft to pass through, and the pin shaft is sleeved with a roller sleeve; the joint of the left and right bending handles is a tabular convex ring that can be inserted into each other, and is connected by a supporting shaft; a supporting roller is sleeved on the supporting shaft and fixed on the convex ring of the joint of a bending handle; a guide hook is composed of a handle and a hook body, and the end of the hook body has a threading hole; a turning handle has a handle, and the transition section at one end is a cylindrical body with more than two sections that are smoothly connected by bending, and the other end has a waist-shaped hole for the orthopedic plate to pass through. The inner wall of the supporting roller has an annular groove at the upper end, and a compression spring is arranged in the groove. The funnel chest orthopedic surgery set tool can be used for minimally invasive Nuss orthopedic surgery.

[0008] However, in actual implementation, the inventor found that in the bending process, the above-mentioned technical scheme still mainly relies on manual bending of the orthopedic plate, and in the bending process, a certain deviation is prone to occur, and considering the material properties of the Nuss orthopedic plate, when the bending deviation is corrected repeatedly, the surface and the inside of the orthopedic plate are easily damaged, affecting the configuration effect. At the same time, since the orthopedic plate is mainly made of metal material, the hardness is relatively large, and it is relatively difficult to bend manually.

[0009] SUMMARY

[0010] In view of the above problems in the prior art, the present application provides a Nuss orthopedic plate configuration machine, and on the other hand, provides a Nuss orthopedic plate configuration processing method applying the Nuss orthopedic plate configuration machine.

[0011] The specific technical solutions are as follows:

[0012] A Nuss orthopedic plate configuration machine, comprising a bending plate device, a work station and an image sensor;

[0013] The image sensor shoots a cross-sectional image of the orthopedic plate to be bent loaded in the bending plate device;

[0014] The work station is connected to the image sensor, and the work station receives the cross-sectional image and identifies an orthopedic plate image from the cross-sectional image;

[0015] The work station controls the bending plate device to bend the orthopedic plate to be bent according to the orthopedic plate image and a processing drawing, so that the orthopedic plate to be bent has a predetermined processing shape.

[0016] On the other hand, the bending plate device comprises a pushing device and a curvature adjusting device;

[0017] The pushing device holds the Nuss orthopedic plate to be bent at the front end and pushes the Nuss orthopedic plate to be bent to the curvature adjustment device.

[0018] The curvature adjustment device comprises a pair of guide pulleys and a moving wheel, the Nuss orthopedic plate to be bent passes through the gap between the guide pulleys and abuts against the moving wheel, and the moving wheel and the pushing device cooperate to bend the Nuss orthopedic plate to be bent.

[0019] In another aspect, the moving structure comprises:

[0020] A moving wheel guide rail is vertically arranged on the orthopedic machine base relative to the center line of the rotation shaft of the guide pulley;

[0021] The moving wheel rotation shaft of the moving wheel is provided with a sliding fitting device on the side facing the orthopedic machine base, the sliding fitting device is inserted into the moving wheel guide rail and freely slides in the moving wheel guide rail;

[0022] The moving wheel guide rail adjusts the position of the moving wheel under the control of the workstation to adjust the bending position of the Nuss orthopedic plate to be bent or adjust the lateral pressure applied to the Nuss orthopedic plate to be bent.

[0023] In another aspect, the moving structure comprises:

[0024] A moving mechanical arm is installed on the orthopedic machine base in the horizontal direction, and a moving wheel rotation shaft of the moving wheel is installed on the distal end of the moving mechanical arm in the vertical direction;

[0025] A plurality of servo motors are installed on the moving mechanical arm, and the servo motors adjust the position of the moving wheel and the pressure applied to the Nuss orthopedic plate to be bent under the control of the workstation.

[0026] In another aspect, the pushing device comprises,

[0027] A mechanical hand is provided with a clamping device at the front end, the clamping device clamps the front and back of the Nuss orthopedic plate to be bent, and the mechanical hand pushes the Nuss orthopedic plate to be bent to the curvature adjustment device under the control of the workstation.

[0028] In another aspect, the workstation connects and controls a plurality of servo motors in the bending device through a motor control system to realize the bending of the Nuss orthopedic plate to be bent.

