Parallel robot system for leg fracture reduction surgery, control method, equipment and medium

Abstract

The invention provides a parallel robot system for leg fracture reduction surgery, a control method, equipment and a medium. The parallel robot system comprises a fixed ring, a moving ring, two infrared optical reference frames, a plurality of telescopic connecting rods and a plurality of motors. Wherein the two infrared optical reference frames are respectively fixed on the fixed ring and the moving ring, the plurality of connecting rods are respectively connected with the fixed ring and the moving ring through twelve universal joints, and the plurality of motors are respectively connected with six universal joints on the fixed ring so as to drive the universal joints to rotate around the axial direction. The motor rotates the universal joint by rotating the number of turns to drive the threads in the connecting rod to rotate, so that the connecting rod stretches out and draws back, and the leg fracture reduction process is completed. Accurate reduction of leg fractures is achieved, motor driving is used for replacing manual broken bone moving of a doctor, and the burden of the doctor in the operation process can be greatly relieved.

Description

Technical Field

[0001] The present application relates to the field of medical machinery technology, and in particular to a parallel robot system, control method, equipment and medium for leg fracture reduction surgery. Background Art

[0002] The frequency of leg fractures in clinical practice is relatively high, especially tibial fractures among lower limb fractures, which are considered to be the most common type of lower limb fractures. According to statistics, tibia and fibula shaft fractures account for about 9.45% of all fractures in the body. At present, it is mainly treated clinically by traditional fracture reduction surgery. This method requires a large incision to expose the broken bone tissue, and the doctor visually performs the reduction operation, which requires high clinical experience of the doctor, and the reduction accuracy depends on the doctor's subjective feelings and cannot be objectively guaranteed. There is an infection risk in the operation, and it consumes a lot of physical and mental energy of the doctor. The existing patent with authorization announcement number CN209933357U discloses a fracture reduction robot with a healthy leg support function, which includes a support mechanism and a fracture reduction mechanism, which can provide support for the patient when lying down, and the motor drives the reduction mechanism to replace the doctor's manpower for reduction. However, the above system mainly solves the problem of comfort when the patient is lying down, and cannot complete automatic reduction. Therefore, how to automatically reduce leg fractures has become a technical problem that cannot be underestimated. Summary of the invention

[0003] In view of this, the purpose of the present application is to provide a parallel robot system, control method, equipment and medium for leg fracture reduction surgery, which can realize accurate automatic reduction of leg fractures. Using motor drive instead of the doctor's manual movement of broken bones can greatly reduce the doctor's burden during the operation.

[0004] The embodiment of the present application provides a parallel robot system for leg fracture reduction surgery, the parallel robot system comprising a fixed ring, a moving ring, two infrared optical reference frames, a plurality of retractable connecting rods and a plurality of motors; wherein,

[0005] The two infrared optical reference frames are respectively fixed on the fixed ring and the moving ring, the multiple connecting rods are respectively connected to the fixed ring and the moving ring through twelve universal joints, the multiple motors are respectively connected to the six universal joints on the fixed ring to drive the universal joints to rotate around the axis, the motor rotates the universal joint by a number of circles to drive the thread inside the connecting rod to rotate, thereby realizing the extension and retraction of the connecting rod to complete the leg fracture reduction process.

[0006] In a possible implementation manner, the connecting rod is a screw rod structure.

[0007] In a possible implementation manner, a plurality of holes are provided on the fixing ring and the moving ring for retaining screws and Kirschner wires.

[0008] In a possible implementation manner, there are six motors and six connecting rods.

[0009] In a possible implementation, the number of rotations is determined in the following manner:

[0010] The number of rotations is determined based on the telescopic length of the connecting rod and the thread lead.

[0011] The present application also provides a control method for leg fracture reduction surgery, the control method comprising:

[0012] Connecting one section of the broken bone model to the fixed ring of the parallel robot system through a Kirschner wire and a holding screw, and connecting another section of the broken bone model to the moving ring of the parallel robot system through a Kirschner wire and a holding screw to complete the installation of the broken bone model;

[0013] Performing CT scanning on the installed broken bone models to determine the target reset position of each broken bone model and the first position information of two infrared optical reference frames in the parallel robot system at the target reset position;

[0014] Determine the telescopic length of each connecting rod in the parallel robot system during the resetting process based on the first position information of the two infrared optical reference frames in the parallel robot system at the target resetting position and the second position information of the two infrared optical reference frames before resetting;

[0015] The multiple motors in the parallel robot system are controlled to rotate the connecting rods based on the telescopic length of each connecting rod, so that the moving ring drives the broken bone model fixed on the moving ring to move to a specified position to complete the broken bone model resetting process.

