Intelligent mechanical fixation assisting device, system and method

Abstract

The application discloses an intelligent mechanical fixing auxiliary device, system and method, which comprises a bone external fixing support and a bone lengthener. The bone lengthener comprises a bearing structure, an ultrasonic motor, a displacement sensor, a pressure sensor, a bone callus strain gauge, an encoder and a PLC controller. The bearing structure, the ultrasonic motor, the encoder and the PLC controller are fixed on the bone external fixing support, the displacement sensor and the pressure sensor are fixed on the bearing structure, and the bone callus strain gauge is arranged at a bone callus position. The ultrasonic motor, the displacement sensor, the pressure sensor and the bone callus strain gauge are connected with the encoder and the PLC controller. The system comprises a mechanical fixing device and a PC terminal. The axial load is used to calculate the bone callus stiffness, the stretching frequency and speed of the bone lengthener are controlled, the individual lengthening scheme for different stiffness bone calluses is formulated, and the lengthening quality is improved. The axial pressure load and the coordinate position are collected, the state of the distal end of the cut bone is calculated, early warning is provided for the force line correction of the lower limbs, and the automatic adjustment control of the bone lengthening is realized.

Description

Technical Field

[0001] This invention relates to the field of external fixation technology, and more specifically to an intelligent mechanical fixation auxiliary device, system, and method. Background Technology

[0002] Among external fixation devices, the most commonly used ring fixators are the Ilizarov and the semi-ring groove fixators developed by Li Qihong in China. When using ring fixators, the affected limb can be laid flat on the bed, which is more convenient and easier to manage open injuries. They are effective in treating fractures, nonunion, and as adjunctive therapy.

[0003] Bone healing is a complex physiological treatment technique, and patients generally have a long postoperative recovery period, making the treatment relatively difficult. Currently, there are many domestic and international treatments for bone defects and shortening, and distraction osteogenesis is a relatively effective method for treating some challenging clinical problems such as bone defects. In 1954, Ilizarov first used external fixation distraction osteogenesis to cure a case of tibial nonunion, and it has since been widely applied clinically. In invention CN201210403617.9, a quick-extension rod and an adjustable bionic external fixator for bone fixation were designed.

[0004] However, both the Ilizarov external fixation technique and other similar techniques share two shortcomings: 1. They lack automated adjustment and control during the lengthening process, making it impossible to monitor changes in the osteotomy position in clinical practice. The external fixator is also affected by asymmetrical muscle tension during the lengthening process, which can easily lead to problems such as axial displacement of proximal and distal bone units and deflection of the lower limb force line. In severe cases, this can result in bone mineralization disorders, nonunion, and malunion. 2. Another potential negative effect of distraction osteogenesis is not considered in orthopedic treatment, namely whether the lengthening parameters are suitable for everyone and how to address excessive lengthening in a timely manner.

[0005] Therefore, how to provide an intelligent mechanical fixation auxiliary device, system, and method to achieve automated adjustment and control, mechanical monitoring, precise control, and real-time monitoring during treatment of bone lengthening is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0006] In view of this, the present invention provides an intelligent mechanical fixation auxiliary device, system and method, which solves the problems of low adjustment accuracy, cumbersome operation, lack of ability to formulate personalized lengthening treatment plans for callus lengthening quality and inability to monitor and evaluate lengthening quality in real time when using ordinary bone lengthening devices.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] An intelligent mechanical fixation auxiliary device includes: an external fixation frame and a bone lengthener;

[0009] The bone lengthener includes a load-bearing structure, an ultrasonic motor, a displacement sensor, a pressure sensor, a callus strain gauge, an encoder, and a PLC controller.

[0010] The load-bearing structure, ultrasonic motor, encoder and PLC controller are fixed on the external fixation bracket, the displacement sensor and pressure sensor are fixed on the load-bearing structure, and the callus strain gauge is placed at the callus position.

[0011] The ultrasonic motor, displacement sensor, pressure sensor, and callus strain gauge are connected to the PLC controller via an encoder;

[0012] The ultrasonic motor is connected to the external fixation frame through a load-bearing structure and is used to drive the load-bearing structure so that the external fixation frame can stretch the fractured bone to produce a stretch displacement.