[0029] A Nuss orthopedic plate processing method using the Nuss orthopedic plate forming machine, comprising:

[0030] Step S1: obtaining a processing pattern corresponding to the orthopedic plate to be bent, the processing pattern being from a workstation and a cloud computing design data pattern or a processing pattern printed according to the data pattern, and generating a processing parameter according to the processing pattern;

[0031] Step S2: clamping the orthopedic plate to be bent in the Nuss orthopedic plate forming machine and collecting a cross-sectional image of the orthopedic plate to be bent;

[0032] Step S3: processing the orthopedic plate to be bent to a predetermined shape according to the cross-sectional image and the processing parameter.

[0033] In another aspect, the step S1 comprises:

[0034] Step S11: setting a processing reference below an image sensor to collect a processing reference image;

[0035] The processing reference comprises at least one of a drawing printed pattern, a hand-drawn pattern, a 3D printed model and a hand-bent model material;

[0036] Step S12: extracting a reference contour edge from the processing reference image and generating the processing pattern;

[0037] Step S13: generating the processing parameter according to the processing pattern.

[0038] In another aspect, the step S3 comprises:

[0039] Step S31: controlling a servo motor to rotate according to the processing parameter to adjust the relative positions of a clamping device, a curvature adjusting device and the orthopedic plate to be bent, respectively;

[0040] Step S32: collecting a cross-sectional image of the orthopedic plate to be bent and extracting an orthopedic plate cross-sectional shape from the cross-sectional image;

[0041] Step S33: comparing the orthopedic plate cross-sectional shape with the processing pattern to generate an adjusted processing parameter, and then returning to the step S31 until the orthopedic plate to be bent is bent to the predetermined processing shape.

[0042] The above technical solution has the following advantages or beneficial effects:

[0043] In view of the problem in the prior art that the bending process of the orthopedic plate is mainly controlled by manual operation, and deviation is prone to occur, in the scheme, a bending plate device based on workstation control is introduced to realize automatic bending of the orthopedic plate, and in the bending process, the cross-sectional image is collected and the orthopedic plate image is recognized to determine the real-time state of the orthopedic plate to be bent, so as to adjust the current state of the orthopedic plate to be bent, realize a more accurate bending process, avoid the damage to the orthopedic plate caused by deviation and repeated correction of manual bending, and also reduce the work intensity of the doctor in bending the orthopedic plate. BRIEF DESCRIPTION OF DRAWINGS

[0044] Reference will be made to the accompanying drawings to more fully describe embodiments of the present application. However, the accompanying drawings should be read with the understanding that the drawings are illustrative only and are not intended to limit the scope of the present application.

[0045] Fig. 1 is a schematic diagram of the overall embodiment of the present application;

[0046] Fig. 2 is a schematic diagram of the motor control system in the embodiment of the present application;

[0047] Fig. 3 is a schematic diagram of the orthopedic mechanism in the embodiment of the present application;

[0048] Fig. 4 is a schematic diagram of the moving wheel in the embodiment of the present application;

[0049] Fig. 5 is a schematic diagram of the mechanical arm in the embodiment of the present application;

[0050] Fig. 6 is a schematic diagram of the mechanical hand in the embodiment of the present application;

[0051] Fig. 7 is a schematic diagram of the extension rod in the embodiment of the present application;

[0052] Fig. 8 is a schematic diagram of the pushing mechanical arm in the embodiment of the present application;

[0053] Fig. 9 is a schematic diagram of the orthopedic plate processing method in the embodiment of the present application;

[0054] Fig. 10 is a schematic diagram of the sub-step of step S1 in the embodiment of the present application;

[0055] Fig. 11 is a schematic diagram of the sub-step of step S3 in the embodiment of the present application. DETAILED DESCRIPTION

[0056] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0057] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0058] The present application will be further described below in conjunction with the drawings and specific embodiments, but not as a limitation of the present application.

[0059] The present application includes:

[0060] A Nuss orthopedic plate forming machine, as shown in FIG. 1, includes a bending plate device A1, a workstation A2 and an image sensor A3;

[0061] The image sensor A3 takes a sectional image of the orthopedic plate to be bent in the bending plate device A1;

[0062] The workstation A2 is connected to the image sensor A3, and the workstation A2 receives the sectional image and identifies the orthopedic plate image from the sectional image;

[0063] The workstation A2 controls the bending plate device A1 to bend the orthopedic plate to be bent according to the orthopedic plate image design data or the design processing drawing, so that the orthopedic plate to be bent has a predetermined processing shape.

[0064] The processing drawing comes from the workstation and the cloud computing design data drawing or the processing drawing printed according to the data drawing, which is drawn by the doctor himself or downloaded from the cloud.