[0016] In a possible implementation manner, the installed broken bone model is subjected to CT scanning to determine the target reset position of each broken bone model and the first position information of two infrared optical reference frames in the parallel robot system at the target reset position, including:

[0017] Performing CT scanning on the installed broken bone model to determine the three-dimensional broken bone model of each broken bone;

[0018] Extracting cross-sectional point clouds from the two three-dimensional models of the broken bones respectively, processing the two cross-sectional point clouds based on the ICP registration algorithm, and determining the target resetting position of each of the broken bone models when the two cross-sectional point clouds overlap;

[0019] Based on the infrared optical navigator, first position information of two infrared optical reference frames at the target reset position is determined.

[0020] In a possible implementation manner, the telescopic length of each link in the parallel robot system during the resetting process is determined based on the first position information of the two infrared optical reference frames in the parallel robot system at the target resetting position and the second position information of the two infrared optical reference frames before resetting:

[0021] Determine the relative position between the fixed ring and the moving ring before and after resetting based on the first position information of the infrared optical reference frame and the corresponding second position information without resetting;

[0022] The relative position between the fixed ring and the moving ring before and after the resetting is processed based on the inverse kinematics algorithm to determine the telescopic length of each connecting rod in the parallel robot system during the resetting process.

[0023] An embodiment of the present application also provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the control method for leg fracture reduction surgery as described above are performed.

[0024] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the control method for leg fracture reduction surgery as described above are executed.

[0025] The embodiment of the present application provides a parallel robot system, control method, device and medium for leg fracture reduction surgery, wherein the parallel robot system includes a fixed ring, a moving ring, two infrared optical reference frames, a plurality of retractable connecting rods and a plurality of motors; wherein the two infrared optical reference frames are respectively fixed on the fixed ring and the moving ring, the plurality of connecting rods are respectively connected to the fixed ring and the moving ring through twelve universal joints, the plurality of motors are respectively connected to the six universal joints on the fixed ring to drive the universal joints to rotate around the axis, the motor rotates the universal joint by a number of turns to drive the internal thread of the connecting rod to rotate and realize the extension and retraction of the connecting rod to complete the leg fracture reduction process. The leg fracture is accurately reduced, and the use of motor drive instead of the doctor's manual movement of the broken bone can greatly reduce the burden on the doctor during the operation.

[0026] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 A schematic diagram of the structure of a parallel robot system for leg fracture reduction surgery provided in an embodiment of the present application;

[0029] Figure 2 One of the flow charts of a control method for leg fracture reduction surgery provided in an embodiment of the present application;

[0030] Figure 3 This is a second flow chart of a control method for leg fracture reduction surgery provided in an embodiment of the present application;

[0031] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0032] Icon: 100-parallel robot system for leg fracture reduction surgery; 1-fixed ring; 2-moving ring; 3-infrared optical reference frame; 4-infrared optical reference frame; 5-connecting rod; 6-universal joint; 7-motor; 400-electronic equipment; 410-processor; 420-memory; 430-bus. DETAILED DESCRIPTION

[0033] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art, under the guidance of the content of the present application, can add one or more other operations to the flowchart, or remove one or more operations from the flowchart.

[0034] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0035] In order to enable those skilled in the art to use the contents of this application, the following implementation method is given in combination with the specific application scenario of "reducing leg fractures". For those skilled in the art, the general principles defined here can be applied to other embodiments and application scenarios without departing from the spirit and scope of this application.

[0036] First, the application scenarios to which the present application is applicable are introduced. The present application can be applied in the field of medical machinery technology.

