Remotely controlled pelvic fracture reduction system

Abstract

The present invention relates to a remotely controlled pelvic fracture reduction system. The remotely controlled pelvic fracture reduction system comprises a human-machine interaction automatic control unit, two or more servo drive systems, and two or more pelvic rotary push-pull devices. The human-machine interaction automatic control unit enables interactions via a human-machine interaction interface, and formulates, on the basis of an artificial intelligence algorithm of a pelvic unlocking reduction path, an automatic planning strategy for a reduction path; then each servo drive system provides a servo drive of a high-precision servo motor according to the automatic planning strategy for the path reduction, so as to drive a respectively connected pelvic rotary push-pull device to perform an axial displacement push-pull reduction action on a pelvic fracture fragment of a patient in a respective direction, thereby completing a coordinated and consistent spatial linkage with multiple degrees of freedom among the pelvic fracture fragments of the patient, achieving remotely and automatically controlled angular rotation and axial push-pull reduction on several two-dimensional planes, ensuring the intelligence, precision, and minimal invasiveness of the reduction of a severely displaced pelvic fracture, lowering the entrance threshold of pelvic fracture treatment, and simultaneously reducing fluoroscopy-induced radiation damage to medical personnel and the patient.

Description

A remotely controlled pelvic fracture reduction system Technical Field

[0001] This invention relates to medical surgical instruments and equipment, specifically to a remotely controlled pelvic fracture reduction system that enables remote control of minimally invasive pelvic fracture reduction. Background Technology

[0002] Pelvic fractures are a serious bone trauma with a mortality rate as high as 15% and a disability rate as high as 37%, making their treatment a huge challenge for doctors worldwide. Current conventional open surgery requires large incisions for fixation, resulting in large wounds, significant bleeding, and difficulties in reduction and fixation. Patients often experience blood loss of thousands of milliliters and incisions of tens of centimeters during surgery, undoubtedly exacerbating the already severe trauma. Therefore, minimally invasive surgery has become the preferred treatment. Internationally and domestically, the field has been exploring minimally invasive reduction and fixation techniques for pelvic fractures, but no major breakthroughs have been achieved. Closed reduction of severely displaced pelvic fractures faces the following key technical bottlenecks: first, inaccuracy—complex fractures cannot be accurately reduced without cutting the fracture ends; second, lack of visualization—the reduction process cannot be tracked and displayed in real time without repeated fluoroscopy; third, insufficient reduction force, and limited functionality of the accompanying equipment; and fourth, high skill requirements for surgeons—such surgeries require highly trained and skilled surgeons to manually control and plan the procedure. Summary of the Invention

[0003] This invention addresses the problems in existing technologies where pelvic fracture reduction treatment requires manual control and planning by surgeons, and where closed and precise reduction of complex fractures is impossible. It provides a remotely controlled pelvic fracture reduction system that enables remote control and automatic planning for minimally invasive pelvic fracture reduction. This system achieves intelligent, precise, and minimally invasive reduction of severely displaced pelvic fractures, lowering the entry barrier for pelvic fracture treatment and reducing fluoroscopic radiation damage to medical personnel and patients.

[0004] The technical solution of the present invention is as follows:

[0005] A remotely controlled pelvic fracture reduction system is characterized by comprising a human-computer interaction automatic control unit, two or more servo drive systems, and two or more pelvic rotation push-pull devices. Each servo drive system includes a high-precision servo motor and a corresponding servo driver. The human-computer interaction automatic control unit is connected to the servo driver of each servo drive system, and the high-precision servo motor of each servo drive system is correspondingly connected to each pelvic rotation push-pull device.

[0006] Each of the pelvic rotation push-pull devices achieves axial extension and retraction through its own rotation. Each device includes a rod with an axial through hole, a rotation mechanism inside the axial through hole of the rod, and a reset screw connected to the rotation mechanism. The rotation mechanism is connected to a high-precision servo motor of a servo drive system. The reset screw acts on the patient's pelvic fracture fragment. The high-precision servo motor drives the rotation mechanism to rotate, and the rotation mechanism converts the rotational motion into linear push-pull motion, thereby driving the reset screw to generate push or pull force to achieve the axial push-pull reset action of the patient's pelvic fracture fragment.

[0007] The human-computer interaction automatic control unit interacts through a human-computer interface and formulates an automatic planning strategy for the reset path based on an artificial intelligence algorithm for pelvic unlocking and reset. Then, each servo drive system provides high-precision servo motor servo drive according to the automatic reset path planning strategy, thereby driving the connected pelvic rotation push-pull devices to perform axial displacement push-pull reset actions on the patient's pelvic fracture fragments in their respective directions. This completes the coordinated and consistent multi-degree-of-freedom spatial linkage of the patient's pelvic fracture fragments, realizing remote automatic control of angular rotation and axial push-pull reset on several two-dimensional planes.

[0008] Preferably, it also includes a pelvic unlocking and repositioning device and several gripping and stabilizing components. The pelvic unlocking and repositioning device includes a fixation frame connected to the operating table and two or more fixing screws fixed on the fixation frame. The fixing screws act on the patient's healthy pelvis to fix it.

[0009] Each of the gripping and stabilizing components is used to fix each of the pelvic rotation push-pull devices to the fixing frame of the pelvic unlocking and resetting device, and the gripping and stabilizing component has a six-degree-of-freedom rotation structure to realize the six-degree-of-freedom rotation of the gripping and stabilizing component, thereby enabling other rotation push-pull devices to generate coordinated spatial following linkage when a single pelvic rotation push-pull device moves linearly.