[0065] The sectional image is an image corresponding to the side sectional view of the orthopedic plate taken by the image sensor A3 from above, which includes the orthopedic plate part and the background area behind it, which can be used to determine the bending shape, so that the workstation continuously corrects the processing parameters according to the actual bending shape to obtain the predetermined orthopedic plate bending shape, and can also be used to take the drawing and the bent or printed orthopedic plate model, and refer to the comparison printing.

[0066] Specifically, in order to solve the problem that the bending process of the orthopedic plate in the prior art is mainly controlled by manual operation and deviation is easy to occur, the bending plate device A1 controlled by the workstation A2 is introduced in the embodiment to realize intelligent automatic bending of the orthopedic plate.

[0067] In the bending process, the orthopedic plate to be bent is clamped on the bending plate device A1, and the image sensor A3 collects the sectional image of the side of the orthopedic plate to be bent.

[0068] The workstation A2 is configured with a corresponding computer program, including an artificial intelligence algorithm to generate a three-dimensional data drawing of the orthopedic plate, generate a processing drawing for directly forming instructions from the data drawing and image processing of the sectional image obtained by A3, and image intelligent correction of the orthopedic plate image of the edge of the orthopedic plate.

[0069] The three-dimensional data graph of the orthopedic plate generated according to the artificial intelligence algorithm, the generated processing drawing and the taken orthopedic plate image can determine the current state of the orthopedic plate to be bent, including the curvature of each part, the position of the bending relative to the positions of the two ends and the like.

[0070] On this basis, the workstation A2 controls the bending device A1 to bend the orthopedic plate to be bent according to the three-dimensional image data of the orthopedic plate and the processing drawing, so that the orthopedic plate to be bent has a predetermined processing shape, thereby realizing an accurate bending process and avoiding damage to the orthopedic plate caused by deviation and repeated correction caused by manual bending.

[0071] In actual implementation, the Nuss orthopedic plate forming machine described above is mainly implemented as an embodiment with a specific device structure.

[0072] Generally, the bending device A1 needs to be matched with the workstation A2 and the image sensor A3, combined with corresponding image processing forming, process design software and control software to realize corresponding functions.

[0073] However, in some embodiments, the bending device A1 can also be used alone to bend the orthopedic plate. For example, a doctor sets relevant bending parameters by experience, then clamps the orthopedic plate and adjusts the states of various parts of the bending device A1 to bend. The bending device A1 realizes a more accurate bending process than manual bending, including the application of pressure to specific points and the control of specific curve trajectories.

[0074] The workstation A2 is a computer device configured with a specific computer program, which processes the cross-sectional image by pre-configuring a corresponding image processing program to determine the geometric shape of the orthopedic plate to be bent.

[0075] To simplify the calculation process, the image sensor A3 in the present scheme is directly collected from the front side of the orthopedic plate to be bent, and the corresponding fixed part is configured in the bending device A1 to constrain the orthopedic plate to be bent to be bent only in two directions of the short axis, without twisting.

[0076] In one embodiment, as shown in FIG. 2, the workstation A2 is connected to and controls multiple servo motors in the bending device A1 through the motor control system A4 to realize the bending of the orthopedic plate to be bent.

[0077] Specifically, to realize accurate control of the bending position and bending curvature of the orthopedic plate to be bent, in the present embodiment, servo motors are configured on each movable part of the bending device A1, such as the movable joints of the robot, the linear direction guide rail of the pulley set and the like, for controlling the position of the orthopedic plate to be bent.

[0078] In the actual bending process, the workstation A2 also determines the movement trajectory and time sequence of each movable part according to the processing drawing, thereby generating the control parameters of each servo motor.

[0079] On this basis, when the bending is started, the motor control system A4 controls each servo motor in sequence according to the control parameters, drives the lead screw, slide rod or mechanical hand to start, move and stop the configuration according to the design of the Nuss correction plate bending pattern, thereby realizing the bending process.

[0080] In one embodiment, as shown in FIG. 3, the plate bending device A1 includes a pushing device A11 and a curvature adjustment device A12.

[0081] The front end of the pushing device A11 clamps the orthopedic plate to be bent and pushes the orthopedic plate to be bent towards the curvature adjustment device A12;

[0082] The curvature adjustment device A12 includes a pair of guide pulleys A121 and a moving wheel A122.

[0083] The center of the rotation shaft of the moving wheel A122 has a first preset distance relative to the center line of the rotation shaft between the guide pulleys A121.

[0084] The moving wheel rotation shaft of the moving wheel A122 is installed on the moving structure A13, and the first movement trajectory of the moving wheel rotation shaft is vertically arranged relative to the center line of the rotation shaft.

