Remotely-controlled pelvic fracture reduction system

Abstract

The invention relates to a remote control pelvic fracture reduction system, which comprises a man-machine interaction automatic control unit, more than two servo driving systems and more than two pelvic rotary push-pull devices, and the man-machine interaction automatic control unit interacts through a man-machine interaction interface. A reset path automatic planning strategy is formulated based on an artificial intelligence algorithm of a pelvis unlocking reset path, and then servo driving of a high-precision servo motor is provided by each servo driving system according to the reset path automatic planning strategy; then, the pelvic rotating push-pull devices connected with the pelvic rotating push-pull devices are driven to execute axial displacement push-pull reduction actions in respective directions on the pelvic fracture blocks of the patient, so that cooperative and consistent multi-degree-of-freedom space linkage of the pelvic fracture blocks of the patient is completed, and angular rotation and axial push-pull reduction on a plurality of two-dimensional planes under remote automatic control are realized; intelligent, precise and minimally invasive reduction of serious displacement pelvic fracture is achieved, the access threshold of pelvic fracture treatment is lowered, and meanwhile perspective radiation injuries to medical staff and patients are reduced.

Description

Technical Field

[0001] The invention relates to medical surgical instruments and equipment, and in particular to a remote-controlled pelvic fracture reduction system, which can realize remote control of minimally invasive reduction of pelvic fractures. Background Art

[0002] Pelvic fracture is a serious bone trauma with a mortality rate of up to 15% and a disability rate of up to 37%. Its treatment is a huge challenge facing doctors around the world today. Conventional surgical open surgery in existing treatment technologies requires large incision fixation, which has problems such as large wounds, heavy bleeding, and difficulty in reduction and fixation. Patients / injured people usually bleed thousands of milliliters and have incisions of dozens of centimeters during surgery, which is undoubtedly worse for patients who have already suffered severe trauma. Therefore, minimally invasive surgery has become the first choice for treatment. In this field, both internationally and domestically, minimally invasive reduction and fixation techniques for pelvic fractures have been explored, but there has been no major breakthrough. The closed reduction of severely displaced pelvic fractures mainly has the following key technical bottlenecks: First, it is not accurate. If the fracture ends are not cut, it is impossible to achieve accurate closed reduction of complex fractures; second, it is invisible. If repeated fluoroscopy is not performed, the fracture reduction process cannot be tracked and displayed in real time; third, the reduction force is insufficient, and the supporting equipment has a single function and cannot be operated; fourth, it requires high requirements for the surgeon, and it requires trained high-level doctors to manually control and plan to complete such an operation. Summary of the invention

[0003] In view of the problems in the prior art that pelvic fracture reduction treatment requires manual control and planning by the surgeon, and that closed and precise reduction of complex fractures cannot be achieved, the present invention provides a remotely controlled pelvic fracture reduction system for remote control and automatic planning of minimally invasive reduction of pelvic fractures, thereby achieving intelligent, precise and minimally invasive reduction of severely displaced pelvic fractures, lowering the entry threshold for pelvic fracture treatment, and reducing fluoroscopic radiation damage to medical staff and patients.

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

[0005] A remote-controlled pelvic fracture reduction system, characterized in that it comprises a human-machine interactive automatic control unit, two or more servo drive systems, and two or more pelvic rotation push-pull devices, each servo drive system comprises a high-precision servo motor and a corresponding servo driver, the human-machine interactive 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 realizes axial extension and retraction through its own rotation, and comprises a rod body with an axial through hole, a rotation mechanism in the axial through hole of the rod body, and a reset screw connected to the rotation mechanism, wherein the rotation mechanism is connected to a high-precision servo motor of a servo drive system, and the reset screw acts on the patient's pelvic fracture fragment, and the high-precision servo motor drives the rotation mechanism to rotate, and the rotation mechanism converts the rotational motion into a linear push-pull motion, thereby driving the reset screw to generate a thrust or a pull force, so as to realize the push-pull reset action of the patient's pelvic fracture fragment in the axial direction;

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

[0008] Preferably, it also includes a pelvic unlocking and resetting device and a plurality of gripping and stabilizing components, wherein the pelvic unlocking and resetting device includes a fixing frame connected to the operating table and two or more fixing screws fixed on the fixing frame, wherein the fixing screws act on the healthy side pelvis of the patient to fix it;

[0009] Each of the grasping and stabilizing components is used to fix each of the pelvic rotation and push-pull devices on the fixed frame of the pelvic unlocking and resetting device, and the grasping and stabilizing components have a six-degree-of-freedom rotation structure to realize the six-degree-of-freedom rotation of the grasping and stabilizing components, so that when a single pelvic rotation and push-pull device moves linearly, other rotation and push-pull devices can produce a coordinated and consistent spatial follow-up linkage.