[0010] Preferably, the rod of the pelvic rotation push-pull device is provided with a vertical connecting handle. The gripping and stabilizing component includes a first annular structure, a six-degree-of-freedom rotation structure and a first gripping structure arranged in sequence. The size of the annular hole of the first annular structure matches the connecting handle. The connecting handle passes through the annular hole of the first annular structure and is fixed by a first fastener on the outside of the first annular structure. The first gripping structure has a first concave portion that matches the diameter of the side tube of the fixing frame. The first concave portion engages with the side tube of the fixing frame to achieve gripping.

[0011] Preferably, the gripping and stabilizing component includes a second annular structure, a six-degree-of-freedom rotational structure, and a second gripping structure arranged in sequence. The size of the annular hole of the second annular structure matches the size of the reset screw. The reset screw passes through the annular hole of the second annular structure and is fixed by a second fastener on the outside of the second annular structure. The second gripping structure has a second concave portion that matches the diameter of the connecting rod of the fixing frame. The second concave portion engages with the connecting rod of the fixing frame to achieve gripping.

[0012] Preferably, it also includes a patient pelvic fracture location data acquisition unit, a pelvic fracture simulation data acquisition unit, a mixed reality data fusion processing unit, and a reduction status monitoring unit, wherein the patient pelvic fracture location data acquisition unit, the pelvic fracture simulation data acquisition unit, and the reduction status monitoring unit are all connected to the mixed reality data fusion processing unit.

[0013] The patient pelvic fracture location data acquisition unit uses magnetic detection and optical tracking technology to collect spatial location data of the patient's pelvic fracture fragments in real time and uploads it to the mixed reality data fusion processing unit. The patient pelvic fracture location data acquisition unit includes a magnetic detector closely attached to the surface of the patient's pelvic fracture fragments and an optical locator connected to the magnetic detector. The optical locator includes four optical positioning rods evenly arranged on the four sides of the magnetic detector, with two of the optical positioning rods vertically and the other two horizontally. The top of each optical positioning rod has an optical positioning ball. The pelvic fracture simulation data acquisition unit acquires data simulating the patient's pelvic fracture using a sample pelvis through a camera, two-dimensional perspective device, or scanning device, obtains patient pelvic fracture simulation data, and uploads it to the mixed reality data fusion processing unit. The mixed reality data fusion processing unit uses mixed reality technology to match and fuse the spatial location data of the patient's pelvic fracture fragments with the patient's pelvic fracture simulation data to generate an intelligent pelvic fracture model for the patient's pelvic fracture state. The reduction status monitoring unit loads and displays images of the intelligent fracture model in different positions in real time and monitors the reduction status of the patient's pelvic fracture in different positions through multiple monitoring screens.

[0014] Preferably, the mixed reality data fusion processing unit uses mixed reality technology to match the spatial location data of the patient's pelvic fracture fragments with the simulated data of the patient's pelvic fracture, performing coordinate system matching and matching the relative positional relationships between each pelvic bone fragment and the implant, manipulator, fixation frame, and operating table. The matching process is performed using automated non-rigid image registration technology. Furthermore, the intelligent pelvic fracture model constructed for the patient's pelvic fracture state is subjected to muscle attachment conditions, and the method of human tissue bounding box tree is used to achieve automated avoidance of human anatomical structures during the implantation of the manipulator.

[0015] Preferably, the repositioning monitoring unit monitors the patient's pelvic fracture position in real time, including any combination of three or more of the following positions: anteroposterior pelvic view, pelvic inlet view, pelvic outlet view, obturator oblique view, iliac oblique view, LC-2 full-length image, teardrop image, obturator outlet view, iliac inlet view, anteroposterior view of the sacroiliac joint inlet view, anteroposterior view of the sacroiliac joint outlet view, anteroposterior view of the iliac wing, lateral pelvic view (ICD line view), and lateral pelvic view (posterior column view).

[0016] Preferably, the rotating mechanism in the pelvic rotation push-pull device includes a lead screw and a nut. The nut is connected to a reset screw. The lead screw is connected to a high-precision servo motor of the servo drive system. The high-precision servo motor drives the lead screw to rotate, and the nut moves axially along the thread of the lead screw. In turn, the reset screw is driven by the connected nut to generate a pushing or pulling force, so as to realize the axial displacement push-pull correction of the patient's pelvic fracture fragment in the direction of the pelvic rotation push-pull device.

[0017] Preferably, the rotating mechanism in the pelvic rotation push-pull device includes a gear pair and a connecting rod. The connecting rod is connected to a reset screw, and the gear pair is connected to a high-precision servo motor of the servo drive system. The high-precision servo motor drives the gear pair to rotate, and the gear pair meshes and drives the reset screw through the connecting rod to generate a pushing or pulling force, so as to realize the axial displacement push-pull correction of the patient's pelvic fracture fragment in the direction of the pelvic rotation push-pull device.

[0018] Preferably, the Schanz screw is used as the reduction screw for the fractured pelvic fragment in the pelvic rotation push-pull device, and at least two of the following are used as the fixation screw for fixing the healthy pelvis in the pelvic unlocking and reduction device: a transverse acetabular screw, an LC-2 screw, and a gluteus medius column screw.