[0085] The orthopedic plate to be bent passes through the gap between the guide pulleys A121 and abuts against the moving wheel A122, and the moving wheel A122 cooperates with the pushing device A11 to bend the orthopedic plate to be bent.

[0086] Specifically, to realize the bending of the orthopedic plate to be bent to a specific shape, the plate bending device including the pushing device A11 and the curvature adjustment device A12 is constructed in this embodiment.

[0087] Among them, the bending part is mainly completed by the curvature adjustment device A12, the orthopedic plate to be bent passes through the gap between the guide pulleys A121 and abuts against the moving wheel A122, and the moving wheel A122 moves a corresponding distance to realize the bending of the orthopedic plate to be bent.

[0088] The guide pulley A121 is used as a positioning device for auxiliary movement and a fulcrum for bending configuration. In the process of clamping the orthopedic plate to be bent, the orthopedic plate to be bent passes through the gap between the guide pulleys A121 and reaches the predetermined processing position, and then the two side guide pulleys A121 approach and abut against the orthopedic plate to be bent and are fixed, thereby realizing the clamping of the orthopedic plate to be bent on both sides. At the same time, the orthopedic plate to be bent can be pushed by the pushing device A11 to slide between the guide pulleys A121.

[0089] When the clamping of the bending plate is completed, the guide pulley A121 can be locked at a specific position, so as to be used as a fulcrum during the bending process.

[0090] The pushing device A11 clamps the bending plate, and drives the bending plate to pass through the gap between the guide pulleys A121 and reach a predetermined processing position under the driving of the screw rod, linear motor and other devices, so as to change the bending position of the bending plate.

[0091] In order to realize the above-mentioned bending process, the following two embodiments or their variants can be used to control the moving wheel A122 in the present scheme.

[0092] In one embodiment, as shown in FIG. 4, the moving structure A13 includes:

[0093] The moving wheel guide rail A131 is vertically arranged on the straightening machine base A3 relative to the center line of the rotating shaft of the guide pulley A121;

[0094] The moving wheel rotating shaft of the moving wheel A122 is provided with a sliding fitting device on the side facing the straightening machine base A3, which is inserted into the moving wheel guide rail A131 and freely slides in the moving wheel guide rail A131;

[0095] The moving wheel guide rail A131 adjusts the position of the moving wheel A122 under the control of the workstation A2, so as to adjust the bending position of the bending plate or adjust the lateral pressure applied to the bending plate.

[0096] Specifically, in order to achieve better bending effect, in the present embodiment, a moving wheel guide rail A131 is arranged, which is vertically arranged on the straightening machine base A3 relative to the center line of the rotating shaft of the guide pulley A121, and the moving wheel rotating shaft of the moving wheel A122 is provided with a sliding fitting device on the side facing the straightening machine base A3, which is inserted into the moving wheel guide rail A131 and slides in the moving wheel guide rail A131. The corresponding servo motor, screw rod and other structures are arranged in the moving wheel guide rail A131, which are used to push the sliding fitting device to change the position of the moving wheel A122, so as to apply specific lateral pressure to the bending plate and bend it to a specific position.

[0097] In the above-mentioned embodiment, the moving wheel A122 itself only has a first moving track perpendicular to the center line of the guide pulley, and it can only realize the bending process in this direction.

[0098] In another embodiment, when the bending curvature of the bending plate is large or has a relatively complex bending shape, it may be necessary to add a moving track in other directions, at which time the following moving structure can be selected.

[0099] In one embodiment, the moving structure comprises:

[0100] A moving arm B13 is installed on the base of the bending machine in a horizontal direction, and a moving wheel shaft of a moving wheel A122 is installed on the distal end of the moving arm B13 in a vertical direction.

[0101] A plurality of servo motors are installed on the moving arm B13, and the servo motors adjust the position of the moving wheel A122 and the pressure applied to the bending plate under the control of the workstation.

[0102] Specifically, in order to realize the bending process of the orthopedic plate with a more complex shape, the moving arm B13 is selected as the bending equipment in this embodiment, which has a plurality of joint structures driven by servo motors and can move the moving wheel A122 at any angle on the horizontal plane to apply transverse pressure to the bending plate from any angle for bending.