[0037] It has been found that the frequency of leg fractures in clinical practice is relatively high, especially tibial fractures in lower limb fractures, which are considered to be the most common type of lower limb fractures. According to statistics, tibia and fibula shaft fractures account for about 9.45% of all fractures in the body. At present, traditional fracture reduction is mainly used for clinical treatment. This method requires a large incision to expose the broken bone tissue, and the doctor visually performs the reduction operation, which requires high clinical experience of the doctor, and the reduction accuracy depends on the doctor's subjective feelings and cannot be objectively guaranteed. There is an infection risk in the operation, and it consumes a lot of physical and mental energy of the doctor. The existing patent with authorization announcement number CN209933357U discloses a fracture reduction robot with a healthy leg support function, which includes a support mechanism and a fracture reduction mechanism, which can provide support for the patient when lying down, and the motor drives the reduction mechanism to replace the doctor's manpower for reduction. However, the above system mainly solves the problem of comfort when the patient is lying down, and cannot complete automatic reduction. Therefore, how to automatically reduce leg fractures has become a technical problem that cannot be underestimated.

[0038] Based on this, an embodiment of the present application provides a parallel robot system for leg fracture reduction surgery, which achieves accurate automatic reduction of leg fractures. Using motor drive instead of the doctor's manual labor to move broken bones can greatly reduce the doctor's burden during the operation.

[0039] See also Figure 1 , Figure 1 The structure diagram of a parallel robot system 100 for leg fracture reduction surgery provided in an embodiment of the present application is shown in FIG. Figure 1As shown in , the parallel robot system 100 provided in the embodiment of the present application includes a fixed ring 1, a moving ring 2, two infrared optical reference frames 3 and 4, a telescopic connecting rod 5 and multiple motors 7.

[0040] Specifically, the two infrared optical reference frames 3 and 4 are respectively fixed on the fixed ring 1 and the moving ring 2, the multiple connecting rods 5 are respectively connected to the fixed ring 1 and the moving ring 2 through twelve universal joints 6, and the multiple motors 7 are respectively connected to the six universal joints 6 on the fixed ring 1 to drive the universal joints 6 to rotate around the axis, and the motor 7 rotates the universal joints 6 by a certain number of circles to drive the rotation of the threads inside the connecting rod 5 to achieve the extension and retraction of the connecting rod 5 to complete the leg fracture reduction process.

[0041] In a possible implementation manner, the connecting rod 5 is a screw rod structure.

[0042] In a possible implementation manner, a plurality of holes are provided on the fixing ring 1 and the moving ring 2 for retaining screws and Kirschner wires.

[0043] In a possible implementation manner, there are six motors 7 and six connecting rods 5 .

[0044] In a possible implementation, the number of rotations is determined in the following manner:

[0045] The number of rotations is determined based on the telescopic length of the connecting rod and the thread lead.

[0046] Here, in order to extend or shorten the connecting rod 5 to a specified length, a servo system is used to directly control the number of revolutions of the motor 7. The length divided by the thread lead is the required number of revolutions. In this way, the motor 7 is controlled to achieve bone reduction.

[0047] In the specific embodiment, the main structure of the robot is composed of two aluminum alloy ring frames (fixed ring 1, moving ring 2), infrared optical reference frames 3, 4 fixed above them, and six retractable connecting rods 5, wherein the six retractable connecting rods 5 are connected to the fixed ring 1 and the moving ring 2 through twelve universal joints 6, and six motors 7 are respectively connected to the six universal joints 6 on the fixed ring 1 to drive the universal joints 6 to rotate around the axis. The motor 7 rotates the universal joint to drive the thread inside the connecting rod 5 to rotate, thereby realizing the extension and retraction of the connecting rod 5. In actual use, the fixed ring 1 is fixed to the robot base, and the moving ring 2 is driven to move by changing the length of the connecting rod 5. In the structure of this device, the motor is not directly attached to the retractable connecting rod, but is independent of the robot body in a modular manner, and can be connected after the robot is installed, which provides convenience for the actual surgical installation process. In addition, there are abundant holes on the robot ring frame for fixing the matching fixing screws and Kirschner wires. The doctor can freely choose a suitable position to fix the patient's broken bones to the ring frame, and can also freely decide the number of Kirschner wires and other connectors used for fixing according to the situation.