[0019] The technical effects of this invention are as follows:

[0020] This invention relates to a remotely controlled pelvic fracture reduction system, comprising a human-machine interface automatic control unit, two or more servo drive systems, and two or more pelvic rotation push-pull devices. The pelvic fracture fragment to be reduced is connected to the pelvic rotation push-pull devices in multiple directions. The pelvic rotation push-pull devices, driven by high-precision servo motors of the servo drive systems, convert their axial rotation into axial extension and contraction, thereby automatically driving the reduction screws to generate pushing or pulling forces. Combined with the human-machine interface automatic control, the high-precision servo motors, servo drivers, and the human-machine interface automatic control unit are connected. The human-machine interface automatic control unit, based on an artificial intelligence algorithm, achieves human-machine interactive automatic control through a human-machine interface. The reduction path is automatically determined based on an artificial intelligence algorithm for pelvic unlocking and reduction. The dynamic planning strategy allows each servo drive system to automatically drive its connected pelvic rotation and push-pull devices to perform axial displacement and push-pull reduction actions on the patient's pelvic fracture fragments according to the reduction path planning strategy. This achieves coordinated multi-degree-of-freedom spatial linkage of the displaced pelvic fracture fragments, avoiding the drawback of current closed reduction of severe displaced pelvic fractures, which cannot achieve precise closed reduction of complex fractures without cutting the fracture ends. It realizes intelligent, precise, and minimally invasive reduction of severe displaced pelvic fractures, and achieves remote automatic control of angular rotation and axial push-pull reduction on several two-dimensional planes. This avoids manual control and planning by the surgeon, lowers the entry threshold for pelvic fracture treatment, and allows ordinary surgeons to complete the procedure independently, while reducing fluoroscopic radiation damage to medical staff and patients.

[0021] Furthermore, the remote-controlled pelvic fracture reduction system of the present invention also includes a pelvic unlocking and reduction device and several grasping and stabilizing components. Each grasping and stabilizing component is used to fix each of the pelvic rotation push-pull devices to the fixing frame of the pelvic unlocking and reduction device. The grasping and stabilizing component has a six-degree-of-freedom rotation structure so that the grasping and stabilizing component itself can rotate in six degrees of freedom. Thus, when a single pelvic rotation push-pull device moves linearly, other rotation push-pull devices can generate coordinated spatial following linkage (angular rotation), further improving the accuracy and efficiency of pelvic fracture reduction.

[0022] Furthermore, the system includes a patient pelvic fracture location data acquisition unit, a pelvic fracture simulation data acquisition unit, a mixed reality data fusion processing unit, and a reduction status monitoring unit. The patient pelvic fracture location data acquisition unit uses magnetic detection and optical tracking technology to collect real-time spatial location data of the patient's pelvic fracture fragments. The pelvic fracture simulation data acquisition unit acquires simulated data of the patient's pelvic fracture. The mixed reality data fusion processing unit uses mixed reality technology to create an intelligent pelvic fracture model tailored to the patient's pelvic fracture state. The reduction status monitoring unit then monitors the reduction status of the patient's pelvis in different body positions in real-time. In other words, various types of fractures are prepared on a sample pelvis, placing them in various possible fracture displacement situations. Computer simulation is used to guide the reduction of displaced pelvic fracture fragments, improving reduction accuracy. All components work collaboratively, combining magnetic detection technology, optical tracking and positioning technology, artificial intelligence technology, and mixed reality technology to achieve intelligent monitoring of pelvic fracture reduction. Even severely displaced pelvic fractures can be accurately reduced, meeting the closed reduction requirements of minimally invasive orthopedic surgery. This also satisfies the comprehensive requirements of minimally invasive orthopedic surgery regarding operating space, footprint, flexibility, load capacity, and stability. Most importantly, no X-ray images are needed during the operation, which completely solves the problem of radiation damage to patients and medical staff in the clinical application of existing fracture pelvic reduction treatments, reducing radiation damage to patients and medical staff and protecting the safety of both doctors and patients.

[0023] Moreover, the patient pelvic fracture location data acquisition unit uses magnetic detection technology with a magnetic detector closely attached to the surface of the patient's pelvis, combined with optical tracking technology with an optical locator connected to the magnetic detector, to collect real-time information on the patient's pelvic position. This allows medical personnel to accurately determine the patient's fracture without surgery, requiring only a small incision to implant some implants or operating rods. This avoids the problems of large incisions, significant blood loss, and difficulty in reduction and fixation associated with previous pelvic reduction surgeries.

[0024] Furthermore, the reduction status monitoring unit monitors the patient's pelvic fracture position in real time, including any combination of three or more of the 14 common positions. Through real-time observation, it can effectively determine the reduction status of the patient's pelvic fracture. If the observation result of only one or two positions is that the reduction is successful, but the reduction of the third position has not yet been achieved, it is determined that the actual reduction of the three-dimensional pelvis is unsuccessful. If the observation results of three or more positions are all successful, it is determined that the actual reduction of the three-dimensional pelvis is successful. This fully solves the problem of three-dimensional operation space control caused by the lack of information in real-time two-dimensional medical images, and realizes precise guidance for three-dimensional reduction. Attached Figure Description

[0025] Figure 1 is a structural block diagram of the remotely controlled pelvic fracture reduction system of the present invention.

[0026] Figure 2 is a schematic diagram of a preferred structure of the pelvic rotation push-pull device of the present invention.

[0027] Figure 3 is a schematic diagram of a preferred structure of the remote-controlled pelvic fracture reduction system of the present invention.

[0028] Figures 4a, 4b, and 4c are schematic diagrams of another preferred structure of the remotely controlled pelvic fracture reduction system of the present invention.

[0029] Figure 5 is a schematic diagram of a preferred structure of the gripping and stabilizing component of the present invention.

[0030] Figure 6 is a block diagram of the third preferred structure of the remotely controlled pelvic fracture reduction system of the present invention.