[0103] As shown in FIG. 5, the moving arm B13 comprises:

[0104] A mechanical arm base B131 is vertically fixed on the base A3 of the bending machine;

[0105] A first rotating device B132 is installed on the mechanical arm base B131;

[0106] A first arm B133 is installed on the rotating shaft of the first rotating device B132;

[0107] A second rotating device B134 is installed on the second end of the first arm B133;

[0108] A second arm B135 is installed on the rotating shaft of the second rotating device B134;

[0109] The second end of the second arm B135 is installed with the moving wheel shaft as the distal end of the moving arm.

[0110] Specifically, to realize the bending process of the orthopedic plate from any angle, in the embodiment, the mechanical arm structure composed of the first arm B133 and the second arm B135 is arranged. The first end of the first arm B133 is installed on the rotating shaft of the first rotating device B132, the first end of the second arm B135 is installed on the rotating shaft of the second rotating device B134, and the first rotating device B132 and the second rotating device B134 are both servo motors, which can be used to realize the position adjustment of the first arm B133 and the second arm B135, so as to change the position of the moving wheel A122 relative to the orthopedic plate to be bent in a large range, and to apply pressure and bending distance to the orthopedic plate to be bent from a specific direction.

[0111] In the implementation process, the moving wheel A122 mainly applies a bending force to bend the orthopedic plate to be bent. The main motion track of the moving wheel A122 is a semicircular arc and a straight line, or a bending pattern designed according to the orthopedic plate to be bent, and the motion is performed according to the programming. A motor with appropriate torsion, such as a servo motor or a stepping motor, is selected to provide the main wheel with arc motion power through a gearbox and a rotating mechanism, or a mechanical hand is used to provide the motion track and power. The main wheel can be passively rotated or a small servo motor or a stepping motor is used. When the mechanical hand is used, only passive rotation or clamping can be used, and a sliding bearing or a rolling bearing can be used for passive rotation. The bearing can be selected according to the need. The servo motor or the stepping motor adjusts the speed and the amount of advance intelligently according to the digital instructions of the computer.

[0112] In one embodiment, as shown in FIG. 6, the pushing device A11 includes,

[0113] The mechanical hand A111 is provided with a clamping device A112 at the front end, the clamping device A112 clamps the front and back surfaces of the orthopedic plate to be bent, and the mechanical hand pushes the orthopedic plate to be bent to the curvature adjusting device under the control of the workstation.

[0114] The clamping device guide groove A113 is arranged on the orthopedic machine base A3 along the center line of the rotating shaft;

[0115] The clamping device A112 is provided with a clamping device pulley at the bottom, the clamping device pulley is embedded in the clamping device guide groove A113, so that the clamping device A112 reciprocates along the clamping device guide groove.

[0116] Specifically, to achieve the control of the feeding length of the orthopedic plate to be bent, in the embodiment, a manipulator A111 with a clamping device A112 is configured to deliver the orthopedic plate to be bent. The clamping device A112 is provided with a clamping device pulley at the bottom, the clamping device pulley is embedded in a clamping device guide groove A113, so that the clamping device A112 reciprocates along the clamping device guide groove, the manipulator A111 controls the pushing length of the clamping device A112 through a servo motor, so as to change the length of the orthopedic plate to be bent fed into the guide pulley, thereby changing the fulcrum position of the bending.

[0117] As shown in FIG. 6, the manipulator A111 includes:

[0118] A manipulator support, which is installed on the vertical fixed base of the orthopedic machine;

[0119] A third rotating device A1111, which is installed on the manipulator support;

[0120] A third arm A1112, a first end of which is installed on the rotating shaft of the third rotating device A1111;

[0121] A fourth rotating device A1113, which is installed on a second end of the third arm A1112;

[0122] A fourth arm A1114, a first end of which is installed on the rotating shaft of the fourth rotating device A1113;

[0123] A fifth rotating device A1115, which is installed on a second end of the fourth arm A1114;

[0124] A fifth arm A1116, a first end of which is installed on the rotating shaft of the fifth rotating device A1115;

[0125] A clamping device A112, which is installed on the end point of the fifth arm A1116.

[0126] Specifically, to achieve a relatively stable pushing effect, in the embodiment, a three-section crank structure realized by the third arm A1112, the fourth arm A1114 and the fifth arm A1116 is provided.

[0127] The first end of the third arm A1112 is installed on the rotating shaft of the third rotating device A1111, the first end of the fourth arm A1114 is installed on the rotating shaft of the fourth rotating device A1113, and the first end of the fifth arm A1116 is installed on the rotating shaft of the fifth rotating device A1115.

[0128] The third rotating device A1111, the fourth rotating device A1113 and the fifth rotating device A1115 are servo motors, and the three groups of servo motors are controlled respectively to realize relatively accurate and constant pushing process.