[0013] Displacement sensors are used to collect the extended displacement of load-bearing structures;

[0014] Pressure sensor used to measure the axial load value of bone lengthener;

[0015] Bone callus strain gauges are used to measure the strain value at the location of the bone callus model.

[0016] The encoder is used to acquire the extended displacement, axial load value and strain value, as well as the ultrasonic motor operating parameters, and transmits them to the PLC controller after encoding and conversion.

[0017] The PLC controller is used to receive, process, and transmit the extended displacement, axial load value, strain value, and ultrasonic motor operating parameters.

[0018] Ultrasonic motors are used to control the tension frequency and speed of load-bearing structures and external fixation devices by operating speed and frequency.

[0019] Preferably, an intelligent mechanical fixation auxiliary device further includes an ultrasonic therapy device, which is fixed externally to the bone and attached to a support. The ultrasonic probe of the ultrasonic therapy device is fixed to the site of rehabilitation to promote bone healing.

[0020] Preferably, an intelligent mechanical fixing auxiliary device further includes an ultrasonic motor driver for driving the ultrasonic motor to work.

[0021] Preferably, an intelligent mechanical fixation auxiliary device further includes an AD conversion module, used to convert data signals of the extended displacement of the load-bearing structure, the axial load value of the bone lengthener, and the strain value measured at the location of the callus model into digital signals and transmit them to the PLC controller.

[0022] A control system for an intelligent mechanical fixing auxiliary device includes an intelligent mechanical fixing auxiliary device and a PC terminal;

[0023] On the PC side, the system calculates the skeleton stiffness and distal osteotomy pose based on the extended displacement of the load-bearing structure received by the PLC controller, the axial load value of the bone lengthener, and the strain value measured at the location of the callus model, and then feeds it back to the PLC controller.

[0024] Preferably, the PC terminal is also used to determine the tensile and compressive loads and tensile strength based on the axial load value of the bone lengthener and the strain value of the callus strain gauge, and to adjust and warn of the external fixation frame based on the distal osteotomy posture calculated by the PC terminal.

[0025] Preferably, the PC terminal is also used to control the tension frequency and speed of the external fixation frame via an ultrasonic motor based on the skeletal stiffness calculated by the PC terminal.

[0026] A control method for an intelligent mechanical fixing auxiliary device, comprising:

[0027] The external fixator drives the fractured bone to generate tensile displacement.

[0028] The axial load value of the bone lengthener and the strain value of the callus strain gauge on the external fixation frame are collected and transmitted.

[0029] Collect displacement data, compile and convert it, and then transmit it.

[0030] The stiffness of the skeleton and the position of the distal osteotomy end are calculated and fed back based on the received displacement data, axial load value and strain value of callus strain gauge;

[0031] The tensile and compressive loads and tensile strength are calculated and judged based on the load value of the support rod and the strain value of the callus strain gauge, and the external fixation frame is adjusted and warned according to the posture of the distal osteotomy.

[0032] The tension frequency and speed of the external fixator are controlled based on the stiffness of the skeleton.

[0033] Preferably, a method for controlling an intelligent mechanical fixation auxiliary device further includes promoting bone healing through an ultrasonic therapy device.

[0034] Preferably, a control method for an intelligent mechanical fixation auxiliary device further includes converting the data signals of the load value of the support rod of the external fixation frame and the strain value of the callus strain gauge into digital signals before transmission.

[0035] As can be seen from the above technical solutions, compared with the prior art, the present invention discloses an intelligent mechanical fixation auxiliary device, system, and method. During bone lengthening, the axial load of the external fixator is used to calculate the callus stiffness, control the traction frequency and speed of the bone lengthener, and formulate personalized lengthening plans for callus with different stiffnesses to improve the lengthening quality. By collecting the axial load and coordinate position of each support rod of the external fixator, and calculating the distal osteotomy position, early warning is provided for lower limb alignment correction. Automated adjustment and control of bone lengthening can be achieved, realizing mechanical monitoring, precise control, and real-time monitoring during treatment. Ultrasonic therapy is used to enhance the patient's bone healing process, reduce subsequent rehabilitation time, and reduce damage caused by limb lengthening. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0037] Figure 1 The attached figure is a schematic diagram of the external fixation device provided by the present invention;