[0031] The following labels are used in the diagram: 1—Patient's pelvic fracture fragment; 2—Pelvic rotation push-pull device; 21—Rod; 211—Connecting handle; 22—Rotation mechanism; 221—Gear pair; 222—Connecting rod; 23—Reset screw; 3—Servo drive system; 31—High-precision servo motor; 4—Human-machine interaction automatic control unit; 5—Pelvic unlocking and reset device; 51—Fixture frame; 52—Fixture screw; 6—Grasping and stabilizing component; 61—First ring structure; 62—Six-degree-of-freedom rotation structure; 63—First grasping structure; 7—Operating table. Detailed Implementation

[0032] The present invention will now be described in detail with reference to the accompanying drawings.

[0033] This invention relates to a remotely controlled pelvic fracture reduction system. Based on the morphological characteristics of pelvic fractures and the clinical needs of minimally invasive surgery, it can be understood as an optimization of existing pelvic fracture unlocking and reduction devices. Utilizing the characteristics of high-precision servo motors, a servo drive system and a human-machine interactive automatic control unit are developed. A pelvic rotation push-pull device is designed to automatically drive the reduction screws to generate pushing or pulling forces to achieve axial push-pull reduction of the fractured pelvic fragments. Combined with the development of an electronic control system based on the CANOpen protocol for the human-machine interactive automatic control unit, the programming of the upper computer human-machine interface, and multi-degree-of-freedom linkage based on trajectory planning, intelligent and highly precise remote control unlocking and reduction is achieved.

[0034] The structure of the remotely controlled pelvic fracture reduction system is shown in Figure 1. It includes a human-machine interactive automatic control unit 4, two or more servo drive systems 3, and two or more pelvic rotation push-pull devices 2, such as three servo drive systems 3 and three pelvic rotation push-pull devices 2. Each servo drive system 2 includes a high-precision servo motor and a corresponding servo driver. The human-machine interactive automatic control unit 4 is connected to the servo driver of each servo drive system. The high-precision servo motor of each servo drive system is connected to each pelvic rotation push-pull device 2.

[0035] Each of the pelvic rotation push-pull devices 2 achieves axial extension and retraction through its own rotation, and is connected to the pelvic fracture fragments via long threaded screws to provide axial pushing and pulling force on the fracture fragments, thereby realizing axial displacement push-pull correction of the fracture fragments in the direction of the pelvic rotation push-pull device. As shown in Figure 2, it includes a rod 21 with an axial through hole, a rotation mechanism 22 within the axial through hole of the rod 21, and a reset screw 23 connected to the rotation mechanism 22. The rod 21 may be equipped with a vertical connecting handle 211. The rotation mechanism 22 is connected to a high-precision servo motor 31 of a servo drive system. The reset screw 23 acts on the patient's pelvic fracture fragment 1. The reset screw 23 may be a Schanz screw. The high-precision servo motor 31 drives the rotation mechanism 22 to rotate, and the rotation mechanism 22 converts the rotational motion into linear push-pull motion, thereby driving the reset screw 23 to generate pushing or pulling force to realize the axial push-pull reduction action of the patient's pelvic fracture fragment 1.

[0036] Specifically, the rotating mechanism 22 in the pelvic rotation push-pull device 2 can include a gear pair 221 and a connecting rod 222, as shown in Figure 2. The connecting rod 222 is connected to the reset screw 23. The reset screw 23 and the connecting rod 222 can be fixed together by a locking pin mechanism. The gear pair 221 is connected to the high-precision servo motor 31 of the servo drive system. The high-precision servo motor 31 drives the gear pair 221 to rotate, and the gear pair 221 meshes and drives the reset screw 23 through the connecting rod 222 to generate a pushing or pulling force, so as to realize the axial displacement push-pull correction of the patient's pelvic fracture fragment in the direction of the pelvic rotation push-pull device.

[0037] In addition, the rotating mechanism in the pelvic rotation push-pull device 2 can also be other structures, such as a lead screw and a nut. In this case, the nut is connected to the reset screw, and the lead screw is connected to the high-precision servo motor of the servo drive system. The high-precision servo motor drives the lead screw to rotate, and the nut moves axially along the thread of the lead screw. In turn, the reset screw is driven by the connected nut to generate a pushing or pulling force, so as to realize the axial displacement push-pull correction of the patient's pelvic fracture fragment in the direction of the pelvic rotation push-pull device.

[0038] The human-computer interaction automatic control unit 4 interacts through the human-computer interaction interface and formulates an automatic planning strategy for the reset path based on the artificial intelligence algorithm of the pelvic unlocking and reset path. It indicates the placement position of the pelvic rotation push-pull device 2. Then, each servo drive system 3 provides high-precision servo motor servo drive according to the reset path automatic planning strategy, thereby driving the pelvic rotation push-pull device 2 connected to each other to perform axial displacement push-pull reset actions on the patient's pelvic fracture fragment 1 in their respective directions. This completes the coordinated multi-degree-of-freedom spatial linkage of the patient's pelvic fracture fragment 1, realizes remote automatic control of angular rotation and axial push-pull on several two-dimensional planes, and finally reduces the pelvic fracture.

[0039] The remotely controlled pelvic fracture reduction system of the present invention may further include a pelvic unlocking and reduction device and several grasping and stabilizing components, as shown in Figures 3 and 4a, 4b, and 4c. The pelvic unlocking and reduction device 5 includes a fixation frame 51 connected to the operating table 7 and two or more fixation screws 52 fixed to the fixation frame 51. The fixation screws 52 act on the patient's healthy pelvis to fix it. The fixation screws 52 can be fixed to the fixation frame 51 using ordinary fixation clips. The fixation screws 52 can be at least two of the following: a transverse acetabular screw, an LC-2 screw, and a gluteus medius column screw. In Figure 3, the patient's pelvis and corresponding fracture fragments are not shown. In this figure, the reduction screw 23 acts on the right side of the patient's pelvic fracture fragment (affected pelvis), and the fixation screw 52 acts on the left side of the healthy pelvis. In Figures 4a, 4b, and 4c, the left side represents the affected pelvis, which is reduced by pushing and pulling the reduction screws 23 at different angles; the right side represents the healthy pelvis, which is fixed by multiple fixation screws 52. The gripping and stabilizing component 6 is used to fix each of the pelvic rotation push-pull devices 2 to the fixing frame 51 of the pelvic unlocking and resetting device 5. The gripping and stabilizing component 6 has a six-degree-of-freedom rotation structure to realize the six-degree-of-freedom rotation of the gripping and stabilizing component. Thus, when a single pelvic rotation push-pull device 2 moves in a straight line, other rotation push-pull devices 2 will generate coordinated spatial following linkage (angular rotation).