[0048] In another specific embodiment, the leg bone model is composed of two broken bones, one of which is connected to the robot fixed ring 1 through a Kirschner wire and a holding screw, and the other is connected to the robot motion ring 2 through a Kirschner wire and a holding screw. Before the operation begins, the installed broken bone model is subjected to CT scanning to obtain three-dimensional model data, and then the image three-dimensional registration is performed to calculate the target reset position after the two broken bone models are reset, and thus the relative position relationship between the two infrared optical reference frames 3 and 4 at the target reset position is obtained. Finally, the parallel robot system is connected to the base, and the relative position relationship between the two infrared optical reference frames 3 and 4 is measured by an infrared optical navigator, and compared with the target position relationship calculated by the three-dimensional registration, and the length of each of the six connecting rods 5 that needs to move is further calculated by the parallel robot kinematics. Finally, the six connecting rods 5 are retracted and extended by the rotation of the six motors 7 to control the movement of the motion ring 2, thereby driving the broken bone model fixed on the motion ring 2 to move to the specified position to complete the broken bone model reset process. This makes it possible to measure and calculate the current position of the broken bone through an infrared optical navigator, and calculate the reduction path through kinematics in combination with the target position, thereby completing the accurate reduction of the leg fracture.

[0049] The embodiment of the present application provides a parallel robot system for leg fracture reduction surgery, the parallel robot system includes a fixed ring, a moving ring, two infrared optical reference frames, a plurality of retractable connecting rods and a plurality of motors; wherein the two infrared optical reference frames are respectively fixed on the fixed ring and the moving ring, the plurality of connecting rods are respectively connected to the fixed ring and the moving ring through twelve universal joints, the plurality of motors are respectively connected to the six universal joints on the fixed ring to drive the universal joints to rotate around the axis, the motor rotates the universal joint by a number of turns to drive the internal thread of the connecting rod to rotate and realize the extension and retraction of the connecting rod to complete the leg fracture reduction process. Accurate reduction of leg fractures is achieved, and the use of motor drive instead of the doctor's manual movement of broken bones can greatly reduce the burden on the doctor during the operation.

[0050] See also Figure 2 , Figure 2 This is one of the flow charts of a control method for leg fracture reduction surgery provided in an embodiment of the present application. Figure 2 As shown in , the control method provided by the embodiment of the present application includes:

[0051] S301: Connect one section of the broken bone model to the fixed ring of the parallel robot system through Kirschner wires and holding screws, and connect another section of the broken bone model to the moving ring of the parallel robot system through Kirschner wires and holding screws to complete the installation of the broken bone model.

[0052] In this step, one section of the broken bone model is connected to the fixed ring of the parallel robot system through Kirschner wires and holding screws, and the other section of the broken bone model is connected to the moving ring of the parallel robot system through Kirschner wires and holding screws to complete the installation of the broken bone models.

[0053] S302: Perform CT scanning on the installed broken bone models to determine the target reset position of each of the broken bone models and the first position information of the two infrared optical reference frames in the parallel robot system at the target reset position.

[0054] In this step, the installed broken bone models are subjected to CT scanning to determine the target reset position of each of the broken bone models and the first position information of the two infrared optical reference frames in the parallel robot system at the target reset position.

[0055] For further information, see Figure 3 , Figure 3 This is a second flow chart of a control method for leg fracture reduction surgery provided in an embodiment of the present application. Figure 3As shown in , the broken bone model that has been installed is subjected to CT scanning to determine the target reset position of each broken bone model and the first position information of the two infrared optical reference frames in the parallel robot system at the target reset position, including:

[0056] (1): The installed broken bone model is subjected to CT scanning to determine the three-dimensional model of each broken bone.

[0057] Here, the installed broken bone model is subjected to CT scanning to determine the three-dimensional model of each broken bone.

[0058] (2): Extract cross-sectional point clouds from the two three-dimensional models of the broken bone respectively, process the two cross-sectional point clouds based on the ICP registration algorithm, and determine the target resetting position of each of the broken bone models when the two cross-sectional point clouds overlap.

[0059] Here, cross-sectional point clouds are extracted from the two broken bone 3D models respectively, and the two cross-sectional point clouds are processed according to the ICP registration algorithm to determine the target resetting position of each broken bone model when the two cross-sectional point clouds overlap.

[0060] (3) Based on the infrared optical navigator, the first position information of the two infrared optical reference frames at the target reset position is determined.

[0061] Here, an infrared optical navigator is used to determine the first position information of two infrared optical reference frames at the target reset position.

[0062] S303: Determine the telescopic length of each connecting rod in the parallel robot system during the resetting process based on the first position information of the two infrared optical reference frames in the parallel robot system at the target resetting position and the second position information of the two infrared optical reference frames before resetting.

[0063] In this step, the telescopic length of each connecting rod in the parallel robot system during the resetting process is determined according to the first position information of the two infrared optical reference frames in the parallel robot system at the target resetting position and the second position information of the two infrared optical reference frames before resetting.