[0129] In addition, as shown in FIG. 7, the bottom surface of the clamping device A112 is attached to the base of the orthopedic machine;

[0130] An extension rod A1117 is arranged above the clamping device A112, and the length of the extension rod A1117 matches the distance between the upper surface of the clamping device and the lower surface of the fifth arm.

[0131] A clamping groove is arranged at the front end of the clamping device A112, and the orthopedic plate to be bent is clamped into the clamping groove in the vertical direction.

[0132] To realize clamping of the orthopedic plate to be bent, in the embodiment, a clamping device A112 with a clamping groove is arranged, and the clamping groove matches the thickness of the orthopedic plate to be bent, so that the orthopedic plate to be bent can be embedded in the clamping groove. Meanwhile, considering that the multi-joint robot has a certain thickness, an extension rod A1117 is arranged above the clamping device A112, and the length of the extension rod A1117 matches the distance between the upper surface of the clamping device and the lower surface of the fifth arm, so that the clamping device A112 can be attached to the base of the orthopedic machine to realize stable pushing process.

[0133] In another embodiment, as shown in FIG. 8, the pushing device includes a pushing robot arm A13, and a guide device is not arranged below the pushing robot arm A13, but the motion direction is controlled by a servo motor to realize bending at a corresponding angle.

[0134] A Nuss orthopedic plate processing method adopts the Nuss orthopedic plate forming machine, as shown in FIG. 9, and includes the following steps.

[0135] Step S1: acquiring a processing pattern corresponding to the orthopedic plate to be bent, and generating processing parameters according to the processing pattern;

[0136] Step S2: clamping the orthopedic plate to be bent in the Nuss orthopedic plate forming machine and collecting a cross-sectional image of the orthopedic plate to be bent;

[0137] Step S3: processing the orthopedic plate to be bent to a predetermined shape according to the cross-sectional image and the processing parameters.

[0138] Specifically, to realize better processing effect, in the embodiment, the processing pattern corresponding to the orthopedic plate to be bent is acquired in advance in the processing process, the shape of the orthopedic plate to be bent is determined according to the processing pattern, and the processing parameters are generated in combination with the motion data of each component of the orthopedic machine.

[0139] Then, the Nuss orthopedic plate forming machine is used to clamp the to-be-bent orthopedic plate and collect a cross-sectional image of the to-be-bent orthopedic plate, the cross-sectional image is recognized by the workstation to determine the motion parameters required by each component in the actual bending process, and the to-be-bent orthopedic plate is processed to the predetermined shape according to the cross-sectional image and the processing parameters, so that a good processing effect is achieved.

[0140] In one embodiment, as shown in FIG. 10, step S1 includes:

[0141] Step S11: setting a processing reference below the image sensor to collect a processing reference image;

[0142] The processing reference includes at least one of a drawing printed paper, a hand-drawn paper, a 3D printed model, and a hand-bent material.

[0143] Step S12: extracting a reference contour edge from the processing reference image and generating a processing graph;

[0144] Step S13: generating a processing parameter according to the processing graph.

[0145] Specifically, to achieve a good processing effect, in the embodiment, a processing reference is set below the image sensor before processing to collect a processing reference image, and the processing reference includes at least one of a drawing printed paper, a hand-drawn paper, a 3D printed model, and a hand-bent material.

[0146] For example, in some embodiments, the doctor has prepared a surgical plan in advance, and in the workstation, the PE orthopedic plate graph size is designed on the forming machine computer by using a graphic design software or given by a PE AI intelligent algorithm, and then a corresponding drawing printed paper is generated, so that the input of the paper can be realized directly through the image sensor in this step.

[0147] In other embodiments, the doctor may need to make a 3D printed model in advance as a reference for surgery and for communication with the patient, and in this embodiment, a 3D printed model of the same size can also be used as image input to generate the same orthopedic plate for implantation.

[0148] In some embodiments, the doctor may need to compare the chest deformity of the patient on site, and at this time, the doctor can use a hand-bent wire, an aluminum wire, an aluminum sheet, and other easily bent materials to form a shape, and a hand-drawn paper as input, and place it under the image sensor for shooting, so as to obtain the processing graph.

[0149] Based on the machining process, the image processing and calculation can be simplified, such as without introducing additional three-dimensional perspective mapping, volume solving and other steps, the image can be directly extracted from the image sensor at the same position, and the pixel coordinate system is used to generate the processed image and determine the machining parameters. In the machining process, the pixel coordinate can also be directly referenced to ensure the consistency of the machining process. In order to realize the direct reference to the pixel, the machining reference object and the to-be-bent orthopedic plate should have the same optical origin and orientation in this step.