[0040] Furthermore, the preferred structure of the gripping and stabilizing component 6 is shown in Figure 5, including a first annular structure 61, a six-degree-of-freedom rotational structure 62, and a first gripping structure 63 arranged sequentially. The size of the annular hole of the first annular structure 61 matches the connecting handle 211 of the pelvic rotation push-pull device 2. The connecting handle 211 passes through the annular hole of the first annular structure 61 and is fixed by a first fastener on the outside of the first annular structure 61. The six-degree-of-freedom rotational structure 62 enables the gripping and stabilizing component 6 to rotate in six degrees of freedom. The first gripping structure 63 has a first concave portion that matches the diameter of the side tube of the fixing frame 51. The first concave portion engages with the side tube of the fixing frame 51 to achieve gripping.

[0041] In addition to the above embodiments, the structure of the gripping and stabilizing component can be adjusted to other forms. Referring to Figure 5, it can be understood as a different model from Figure 5. The size of the annular hole of the two annular structures is different, and the size of the concave part of the gripping structure is different. For example, the gripping and stabilizing component includes a second annular structure, a six-degree-of-freedom rotation structure and a second gripping structure arranged in sequence. The size of the annular hole of the second annular structure matches the reset screw 23. The reset screw passes through the annular hole of the second annular structure and is fixed by the second fastener on the outside of the second annular structure. The second gripping structure has a second concave part that matches the diameter of the connecting rod tube of the fixing frame. The second concave part is used to engage the connecting rod of the fixing frame (the side tubes are on both sides of the operating table, and the connecting rod is laterally connected to the side tubes on both sides) to achieve gripping.

[0042] Figures 4a, 4b, and 4c show the sequential automatic planning of the reduction path. This embodiment shows two pelvic rotation push-pull devices 2 positioned at different locations, one on the outside and one above the patient's pelvic fracture fragment 1, respectively. Each device acts on the patient's pelvic fracture fragment 1 through its respective reduction screw 23. First, Figure 4a shows the reduction screw 23 of the lateral pelvic rotation push-pull device 2 generating a pulling force. Next, Figure 4b shows the reduction screw 23 of the upper pelvic rotation push-pull device (not shown) generating a pulling force. Then, Figure 4c shows the reduction screw 23 of the lateral pelvic rotation push-pull device 2 generating a pushing force. Through each pelvic rotation push-pull device, the patient's pelvic fracture fragment 1 is subjected to axial displacement push-pull reduction actions in its respective orientation, completing the coordinated multi-degree-of-freedom spatial linkage of the patient's pelvic fracture fragment, and realizing remote automatic control of angular rotation and axial push-pull reduction on several two-dimensional planes.

[0043] Figure 6 is a third preferred structural block diagram of the remote-controlled pelvic fracture reduction system of the present invention. The system also includes a patient pelvic fracture location data acquisition unit, a pelvic fracture simulation data acquisition unit, a mixed reality data fusion processing unit, and a reduction status monitoring unit. The patient pelvic fracture location data acquisition unit, the pelvic fracture simulation data acquisition unit, and the reduction status monitoring unit are all connected to the mixed reality data fusion processing unit. Specifically, the patient pelvic fracture location data acquisition unit uses magnetic detection and optical tracking technology to collect real-time spatial location data of the patient's pelvic fracture fragments and uploads it to the mixed reality data fusion processing unit. The patient pelvic fracture location data acquisition unit includes a magnetic detector closely attached to the surface of the patient's pelvic fracture fragments and an optical locator connected to the magnetic detector. The optical locator includes four optical positioning rods evenly arranged on the four sides of the magnetic detector, with two vertically positioned and the other two horizontally positioned. Each optical positioning rod has an optical positioning ball at its top. The pelvic fracture simulation data acquisition unit acquires data using a sample pelvis to simulate the patient's pelvis through a camera, two-dimensional fluoroscopy device, or scanning device. Fracture data is used to obtain simulated pelvic fracture data of the patient and upload it to the mixed reality data fusion processing unit. The mixed reality data fusion processing unit uses mixed reality technology to match and fuse the spatial position data of the patient's pelvic fracture fragments with the simulated pelvic fracture data to generate an intelligent pelvic fracture model for the patient's pelvic fracture state. Computer simulation is used to realize the repositioning navigation of displaced bone fragments, thereby improving the repositioning accuracy. The repositioning status monitoring unit loads and displays images of the intelligent fracture model in different positions in real time and monitors the repositioning status of the patient's pelvic fracture in different positions through multiple monitoring screens, so that medical personnel can observe the dynamic changes in real time and provide a reliable basis for their diagnosis and operation. The various unit components of this invention work together, combining magnetic detection technology, optical tracking and positioning technology, artificial intelligence technology, and mixed reality technology to realize intelligent monitoring of pelvic fracture repositioning. Even severely displaced pelvic fractures can be accurately repositioned, which can meet the closed repositioning requirements of minimally invasive orthopedic surgery, and at the same time meet the comprehensive requirements of minimally invasive orthopedic surgery for its operating space, occupancy space, flexibility, load, stability and other performance. Most importantly, no X-ray images are needed during the operation, which completely solves the problem of radiation damage to patients and medical staff in the clinical application of existing fracture pelvic reduction treatments, reducing radiation damage to patients and medical staff and protecting the safety of both doctors and patients.