[0064] In a possible implementation manner, the telescopic length of each link in the parallel robot system during the resetting process is determined based on the first position information of the two infrared optical reference frames in the parallel robot system at the target resetting position and the second position information of the two infrared optical reference frames before resetting:

[0065] a: Based on the first position information of the infrared optical reference frame and the corresponding second position information without resetting, the relative position between the fixed ring and the moving ring before and after resetting is determined.

[0066] Here, the relative position between the fixed ring and the moving ring before and after resetting is determined based on the first position information of the infrared optical reference frame and the corresponding second position information without resetting.

[0067] b: Based on the inverse kinematics algorithm, the relative position between the fixed ring and the moving ring before and after the reset is processed to determine the telescopic length of each connecting rod in the parallel robot system during the reset process.

[0068] Here, the relative position between the fixed ring and the moving ring before and after the reset is processed according to the inverse kinematics algorithm to determine the telescopic length of each connecting rod in the parallel robot system during the reset process.

[0069] S204: Control multiple motors in the parallel robot system to rotate the connecting rods based on the telescopic length of each connecting rod, so that the moving ring drives the broken bone model fixed on the moving ring to move to a specified position to complete the broken bone model resetting process.

[0070] In this step, multiple motors in the parallel robot system are controlled to rotate the connecting rods according to the telescopic length of each connecting rod, so that the moving ring drives the broken bone model fixed on the moving ring to move to the specified position to complete the broken bone model resetting process.

[0071] In a specific embodiment, an infrared optical reference frame (respectively denoted as R1 and R2) is installed on two broken bones of a patient for real-time tracking of the position of the broken bones, and then a CT scan is performed on the broken bones, and a three-dimensional model of the broken bones and the reference frame is reconstructed from the CT scan. The point cloud of the cross section is extracted from the three-dimensional model of the two broken bones, and the two point clouds are aligned using the ICP alignment algorithm to make them overlap. The position of the three-dimensional model of the broken bones when the two cross-sectional point clouds overlap is obtained as the reset target position. The relative position relationship of the two reference frames (R1 and R2) on the broken bones is calculated from the reset three-dimensional model, and the relative position relationship between R1 and the infrared optical reference frame 3, and between R2 and the infrared optical reference frame 4 is directly measured by an infrared optical navigator at this time, and the relative positions of the infrared optical reference frames 3 and 4 at the reset target position are determined, and the current relative positions of the two are measured and recorded by the infrared optical navigator. Since the infrared optical reference frames 3, 4 and the two ring frames are rigidly connected, the relative positions of the two ring frames before and after the reset can be calculated according to the relative positions of the infrared optical reference frames 3, 4 before the reset starts and at the reset target position. The length of each connecting rod can be calculated from the relative position between the ring frames through the inverse kinematics of the robot. The length of each connecting rod before and after the reset can be calculated. The servo system is used to directly control the circle of the motor to control the motor to achieve the fracture reduction. After completing the above calculation steps and the doctor's inspection is correct, the motor can be started. The robot will drive the fractured bone to move according to the plan to achieve the reset process without the need for manual operation by the doctor.

[0072] The present application provides a control method for leg fracture reduction surgery, the control method comprising: connecting a section of the broken bone model to the fixed ring of the parallel robot system through a Kirschner wire and a holding screw, connecting another section of the broken bone model to the motion ring of the parallel robot system through a Kirschner wire and a holding screw to complete the installation of the broken bone model; performing CT scanning on the installed broken bone model to determine the target reset position of each broken bone model and the first position information of the two infrared optical reference frames in the parallel robot system at the target reset position; based on the first position information of the two infrared optical reference frames in the parallel robot system at the target reset position and the second position information of the two infrared optical reference frames under reset, determining the telescopic length of each connecting rod in the parallel robot system during the reset process; controlling multiple motors in the parallel robot system to rotate the connecting rod based on the telescopic length of each connecting rod, so that the motion ring drives the broken bone model fixed on the motion ring to move to the specified position to complete the broken bone model reset process. Accurately reset leg fractures, using motor drive instead of the doctor's manual movement of broken bones can greatly reduce the burden on doctors during surgery.

[0073] See also Figure 4 , Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 4 As shown in , the electronic device 400 includes a processor 410 , a memory 420 and a bus 430 .