[0150] On this basis, a related artificial intelligence model is configured in the workstation, which can realize a simple edge extraction algorithm to extract the edge profile of the machining reference object in the machining reference object image, generate a processing image, and convert it into machining parameters of each component in the orthopedic machine through a design software, including the movement timing, feed amount, and corresponding servo motor control parameters of each movement part, to realize the automatic generation of machining parameters.

[0151] On this basis, in step S2, when the to-be-bent orthopedic plate is clamped, the corresponding alignment mark is determined on the orthopedic plate base, and then the to-be-bent orthopedic plate is clamped to the guide pulley and the clamping device. On this basis, the real-time optical image of the to-be-bent orthopedic plate is collected by the image sensor, and the optical origin is located. The end point of the Nuss correction plate or the feature point that is easy to identify is taken as the origin and aligned with the origin of the machining reference object.

[0152] Then, the servo motor control system analyzes and encodes the design bending image positioning information and forms motor instructions, and instructs the motor and speed change mechanism to drive the movement device to start bending. In the bending process, the mechanical hand extends the clamping moving device to move forward, and the bending configuration main wheel moves in the bending direction to bend the to-be-bent orthopedic plate according to the required shape.

[0153] In one embodiment, as shown in FIG. 11, step S3 includes:

[0154] Step S31: control the servo motor to rotate according to the machining parameters to adjust the relative positions of the clamping device, the curvature adjusting device and the to-be-bent orthopedic plate, respectively;

[0155] Step S32: collect the cross-sectional image of the to-be-bent orthopedic plate, and extract the orthopedic plate cross-sectional shape from the cross-sectional image;

[0156] Step S33: compare the orthopedic plate cross-sectional shape with the machining image to generate adjusted machining parameters, and then return to step S31 until the to-be-bent orthopedic plate is bent to the predetermined machining shape.

[0157] Specifically, in order to achieve a better bending effect, in the embodiment, corresponding nodes and steps are set in the processing process. In the processing process, the motor control system controls the servo motor to rotate according to the processing parameters, so as to adjust the relative positions of the clamping device, the curvature adjusting device and the to-be-bent orthopedic plate respectively, and the image sensor collects the cross-sectional images of the to-be-bent orthopedic plate. The workstation extracts the cross-sectional shape of the orthopedic plate from the cross-sectional images according to the same image processing software.

[0158] The current cross-sectional shape of the orthopedic plate and the processing pattern on the predetermined node are compared to determine whether the tolerance is within the predetermined range, whether adjustment is needed, etc., and then the adjusted processing parameters are generated and processed until the to-be-bent orthopedic plate is bent to the predetermined processing shape, so as to achieve a better processing process.

[0159] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0160] In the present application, unless otherwise explicitly specified and limited, the terms "arrangement", "installation", "connection", "connection", "fixation" and the like should be understood broadly, for example, can be fixedly connected, can be detachably connected, can be mechanically connected, can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0161] Some block diagrams shown in the drawings are functional entities, which do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0162] Those of ordinary skill in the art will appreciate that the various aspects, or implementations of various aspects, of the present application can be implemented as a system, method, or computer program product. Accordingly, the aspects of the present application, or implementations of various aspects, can be embodied in hardware alone, software alone, or a combination of software and hardware, all collectively referred to as "circuitry," "module" or "system." Furthermore, the aspects of the present application, or implementations of various aspects, can be embodied in a computer program product that is tangibly embodied in a computer readable medium for execution by a computer or cloud server processor.

[0163] The computer and cloud server readable medium can be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium includes, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing, such as a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM).

[0164] The computer readable program code in the computer readable medium causes the processor in the computer to carry out the functions specified in each of the steps, or combinations of steps, in the flowchart; and generates means for carrying out the functions specified in each of the blocks, or combinations of blocks, in the block diagram.

[0165] It should be understood that the processor in the computer can be implemented as one or more application specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field programmable gate arrays (FPGAs), general purpose processors, controllers, microcontrollers (MCUs), microprocessors (Microprocessors), or other electronic elements for executing the aforementioned computer readable program code.