[0044] More preferably, the pelvic fracture simulation data acquisition unit collects fracture simulation data from several angles, including but not limited to taking pictures, two-dimensional fluoroscopy, or scanning. Preferably, the sample pelvis includes but is not limited to artificial pelvis, animal pelvis, or cadaver pelvis, or it can be a long tubular bone of the limb. For example, in this embodiment, it is preferred to take pictures, perform two-dimensional fluoroscopy, or scan the artificial pelvis from several angles to obtain two-dimensional CT images from multiple angles, or to virtually project these two-dimensional CT images to generate digital images, and perform automated analysis and processing based on artificial intelligence technology to obtain the patient's pelvic fracture simulation data.

[0045] The patient pelvic fracture location data acquisition unit uses magnetic detection positioning technology, which is closely attached to the surface of the patient's pelvis, combined with optical tracking technology using an optical locator connected to the magnetic detector, to collect real-time pelvic position information data, thus achieving pelvic positioning. The optical tracking technology also includes 3D motion capture technology, with a positioning accuracy of no less than 5mm and a positioning angle accuracy of no less than 5°. The patient pelvic position information data includes, but is not limited to, the position information data of each bone fragment in the patient's pelvis, the internal implant, and the surrounding operating rods, reduction frame, and operating table. Through high-precision magnetic detection technology and optical tracking technology, the unit collects real-time position information data of the patient's pelvis (focusing on collecting the coordinate point set of the patient's bone surface and the operating rods, reduction frame, operating table, etc.), thus enabling the accurate acquisition of patient pelvic fracture data. The unit is actually a high-precision optical inertial tracking system; then the mixed reality data fusion processing unit uses mixed reality technology to match the spatial position data of the patient's pelvic fracture fragments with the patient's pelvic fracture simulation data. Based on the iterative nearest neighbor algorithm (ICP algorithm) and skeletal three-dimensional deformation technology, it can reconstruct an individualized intelligent pelvic fracture model for the patient. Furthermore, the use of magnetic detection positioning technology and optical tracking technology to obtain the patient's pelvic fracture information allows medical staff to accurately determine the patient's fracture condition without surgery. They only need to make a small incision to implant some implants or operating rods, avoiding the problems of large incisions, large blood loss, and difficult reduction and fixation in previous pelvic reduction surgeries. It also saves patients from severe pain, greatly reduces the difficulty of surgery, and improves the patient's recovery rate and quality of life.

[0046] Preferably, the mixed reality data fusion processing unit utilizes mixed reality technology to match the spatial position data of the patient's pelvic fracture fragments with the simulated data of the patient's pelvic fracture. This involves coordinate system matching and matching the relative positional relationships between each pelvic bone fragment and the implant, manipulator, fixation frame, and operating table. The matching process is performed using automated non-rigid image registration technology. In other words, during the matching process, the instantaneous position and relative positional relationship of each bone fragment, implant, manipulator, etc., are calculated in real time, and then precise matching is performed to solve the correspondence problem between two-dimensional images and three-dimensional spatial images. Furthermore, by using the mirror mapping result of one positional image of the patient's pelvis as the reduction reference parameter for the patient's pelvic displacement, and combining the mirror mapping results of other positional images, the reduction spatial coordinate parameters are obtained through surface registration.

[0047] Preferably, the mixed reality data fusion processing unit loads muscle attachment conditions onto the intelligent fracture model constructed for the patient's pelvic fracture state. That is, based on the atlas method or statistical morphological model, it automatically finds the muscle insertion point and direction of action on the individualized intelligent pelvic fracture model to load muscle attachment conditions (understood as human soft tissue, such as skin, muscles, etc.). Based on the human tissue bounding box tree method, it realizes the automatic avoidance of important human anatomical structures (such as blood vessels, nerves, etc.) during the implantation of the manipulator, so as to avoid harming the patient when the manipulator is implanted in the patient's body.

[0048] This invention utilizes an artificial intelligence algorithm based on the pelvic unlocking and repositioning path to automatically plan the repositioning path through a human-computer interaction automatic control unit. This enables intelligent repositioning clinical path planning, automatically finding the optimal clinical surgical path (note that the surgical path must first unlock each bone fragment of the pelvic fracture before the push-pull displacement operation). This minimizes the operation path to avoid secondary damage caused by large-scale movement, while effectively avoiding important anatomical structures or tissues such as blood vessels, nerves, and bone fragments, thus preventing unnecessary damage, saving surgical time, and improving surgical treatment outcomes. Even when using intelligent robots to replace medical personnel in surgical operations, it can be combined with navigation servo control technology in magnetic detection technology. By using real-time tracking of bone fragment characteristics (human tissue characteristics) as servo feedback, a servo control task is established, allowing the intelligent robot to perform surgical operations according to the intelligent repositioning clinical path under navigation servo control, and to track and adjust the path in real time until the pelvis is successfully repositioned. This greatly improves the real-time performance, stability, accuracy, reliability, and safety of pelvic repositioning operations.