[0010] Preferably, the rod body of the pelvic rotation and pushing device is provided with a vertical connecting handle, and the grasping and stabilizing component includes a first annular structure, a six-degree-of-freedom rotation structure and a first grasping structure distributed in sequence, the annular hole size 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, and the first grasping structure has a first inner recessed portion matching the diameter size of the side tube of the fixing frame, and the side tube of the fixing frame is grasped by clamping the first inner recessed portion.

[0011] Preferably, the gripping stabilization component includes a second annular structure, a six-degree-of-freedom rotation structure and a second gripping structure distributed in sequence, the annular hole size of the second annular structure matches 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 inner recess that matches the diameter size of the connecting rod of the fixing frame, and the connecting rod of the fixing frame is gripped by the second inner recess.

[0012] Preferably, it also includes a patient pelvic fracture position 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 position 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 position data acquisition unit uses magnetic detection and optical tracking technology to collect the spatial position data of the patient's pelvic fracture fragment in real time and upload it to the mixed reality data fusion processing unit. The patient pelvic fracture position data acquisition unit includes a magnetic detector close to the surface of the patient's pelvic fracture fragment and an optical locator connected to the magnetic detector. The optical locator includes four optical locating rods evenly arranged on four sides of the magnetic detector in sequence, and two of the optical locating rods are arranged vertically and the other two are arranged horizontally. The top of the optical locating rod has an optical locating ball; the pelvic fracture simulation data acquisition unit obtains data of simulating the patient's pelvic fracture using a sample pelvis through a camera device, a two-dimensional perspective device or a scanning device, obtains the patient's 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 patient's pelvic fracture fragment spatial position data with the patient's pelvic fracture simulation data to generate an intelligent pelvic fracture model for the patient's pelvic fracture state, and the reduction status monitoring unit loads and displays the 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 in real time through multiple monitoring screens.

[0014] Preferably, 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, to perform coordinate system matching, and to match the relative position relationship between each pelvic bone fragment and the implant, operating rod, fixation frame, and operating table. The matching process is performed using automated non-rigid image registration technology; the constructed intelligent pelvic fracture model for the patient's pelvic fracture state is also loaded with muscle attachment conditions, and the automated avoidance of the human anatomical structure during the implantation of the operating rod is achieved based on the human tissue bounding box tree method.

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

[0016] Preferably, the rotating mechanism in the pelvic rotation and push-pull device includes a lead screw and a nut, the nut is connected to a reset screw, and the lead screw is connected to a high-precision servo motor of a 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, and then the reset screw is driven by the connected nut to generate thrust or tension, so as to achieve push-pull correction of the axial displacement of the patient's pelvic fracture fragment in the direction of the pelvic rotation and push-pull device.

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

[0018] Preferably, the reduction screw in the pelvic rotation and pushing device that acts on the patient's pelvic fracture fragment is a Schanz screw, and the fixing screw in the pelvic unlocking and reduction device that acts on the patient's healthy side pelvis to fix it is at least two of the acetabular transverse screw, LC-2 screw and gluteus medius column screw.

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

[0020] The present invention relates to a remote-controlled pelvic fracture reduction system, comprising a human-machine interactive automatic control unit, two or more servo drive systems, and two or more pelvic rotation push-pull devices. The pelvic fracture blocks to be reduced are connected to the pelvic rotation push-pull devices in multiple directions. The pelvic rotation push-pull devices are driven by the servo drive of the high-precision servo motor of the servo drive system to convert their own axial rotation into axial extension and contraction, and then automatically drive the reduction screw to generate thrust or tension. Combined with human-machine interactive automatic control, the high-precision servo motor, servo drive, and human-machine interactive automatic control unit are connected. The human-machine interactive automatic control unit based on an artificial intelligence algorithm realizes human-machine interactive automatic control through a human-machine interactive interface. The artificial intelligence algorithm based on the pelvic unlocking reduction path automatically formulates the reduction path. The servo drive systems drive the pelvic rotation and push-pull devices connected to them to perform axial displacement push-pull reduction actions on the patient's pelvic fracture fragments in their respective directions according to the automatic reduction path planning strategy, thereby completing the coordinated and consistent multi-degree-of-freedom spatial linkage of the displaced pelvic fracture fragments, avoiding the current disadvantage that the closed reduction of severe displaced pelvic fractures cannot achieve accurate closed reduction of complex fractures without cutting the fracture ends, realizing the intelligent, accurate and minimally invasive reduction of severe displaced pelvic fractures, and realizing angular rotation and axial push-pull reduction on several two-dimensional planes under remote automatic control, avoiding manual control and planning by surgeons, lowering the entry threshold for pelvic fracture treatment, and ordinary surgeons can complete it independently, while reducing the 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 reducing device and a plurality of grasping and stabilizing components, each grasping and stabilizing component is used to fix each of the pelvic rotating push-pull devices on a fixed frame of the pelvic unlocking and reducing device, and the grasping and stabilizing component has a six-degree-of-freedom rotation structure to enable the grasping and stabilizing component itself to rotate with six degrees of freedom, so that when a single pelvic rotating push-pull device pushes and pulls in a linear manner, other rotating push-pull devices can produce a coordinated spatial follow-up linkage (angular rotation), thereby further improving the accuracy and efficiency of pelvic fracture reduction.