[0038] Figure 2 The attached figure is a schematic diagram of the external fixation system provided by the present invention;

[0039] Figure 3 The attached figure is a schematic diagram of the external fixation method provided by the present invention. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] This invention discloses an intelligent mechanical fixation auxiliary device, comprising: an external fixation frame and a bone lengthener;

[0042] The bone lengthener includes a load-bearing structure, an ultrasonic motor, a displacement sensor, a pressure sensor, a callus strain gauge, an encoder, and a PLC controller.

[0043] The load-bearing structure, ultrasonic motor, encoder and PLC controller are fixed on the external fixation bracket, the displacement sensor and pressure sensor are fixed on the load-bearing structure, and the callus strain gauge is placed at the callus position.

[0044] The ultrasonic motor, displacement sensor, pressure sensor, and callus strain gauge are connected to the PLC controller via an encoder;

[0045] The ultrasonic motor is connected to the external fixation frame through a load-bearing structure and is used to drive the load-bearing structure so that the external fixation frame can stretch the fractured bone to produce a stretch displacement.

[0046] Displacement sensors are used to collect the extended displacement of load-bearing structures;

[0047] Pressure sensor used to measure the axial load value of bone lengthener;

[0048] Bone callus strain gauges are used to measure the strain value at the location of the bone callus model.

[0049] The encoder is used to acquire the extended displacement, axial load value and strain value, as well as the ultrasonic motor operating parameters, and transmits them to the PLC controller after encoding and conversion.

[0050] The PLC controller is used to receive, process, and transmit the extended displacement, axial load value, strain value, and ultrasonic motor operating parameters.

[0051] Ultrasonic motors are used to control the tension frequency and speed of load-bearing structures and external fixation devices by operating speed and frequency.

[0052] In practical applications, the load-bearing structure includes an inner sleeve, a locking nut, a sleeve, a bearing, an end cap, and an extension rod. The displacement sensor is located at the far end of the extension rod, and the pressure sensor is located at the near end.

[0053] In this embodiment, a RUM-30-PA ultrasonic rotary motor is used to drive the lead screw nut, so that the external fixation device can generate tension displacement by traction displacement of the fractured bone through bone pin tension, thereby reducing the overall size of the device and making the positioning more accurate.

[0054] In this embodiment, the encoder encodes, converts, and transmits electrical signals, and records data according to the number of pulses using a code disk. It can convert angular and linear displacements into electrical signals for recording, enabling positioning control. The encoder is divided into incremental and absolute encoders; a 2500-line photoelectric incremental encoder is selected for recording the extension displacement in the bone lengthener.

[0055] To further implement the above technical solution, an intelligent mechanical fixation auxiliary device also includes an ultrasonic therapy instrument, which is fixed externally to the bone and mounted on a support. The ultrasonic probe of the ultrasonic therapy instrument is fixed to the site of rehabilitation to promote bone healing.

[0056] In this embodiment, the low-intensity pulsed ultrasound therapy device is fixed on the external fixation frame, and the ultrasound probe is fixed to the area to be treated using fixation straps. By controlling the low-intensity pulsed ultrasound therapy, sound pressure stimulation is achieved to promote callus formation and bone healing.

[0057] This low-intensity pulsed ultrasound therapy device features a dedicated 1.5MHz ultrasound probe; a unique ultrasound probe fixation strap eliminates the need for manual operation of the probe; two channels cater to the treatment needs of localized or multiple fracture sites; three-segment ultrasound intensity switching improves treatment efficacy for various complex sites, from superficial to deep; excellent BNR and ERA ensure safe and effective treatment; and it can be used with both AC and DC power.

[0058] To further implement the above technical solution, an intelligent mechanical fixing auxiliary device also includes an ultrasonic motor driver for driving the ultrasonic motor to work.