[0049] Preferably, the reduction status monitoring unit monitors the patient's pelvic position in real time, including any combination of three or more of the following positions: anteroposterior pelvic view, pelvic inlet view, pelvic outlet view, obturator foramen oblique view, iliac bone oblique view, LC-2 full-length image, teardrop image, obturator foramen outlet view, iliac bone inlet view, anteroposterior view of the sacroiliac joint inlet view, anteroposterior view of the sacroiliac joint outlet view, anteroposterior view of the iliac wing, lateral pelvic image (ICD line view), and lateral pelvic image (posterior column view). Through real-time observation of three or more positions, the reduction status of the patient's pelvic fracture can be effectively determined. If the observation results of only one or two positions indicate successful reduction while the reduction in the third position has not yet been achieved, then the actual reduction of the three-dimensional pelvis is determined to be unsuccessful. If the observation results of three or more positions all indicate... If the reduction is successful, the three-dimensional pelvic reduction is considered successful. For example, the intelligent pelvic fracture model displays medical images of the pelvic inlet, pelvic outlet, and iliac oblique positions on the reduction status monitoring unit. As the pelvic reduction surgery progresses, these images dynamically change. When all three positions show successful pelvic reduction, the patient's pelvic reduction is confirmed. This solution effectively solves the problem of three-dimensional operational space control caused by the lack of information in real-time two-dimensional medical images, achieving precise guidance for three-dimensional reduction. Finally, a second medical fluoroscopy can be performed on the patient to verify the success of the intelligent reduction, thus providing double assurance of the success of the pelvic reduction surgery. Medical personnel can directly observe the reduction status of the patient's pelvis, which is monitored in real time by the reduction status monitoring unit, to perform pelvic fracture reduction. The various modules work together to achieve virtual reality navigation multi-position view operation, navigation tracking operation, and to confirm the consistency of pelvic position accuracy.

[0050] Furthermore, the patient pelvic fracture location data acquisition unit includes a magnetic detector closely attached to the surface of the patient's pelvis and an optical locator connected to the magnetic detector. The magnetic detector has an embedded gyroscope and / or positioning chip, and its lower end is connected to an operating rod. The optical locator includes four optical positioning rods evenly arranged on the four sides of the magnetic detector, with two vertically positioned and the other two horizontally positioned. The top of each optical positioning rod has an optical positioning ball, preferably a 1mm diameter metal ball and / or a porcine cortical bone ball. The metal ball and / or porcine cortical bone ball have a photosensitive effect and can serve as a reference point for optical tracking. After the intelligent pelvic fracture model is projected onto the reduction status monitoring unit, the simulated usage status of the magnetic detector and optical locator allows for full observation of the connection status and relative positional relationship between the magnetic detector and the optical locator and the bone fragment, providing guidance for the surgical operation of medical personnel.

[0051] The preferred structure of the remote-controlled pelvic fracture reduction system of this invention provides a complete set of technologies and equipment for minimally invasive pelvic fracture surgery. The surgery is a closed reduction and fixation with pins through a small incision, rather than a large incision reduction and plate fixation as in open surgery. For highly complex surgeries, which are considered the crown jewel of orthopedics, ordinary surgeons can complete them independently through the technology and device of this invention.

[0052] It should be noted that the specific embodiments described above enable those skilled in the art to more fully understand the present invention, but do not limit the present invention in any way. Therefore, although the present invention has been described in detail with reference to the accompanying drawings and embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the present invention. In short, all technical solutions and improvements that do not depart from the spirit and scope of the present invention should be covered within the protection scope of the present invention patent.

Claims

1. A remotely controlled pelvic fracture reduction system, characterized in that, It includes a human-computer interaction automatic control unit, two or more servo drive systems, and two or more pelvic rotation push-pull devices. Each servo drive system includes a high-precision servo motor and a corresponding servo driver. The human-computer interaction automatic control unit is connected to the servo driver of each servo drive system. The high-precision servo motor of each servo drive system is connected to each pelvic rotation push-pull device. Each of the pelvic rotation push-pull devices achieves axial extension and retraction through its own rotation. Each device includes a rod with an axial through hole, a rotation mechanism inside the axial through hole of the rod, and a reset screw connected to the rotation mechanism. The rotation mechanism is connected to a high-precision servo motor of a servo drive system. The reset screw acts on the patient's pelvic fracture fragment. The high-precision servo motor drives the rotation mechanism to rotate, and the rotation mechanism converts the rotational motion into linear push-pull motion, thereby driving the reset screw to generate push or pull force to achieve the axial push-pull reset action of the patient's pelvic fracture fragment. The human-computer interaction automatic control unit interacts through a human-computer interface and formulates an automatic planning strategy for the reset path based on an artificial intelligence algorithm for pelvic unlocking and reset. Then, each servo drive system provides high-precision servo motor servo drive according to the automatic reset path planning strategy, thereby driving the connected pelvic rotation push-pull devices to perform axial displacement push-pull reset actions on the patient's pelvic fracture fragments in their respective directions. This completes the coordinated and consistent multi-degree-of-freedom spatial linkage of the patient's pelvic fracture fragments, realizing remote automatic control of angular rotation and axial push-pull reset on several two-dimensional planes.

2. The remotely controlled pelvic fracture reduction system according to claim 1, characterized in that, It also includes a pelvic unlocking and repositioning device and several gripping and stabilizing components. The pelvic unlocking and repositioning device includes a fixation frame connected to the operating table and two or more fixing screws fixed on the fixation frame. The fixing screws act on the patient's healthy pelvis to fix it. Each of the gripping and stabilizing components is used to fix each of the pelvic rotation push-pull devices to the fixing frame of the pelvic unlocking and resetting device, and the gripping and stabilizing component has a six-degree-of-freedom rotation structure to realize the six-degree-of-freedom rotation of the gripping and stabilizing component, thereby enabling other rotation push-pull devices to generate coordinated spatial following linkage when a single pelvic rotation push-pull device moves linearly.