[0022] Furthermore, a patient pelvic fracture position data acquisition unit, a pelvic fracture simulation data acquisition unit, a mixed reality data fusion processing unit and a reset status monitoring unit are also provided. The patient pelvic fracture position data acquisition unit uses magnetic detection and optical tracking technology to collect the spatial position data of the patient's pelvic fracture fragment in real time, the pelvic fracture simulation data acquisition unit obtains the patient's pelvic fracture simulation data, and the mixed reality data fusion processing unit uses mixed reality technology to form an intelligent pelvic fracture model for the patient's pelvic fracture state, and then the reset status monitoring unit monitors the reset status of the patient's pelvis in different positions in real time. That is to say, various types of fractures are prepared on the sample pelvis to make it in various possible fracture displacement situations, and the reset guidance of the displaced pelvic fracture fragment is realized through computer simulation to improve the reset accuracy. The various components work together, combined with magnetic detection technology, optical tracking and positioning technology, artificial intelligence technology and mixed reality technology, etc., to realize intelligent monitoring of pelvic fracture reset, even severely displaced pelvic fractures can be accurately reset, which can meet the requirements of minimally invasive orthopedic surgery for closed reset of pelvic fractures, and at the same time meet the comprehensive requirements of minimally invasive orthopedic surgery for its operating space, occupied space, flexibility, load, stability and other performance. And most importantly, there is no need to take X-ray images during the operation, which completely solves the problem of radiation damage to patients and medical staff in the existing clinical application of fracture pelvic reduction treatment, reduces radiation damage to patients and medical staff, and protects the safety of both doctors and patients.

[0023] Moreover, the patient's pelvic fracture position data acquisition unit collects the patient's pelvic position information data in real time through the magnetic detection technology adopted by the magnetic detector close to the patient's pelvic surface combined with the optical tracking technology adopted by the optical locator connected to the magnetic detector, so that medical personnel do not need to perform surgery on the patient, only need to make a small incision to implant some implants or operating rods, and can accurately determine the patient's fracture condition, avoiding the problems of large incisions, high blood loss and difficulty in reduction and fixation in previous pelvic reduction surgeries.

[0024] Furthermore, the reduction status monitoring unit monitors the patient's pelvic fracture position in real time, including a combination of any three or more of the 14 common position positions. Through real-time observation results, the reduction status of the patient's pelvic fracture can be effectively judged. If the observation results of only one or two position are successful reduction and the reduction of the third position has not been achieved, then it is determined that the actual reduction of the three-dimensional pelvis is unsuccessful. If the observation results of three or more position are all successful reduction, then 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 of three-dimensional reduction. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

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

[0028] Figure 4a , 4b 4c is another preferred structural schematic diagram of the remote-controlled pelvic fracture reduction system of the present invention.

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

[0030] Figure 6 This is a third preferred structural block diagram of the remote-controlled pelvic fracture reduction system of the present invention.

[0031] The numbers in the figure are listed as follows:

[0032] 1—patient's pelvic fracture fragment; 2—pelvic rotation push-pull device; 21—rod body; 211—connecting handle; 22—rotating mechanism; 221—gear pair; 222—connecting rod; 23—resetting screw; 3—servo drive system; 31—high-precision servo motor; 4—human-machine interaction automatic control unit; 5—pelvic unlocking and resetting device; 51—fixing frame; 52—fixing screw; 6—gripping stabilizing component; 61—first annular structure; 62—six-degree-of-freedom rotation structure; 63—first gripping structure; 7—operating bed. DETAILED DESCRIPTION

[0033] The present invention is described in detail below with reference to the accompanying drawings.