[0059] To further implement the above technical solution, an intelligent mechanical fixation auxiliary device also includes an AD conversion module, which is used to convert the data signals of the extended displacement of the load-bearing structure, the axial load value of the bone lengthener, and the strain value measured at the position of the callus model into digital signals and transmit them to the PLC controller.

[0060] In this embodiment, the pressure signal acquisition device is a JY-DAM1000B four-channel digital weighing module. This digital acquisition module provides an RS-485 to RS-232 interface and Modbus RTU communication protocol, with an absolute accuracy of 0.0003% and a resolution of 24 bits. It can directly communicate with a PC.

[0061] The selected model is the S-type strain gauge tension / compression sensor, model JLBS-M2. The output signal of the tension / compression sensor is weak, so an amplification module needs to be added. The output is an analog voltage of 0-10V, which is then converted into a digital signal that can be processed by the PLC through an A / D conversion module, and then exported to the 232 interface to connect to the computer.

[0062] The selected displacement sensor parameters are as follows: threaded portion Ф8, total length 19.6mm; waterproof rating: IP67, resistant to cutting fluid corrosion; displacement stroke: effective stroke 1mm; repeatability: less than 3um; resolution: 1um; contact force greater than: 0.7N; output signal: 0.5-4.5V; wiring method: side wiring; service life: 1 million cycles; power supply voltage: 5VDC.

[0063] A control system for an intelligent mechanical fixing auxiliary device includes an intelligent mechanical fixing auxiliary device and a PC terminal;

[0064] On the PC side, the system calculates the skeleton stiffness and distal osteotomy pose based on the extended displacement of the load-bearing structure received by the PLC controller, the axial load value of the bone lengthener, and the strain value measured at the location of the callus model, and then feeds it back to the PLC controller.

[0065] To further implement the above technical solution, the PC terminal is also used to judge the tensile and compressive loads and tensile tension based on the axial load value of the bone lengthener and the strain value of the callus strain gauge, and to adjust and warn of the external fixation frame based on the distal osteotomy posture calculated by the PC terminal.

[0066] To further implement the above technical solution, the PC terminal is also used to control the tension frequency and speed of the external fixation frame via an ultrasonic motor based on the skeletal stiffness calculated by the PC terminal.

[0067] During bone lengthening, axial load is used to calculate callus stiffness, control the stretching frequency and speed of the bone lengthener, and develop personalized lengthening plans for callus with different stiffnesses to improve lengthening quality. By collecting axial load and coordinate positions of each support rod, the distal osteotomy posture is calculated using a parallel force system model, providing early warning for lower limb alignment correction. After the bone lengthening system finishes working, a pre-set ultrasonic therapy device is automatically activated to enhance the patient's bone healing process. The calculation method for the distal osteotomy posture is as follows:

[0068]

[0069] in, Represents a rotation matrix. A X B , A Y B , A Z B These represent the unit vectors of the rigid body coordinate system, and each element in the matrix represents the direction cosine between the two vectors.

[0070] A control method for an intelligent mechanical fixing auxiliary device, comprising:

[0071] The external fixator drives the fractured bone to generate tensile displacement.

[0072] The axial load value of the bone lengthener and the strain value of the callus strain gauge on the external fixation frame are collected and transmitted.

[0073] Collect displacement data, compile and convert it, and then transmit it.

[0074] The stiffness of the skeleton and the position of the distal osteotomy end are calculated and fed back based on the received displacement data, axial load value and strain value of callus strain gauge;

[0075] Based on the load value of the support rod and the strain value of the callus strain gauge, the tensile and compressive loads and tensile strength are judged, and the external fixation frame is adjusted and warned according to the posture of the distal osteotomy.

[0076] The tension frequency and speed of the external fixator are controlled based on the stiffness of the skeleton.

[0077] To further implement the above technical solution, an intelligent mechanical fixation auxiliary device control method also includes promoting bone healing through an ultrasonic therapy device.

[0078] To further implement the above technical solution, an intelligent mechanical fixation auxiliary device control method further includes converting the data signals of the load value of the support rod of the external fixation frame and the strain value of the callus strain gauge into digital signals for transmission.