3. The remotely controlled pelvic fracture reduction system according to claim 2, characterized in that, The pelvic rotation push-pull device has a vertical connecting handle on its rod. The gripping and stabilizing component includes a first annular structure, a six-degree-of-freedom rotation structure, and a first gripping structure arranged in sequence. The size of the annular hole of the first annular structure matches the connecting handle. The connecting handle passes through the annular hole of the first annular structure and is fixed by a first fastener on the outside of the first annular structure. The first gripping structure has a first concave portion that matches the diameter of the side tube of the fixing frame. The first concave portion engages with the side tube of the fixing frame to achieve gripping.

4. The remotely controlled pelvic fracture reduction system according to claim 2, characterized in that, The gripping and stabilizing component includes a second annular structure, a six-degree-of-freedom rotational structure, and a second gripping structure arranged in sequence. The size of the annular hole of the second annular structure matches the size of the reset screw. The reset screw passes through the annular hole of the second annular structure and is fixed by a second fastener on the outside of the second annular structure. The second gripping structure has a second concave portion that matches the diameter of the connecting rod of the fixing frame. The second concave portion engages with the connecting rod of the fixing frame to achieve gripping.

5. The remotely controlled pelvic fracture reduction system according to any one of claims 1 to 4, characterized in that, It also includes a patient pelvic fracture location data acquisition unit, a pelvic fracture simulation data acquisition unit, a mixed reality data fusion processing unit, and a reduction status monitoring unit. The patient pelvic fracture location data acquisition unit, the pelvic fracture simulation data acquisition unit, and the reduction status monitoring unit are all connected to the mixed reality data fusion processing unit. The patient pelvic fracture location data acquisition unit uses magnetic detection and optical tracking technology to collect spatial location data of the patient's pelvic fracture fragments in real time and uploads it to the mixed reality data fusion processing unit. The patient pelvic fracture location data acquisition unit includes a magnetic detector closely attached to the surface of the patient's pelvic fracture fragments and an optical locator connected to the magnetic detector. The optical locator includes four optical positioning rods evenly arranged on the four sides of the magnetic detector, with two of the optical positioning rods vertically and the other two horizontally. The top of each optical positioning rod has an optical positioning ball. The pelvic fracture simulation data acquisition unit acquires data simulating the patient's pelvic fracture using a sample pelvis through a camera, two-dimensional perspective device, or scanning device, obtains patient pelvic fracture simulation data, and uploads it to the mixed reality data fusion processing unit. The mixed reality data fusion processing unit uses mixed reality technology to match and fuse the spatial location data of the patient's pelvic fracture fragments with the patient's pelvic fracture simulation data to generate an intelligent pelvic fracture model for the patient's pelvic fracture state. The reduction status monitoring unit loads and displays images of the intelligent fracture model in different positions in real time and monitors the reduction status of the patient's pelvic fracture in different positions through multiple monitoring screens.

6. The remotely controlled pelvic fracture reduction system according to claim 5, characterized in that, The mixed reality data fusion processing unit utilizes mixed reality technology to match the spatial location data of the patient's pelvic fracture fragments with the simulated data of the patient's pelvic fracture. This involves coordinate system matching and matching the relative positional relationships between each pelvic bone fragment and the implant, manipulator, fixation frame, and operating table. The matching process is performed using automated non-rigid image registration technology. Furthermore, the unit applies muscle attachment conditions to the constructed intelligent pelvic fracture model tailored to the patient's pelvic fracture state and uses a bounding box tree method based on human tissue to achieve automated avoidance of human anatomical structures during manipulator implantation.

7. The remotely controlled pelvic fracture reduction system according to claim 5, characterized in that, The repositioning monitoring unit monitors the patient's pelvic fracture position in real time, including any combination of three or more of the following: anteroposterior pelvic view, pelvic inlet view, pelvic outlet view, obturator oblique view, iliac oblique view, LC-2 full-length image, teardrop image, obturator outlet view, iliac inlet view, anteroposterior view of the sacroiliac joint inlet view, anteroposterior view of the sacroiliac joint outlet view, anteroposterior view of the iliac wing, lateral pelvic view (ICD line view), and lateral pelvic view (posterior column view).

8. The remotely controlled pelvic fracture reduction system according to any one of claims 1 to 4, characterized in that, The rotating mechanism in the pelvic rotation push-pull device includes a lead screw and a nut. The nut is connected to a reset screw. The lead screw is connected to a high-precision servo motor of the servo drive system. The high-precision servo motor drives the lead screw to rotate, and the nut moves axially along the thread of the lead screw. In turn, the reset screw is driven by the connected nut to generate a pushing or pulling force, so as to realize the axial displacement and push-pull correction of the patient's pelvic fracture fragments in the direction of the pelvic rotation push-pull device.

9. The remotely controlled pelvic fracture reduction system according to any one of claims 1 to 4, characterized in that, The rotating mechanism in the pelvic rotation push-pull device includes a gear pair and a connecting rod. The connecting rod is connected to a reset screw, and the gear pair is connected to a high-precision servo motor of the servo drive system. The high-precision servo motor drives the gear pair to rotate, and the gear pair meshes and drives the reset screw through the connecting rod to generate a pushing or pulling force, so as to realize the axial displacement push-pull correction of the patient's pelvic fracture fragments in the direction of the pelvic rotation push-pull device.

10. The remotely controlled pelvic fracture reduction system according to any one of claims 2 to 4, characterized in that, The reduction screws acting on the fractured pelvic fragments in the pelvic rotation push-pull device are Schanz screws, and the fixation screws acting on the healthy side of the pelvis in the pelvic unlocking and reduction device are at least two of the following: supraacetabular transverse screws, LC-2 screws, and gluteus medius column screws.

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