[0034] The present invention relates to a remote-controlled pelvic fracture reduction system. According to the morphological characteristics of pelvic fractures and the clinical needs of minimally invasive surgery, it can be understood that the existing pelvic fracture unlocking and reduction device is further optimized. Through the characteristics of high-precision servo motors, a servo drive system and a human-machine interactive automatic control unit are developed, and a pelvic rotation push-pull device is designed to automatically drive a reduction screw to generate thrust or tension to achieve an axial push-pull reduction action on the patient's pelvic fracture fragment. Combined with the development of an electronic control system based on the CANOpen protocol for the human-machine interactive automatic control unit, the writing of a host computer human-machine interactive interface, and multi-degree-of-freedom linkage based on trajectory planning, intelligent and high-precision remote control unlocking and reduction is achieved.

[0035] The structure of the remote-controlled pelvic fracture reduction system is as follows: Figure 1As shown, it includes a human-machine interaction automatic control unit 4, more than two servo drive systems 3, and more than two 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, and the human-machine interaction automatic control unit 4 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 2.

[0036] Each of the pelvic rotation push-pull devices 2 achieves axial expansion and contraction through its own rotation, and is connected to the pelvic fracture fragment through a long threaded screw to provide axial push-pull force on the fracture fragment, thereby achieving axial displacement push-pull correction of the fracture fragment in the direction of the pelvic rotation push-pull device. Figure 2 As shown, it includes a rod body 21 with an axial through hole, a rotating mechanism 22 in the axial through hole of the rod body 21, and a reset screw 23 connected to the rotating mechanism 22. The rod body 21 can be provided with a vertical connecting handle 211. The rotating 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 can be a Schanz screw. The high-precision servo motor 31 drives the rotating mechanism 22 to rotate, and the rotating mechanism 22 converts the rotational motion into a linear push-pull motion, thereby driving the reset screw 23 to generate a thrust or a pull force, so as to realize the axial push-pull reset action of the patient's pelvic fracture fragment 1.

[0037] Specifically, the rotating mechanism 22 in the pelvic rotating push-pull device 2 can be as follows: Figure 2 The figure shows a gear pair 221 and a connecting rod 222, wherein the connecting rod 222 is connected to the reset screw 23, and the reset screw 23 and the connecting rod 222 can be fixed together by a locking needle mechanism, and the gear pair 221 is connected to a high-precision servo motor 31 of a servo drive system, and the high-precision servo motor 31 drives the gear pair 221 to rotate, meshing the gear pair 221 and driving the reset screw 23 through the connecting rod 222 to generate a thrust or a pull force, so as to realize the push-pull correction of the axial displacement of the patient's pelvic fracture fragment in the direction of the pelvic rotation push-pull device.

[0038] In addition, the rotating mechanism in the pelvic rotation and pushing and pulling device 2 can also be other structures, such as including a lead screw and a nut. In this case, the nut is connected to a reset screw, and the lead screw is connected to a high-precision servo motor of a 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, and then the reset screw is driven by the connected nut to generate thrust or pulling force, so as to achieve push-pull correction of the axial displacement of the patient's pelvic fracture fragment in the direction of the pelvic rotation and pushing and pulling device.

[0039] 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 reset path, indicates the placement position of the pelvic rotation push-pull device 2, and then each servo drive system 3 provides a servo drive of a high-precision servo motor according to the automatic planning strategy for the reset path, thereby driving the respectively connected pelvic rotation push-pull devices 2 to perform axial displacement push-pull reset actions in their respective orientations on the patient's pelvic fracture fragment 1, complete the coordinated multi-degree-of-freedom spatial linkage of the patient's pelvic fracture fragment 1, realize the angular rotation and axial push-pull on several two-dimensional planes under remote automatic control, and finally reduce the pelvic fracture.