[0079] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0080] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An intelligent mechanical fixing auxiliary device, characterized in that, include: External fixation devices and bone lengtheners; The bone lengthener includes a load-bearing structure, an ultrasonic motor, a displacement sensor, a pressure sensor, a callus strain gauge, an encoder, and a PLC controller. The load-bearing structure, ultrasonic motor, encoder and PLC controller are fixed on the external fixation bracket, the displacement sensor and pressure sensor are fixed on the load-bearing structure, and the callus strain gauge is placed at the callus position. The ultrasonic motor, displacement sensor, pressure sensor, and callus strain gauge are connected to the PLC controller via an encoder; The ultrasonic motor is connected to the external fixation frame through a load-bearing structure and is used to drive the load-bearing structure so that the external fixation frame can stretch the fractured bone to produce a stretch displacement. Displacement sensors are used to collect the extended displacement of load-bearing structures; Pressure sensor used to measure the axial load value of bone lengthener; Bone callus strain gauges are used to measure the strain value at the location of the bone callus. The encoder is used to acquire the extended displacement, axial load value and strain value, as well as the ultrasonic motor operating parameters, and transmit them to the PLC controller after encoding conversion; The PLC controller is used to receive, process, and transmit the extended displacement, axial load value, strain value, and ultrasonic motor operating parameters. Ultrasonic motors are used to control the tension frequency and speed of load-bearing structures and external fixation devices by operating speed and frequency. It also includes an ultrasound therapy device, which is fixed to an external bone fixation frame. The ultrasound probe of the ultrasound therapy device is fixed to the site of rehabilitation to promote bone healing. It also includes an ultrasonic motor driver for driving the ultrasonic motor.

2. The intelligent mechanical fixing auxiliary device according to claim 1, characterized in that, It also includes an AD conversion module, which converts the data signals of the extended displacement of the load-bearing structure, the axial load value of the bone lengthener, and the strain value measured at the location of the callus model into digital signals and transmits them to the PLC controller.

3. A control system for an intelligent mechanical fixing auxiliary device, characterized in that, Includes an intelligent mechanical fixing auxiliary device as described in any one of claims 1-2 and a PC terminal; On the PC side, the system calculates the skeleton stiffness and distal osteotomy pose based on the extended displacement of the load-bearing structure received by the PLC controller, the axial load value of the bone lengthener, and the strain value measured at the location of the callus model, and then feeds it back to the PLC controller.

4. The intelligent mechanical fixing auxiliary device control system according to claim 3, characterized in that, The PC terminal is also used to determine tensile and compressive loads and tensile strength based on the axial load value of the bone lengthener and the strain value of the callus strain gauge, and to adjust and warn of external fixation based on the distal osteotomy posture calculated by the PC terminal.

5. The intelligent mechanical fixing auxiliary device control system according to claim 4, characterized in that, On the PC, it is also used to control the tension frequency and speed of the external fixation frame via an ultrasonic motor based on the calculated skeletal stiffness.

6. A control method for an intelligent mechanical fixing auxiliary device, based on the intelligent mechanical fixing auxiliary device control system according to any one of claims 3-5, characterized in that, include: The external fixator drives the fractured bone to generate tensile displacement. The axial load value of the bone lengthener and the strain value of the callus strain gauge on the external fixation frame are collected and transmitted. Collect displacement data, encode and convert it, and then transmit it. The stiffness of the skeleton and the position of the distal osteotomy end are calculated and fed back based on the received displacement data, axial load value and strain value of callus strain gauge; Based on the axial load value and the strain value of the callus strain gauge, tensile and compressive loads and tensile tension are calculated and judged, and the external fixation frame is adjusted and warned according to the posture of the distal osteotomy. The tension frequency and speed of the external fixator are controlled based on the stiffness of the skeleton.

7. The intelligent mechanical fixing auxiliary device control method according to claim 6, characterized in that, It also includes promoting bone healing through ultrasound therapy.

8. The intelligent mechanical fixing auxiliary device control method according to claim 6, characterized in that, It also includes converting the data signals of the axial load value of the bone lengthener and the strain value of the callus strain gauge on the external fixation frame into digital signals before transmission.

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