[0074] The memory 420 stores machine-readable instructions executable by the processor 410. When the electronic device 400 is running, the processor 410 communicates with the memory 420 via the bus 430. When the machine-readable instructions are executed by the processor 410, the above-mentioned Figure 2 as well as Figure 3 The steps of the control method for leg fracture reduction surgery in the method embodiment shown in the figure, and the specific implementation manner can be found in the method embodiment, which will not be described in detail here.

[0075] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 2 as well as Figure 3 The steps of the control method for leg fracture reduction surgery in the method embodiment shown in the figure, and the specific implementation manner can be found in the method embodiment, which will not be described in detail here.

[0076] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0077] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0078] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0079] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0080] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application can essentially or in other words, the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0081] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A parallel robot system for leg fracture reduction surgery, characterized in that: The parallel robot system includes a fixed ring, a moving ring, two infrared optical reference frames, a plurality of retractable connecting rods and a plurality of motors; wherein, The two infrared optical reference frames are respectively fixed on the fixed ring and the moving ring, the multiple connecting rods are respectively connected to the fixed ring and the moving ring through twelve universal joints, the multiple motors are respectively connected to the six universal joints on the fixed ring to drive the universal joints to rotate around the axis, the motor rotates the universal joint by a number of circles to drive the thread inside the connecting rod to rotate, thereby realizing the extension and retraction of the connecting rod to complete the leg fracture reduction process.

2. The parallel robot system according to claim 1, characterized in that: The connecting rod is a screw rod structure.

3. The parallel robot system according to claim 1, characterized in that: The fixing ring and the moving ring are provided with a plurality of holes for retaining screws and Kirschner wires.

4. The parallel robot system according to claim 1, characterized in that: There are six motors and six connecting rods.

5. The parallel robot system according to claim 1, characterized in that: The number of turns is determined as follows: The number of rotations is determined based on the telescopic length of the connecting rod and the thread lead.

6. A control method for leg fracture reduction surgery, characterized in that: The control method is applied to the parallel robot system for leg fracture reduction surgery according to any one of claims 1 to 5, and the control method comprises: Connecting one section of the broken bone model to the fixed ring of the parallel robot system through a Kirschner wire and a holding screw, and connecting another section of the broken bone model to the moving ring of the parallel robot system through a Kirschner wire and a holding screw to complete the installation of the broken bone model; Performing CT scanning on the installed broken bone models to determine the target reset position of each broken bone model and the first position information of two infrared optical reference frames in the parallel robot system at the target reset position; Determine the telescopic length of each connecting rod in the parallel robot system during the resetting process based on the first position information of the two infrared optical reference frames in the parallel robot system at the target resetting position and the second position information of the two infrared optical reference frames before resetting; The multiple motors in the parallel robot system are controlled to rotate the connecting rods based on the telescopic length of each connecting rod, so that the moving ring drives the broken bone model fixed on the moving ring to move to a specified position to complete the broken bone model resetting process.

7. The control method according to claim 6, characterized in that: The method of performing CT scanning on the installed broken bone models to determine the target reset position of each broken bone model and the first position information of two infrared optical reference frames in the parallel robot system at the target reset position includes: Performing CT scanning on the installed broken bone model to determine the three-dimensional broken bone model of each broken bone; Extracting cross-sectional point clouds from the two three-dimensional models of the broken bones respectively, processing the two cross-sectional point clouds based on the ICP registration algorithm, and determining the target resetting position of each of the broken bone models when the two cross-sectional point clouds overlap; Based on the infrared optical navigator, first position information of two infrared optical reference frames at the target reset position is determined.

8. The control method according to claim 6, characterized in that: The telescopic length of each connecting rod in the parallel robot system during the resetting process is determined based on the first position information of the two infrared optical reference frames in the parallel robot system at the target resetting position and the second position information of the two infrared optical reference frames before resetting: Determine the relative position between the fixed ring and the moving ring before and after resetting based on the first position information of the infrared optical reference frame and the corresponding second position information without resetting; The relative position between the fixed ring and the moving ring before and after the resetting is processed based on the inverse kinematics algorithm to determine the telescopic length of each connecting rod in the parallel robot system during the resetting process.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and the machine-readable instructions are executed by the processor to execute the steps of the control method for leg fracture reduction surgery as described in any one of claims 6 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the control method for leg fracture reduction surgery as claimed in any one of claims 6 to 8 are executed.

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