[0166] The computer readable program code can execute entirely on the user's local computer, partly on the user's local computer, as a stand-alone software package, partly on the user's local computer and partly on a remote computer or entirely on the remote computer or server. It should also be noted that in some alternative embodiments, the functions noted in the steps of a flowchart or blocks of a block diagram can occur out of the order noted in the figure. For example, two steps, or blocks, shown in succession may, in fact, be executed substantially concurrently, or the blocks have sometimes been executed in reverse order, depending on the functions involved.

[0167] The above merely preferred embodiments of the present application and are not intended to limit the embodiments and protection scope of the present application. Those skilled in the art should be able to understand that any equivalent substitutions and obvious changes made according to the present application description and drawings should be included in the protection scope of the present application.

Claims

1. A Nuss orthopedic plate configurator, characterized by, The bending device, the workstation and the image sensor; The image sensor takes a sectional image of the orthopedic plate to be bent in the bending device; The workstation is connected to the image sensor, and the workstation receives the sectional image and identifies an orthopedic plate image from the sectional image; The workstation controls the bending device to bend the orthopedic plate to be bent according to the orthopedic plate image and the processing drawing, so that the orthopedic plate to be bent has a predetermined processing shape.

2. The Nuss rod configuration machine of claim 1, wherein, The bending device includes a pushing device and a curvature adjustment device; The front end of the pushing device clamps the orthopedic plate to be bent and pushes the orthopedic plate to be bent towards the curvature adjustment device; The curvature adjustment device includes a pair of guide pulleys and a moving wheel, the orthopedic plate to be bent passes through the gap between the guide pulleys and abuts against the moving wheel, and the moving wheel cooperates with the pushing device to bend the orthopedic plate to be bent.

3. The Nuss rod shaper of claim 2, wherein, The moving structure includes: The moving wheel guide rail is vertically arranged on the orthopedic machine base relative to the center line of the rotation axis of the guide pulley; The moving wheel rotation axis of the moving wheel is provided with a sliding fitting device on the side facing the orthopedic machine base, and the sliding fitting device is inserted into the moving wheel guide rail and freely slides in the moving wheel guide rail; The moving wheel guide rail adjusts the position of the moving wheel under the control of the workstation to adjust the lateral pressure applied to the orthopedic plate to be bent.

4. The Nuss rod shaper of claim 2, wherein, The moving structure includes: The moving mechanical arm is installed on the orthopedic machine base in the horizontal direction, and the moving wheel rotation axis of the moving wheel is installed on the distal end of the moving mechanical arm in the vertical direction; A plurality of servo motors are installed on the moving mechanical arm, and the servo motors adjust the position of the moving wheel and the pressure applied to the orthopedic plate to be bent under the control of the workstation.

5. The Nuss rod shaper of claim 2, wherein, The pushing device includes, The mechanical hand is provided with a clamping device at the front end, the clamping device clamps the front and back of the orthopedic plate to be bent, and the mechanical hand pushes the orthopedic plate to be bent towards the curvature adjustment device under the control of the workstation.

6. The Nuss rod shaper of claim 1, wherein, The workstation connects and controls a plurality of servo motors in the bending device through a motor control system to realize the bending of the orthopedic plate to be bent.

7. A method of processing a Nuss orthopedic plate, characterized by, The Nuss orthopedic plate forming machine according to any one of claims 1-6, comprising: Step S1: obtaining a processing pattern corresponding to the orthopedic plate to be bent, and generating processing parameters according to the processing pattern; Step S2: clamping the orthopedic plate to be bent in the Nuss orthopedic plate forming machine and collecting a sectional image of the orthopedic plate to be bent; Step S3: processing the orthopedic plate to be bent to a predetermined shape according to the sectional image and the processing parameters.

8. The Nuss plating method according to claim 7, wherein The step S1 includes: Step S11: setting a processing reference below the image sensor to collect a processing reference image; The processing reference includes at least one of a drawing printed drawing, a hand-drawn drawing, a 3D printed model, and a hand-bent material; Step S12: extracting a reference contour edge from the machining reference image and generating the machining pattern; Step S13: generating the machining parameters according to the machining pattern.

9. The Nuss V orthopedic plate machining method of claim 7, wherein, The step S3 comprises: Step S31: controlling the servo motor to rotate according to the machining parameters, so as to respectively adjust the relative positions of the clamping device, the curvature adjusting device and the orthopedic plate to be bent; Step S32: collecting a cross-section image of the orthopedic plate to be bent, and extracting an orthopedic plate cross-section shape from the cross-section image; Step S33: comparing the orthopedic plate cross-section shape with the machining pattern to generate adjusted machining parameters, and then returning to the step S31 until the orthopedic plate to be bent is bent to the predetermined machining shape.

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