[0040] The remote-controlled pelvic fracture reduction system of the present invention may further include a pelvic unlocking and reduction device and a plurality of gripping and stabilizing components, such as Figure 3 and Figure 4a , 4b 4c shows a pelvic unlocking and resetting device 5 and a plurality of grasping and stabilizing components 6. The pelvic unlocking and resetting device 5 includes a fixing frame 51 connected to an operating table 7 and two or more fixing screws 52 fixed to the fixing frame 51. The fixing screws 52 act on the healthy side of the patient's pelvis to fix it. The fixing screws 52 can be fixed to the fixing frame 51 by a common fixing clamp. The fixing screws 52 can be at least two of the transverse screws on the acetabulum, the LC-2 screws, and the gluteus medius column screws. Figure 3 In the figure, the patient's pelvis and the corresponding fracture fragments are not shown. In this figure, the reduction screw 23 acts on the right patient's pelvic fracture fragment (the affected pelvis), and the fixing screw 52 acts on the left healthy pelvis. Figure 4a , 4b In 4c, the left side is the affected pelvis, which is pushed and pulled and reset by the reset screws 23 at different angles, and the right side is the healthy pelvis, which is fixed by multiple fixing screws 52. The grasping 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, and the grasping and stabilizing component 6 has a six-degree-of-freedom rotation structure to realize the six-degree-of-freedom rotation of the grasping and stabilizing component, so that when a single pelvic rotation push-pull device 2 is pushed and pulled linearly, other rotation push-pull devices 2 produce coordinated and consistent spatial follow-up linkage (angular rotation).

[0041] Further, the preferred structure of the gripping stabilizing member 6 is as follows Figure 5As shown, it includes a first annular structure 61, a six-degree-of-freedom rotation structure 62 and a first grasping structure 63 that are distributed in sequence. The annular hole size of the first annular structure 61 matches the connecting handle 211 of the pelvic rotation and pushing 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 outer side of the first annular structure 61. The six-degree-of-freedom rotation structure 62 realizes the six-degree-of-freedom rotation of the grasping stabilization component 6. The first grasping structure 63 has a first inner recess that matches the diameter size of the side tube of the fixing frame 51, and the side tube of the fixing frame 51 is clamped by the first inner recess to realize its grasping.

[0042] In addition to the above embodiments, the structure of the gripping and stabilizing component can be adjusted to other forms, and can still be referred to Figure 5 , which can be understood as Figure 5 Different models have different sizes of annular holes in their annular structures and different sizes of inner recesses in their gripping structures. For example, a gripping stabilization component includes a second annular structure, a six-degree-of-freedom rotation structure and a second gripping structure distributed in sequence. The size of the annular hole in the second annular structure matches the reset screw 23. The reset screw passes through the annular hole in 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 inner recess that matches the diameter of the connecting rod of the fixing frame. The connecting rod of the fixing frame (the side tubes are on both sides of the operating bed, and the connecting rod transversely connects the side tubes on both sides) is clamped by the second inner recess to achieve gripping.

[0043] Figure 4a , 4b 4c respectively show the automatic planning of the reduction path in sequence. This embodiment shows two pelvic rotation push-pull devices 2 set at different positions, which are respectively located on the outside and above the patient's pelvic fracture fragment 1. The respective reduction screws 23 act on the patient's pelvic fracture fragment 1. First, Figure 4a The figure shows that the reduction screw 23 of the lateral pelvic rotation push-pull device 2 generates a pulling force, and then Figure 4b The figure shows that the upper pelvic rotation push-pull device (not shown) generates a pulling force by the reset screw 23, and then Figure 4c What is shown is that the reduction screw 23 of the outer pelvic rotation push-pull device 2 generates thrust, and each pelvic rotation push-pull device performs axial displacement push-pull reduction actions in respective directions on the patient's pelvic fracture fragment 1, thereby 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.

[0044] Figure 6This is the 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 position 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 position 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. Among them, the patient pelvic fracture position data acquisition unit uses magnetic detection and optical tracking technology to collect the spatial position data of the patient's pelvic fracture fragment in real time and upload it to the mixed reality data fusion processing unit. The patient pelvic fracture position data acquisition unit includes a magnetic detector that is close to the surface of the patient's pelvic fracture fragment and an optical locator connected to the magnetic detector. The optical locator includes four optical locating rods that are evenly arranged on the four sides of the magnetic detector in sequence, and two of the optical locating rods are arranged vertically and the other two are arranged horizontally. The top of the optical locating rod has an optical locating ball; the pelvic fracture simulation data acquisition unit acquires the spatial position data of the patient's pelvic fracture fragment using a sample pelvis through a camera device, a two-dimensional perspective device or a scanning device. The data of fracture is obtained, and the patient's pelvic fracture simulation data is obtained and uploaded to the mixed reality data fusion processing unit; the mixed reality data fusion processing unit uses mixed reality technology to match the spatial position data of the patient's pelvic fracture fragment with the patient's pelvic fracture simulation data and perform data fusion processing to generate an intelligent pelvic fracture model for the patient's pelvic fracture state, and realizes the reset navigation of the displaced bone fragment through computer simulation to improve the reset accuracy. The reset status monitoring unit loads and displays the images of the intelligent fracture model in different positions in real time and monitors the reset status of the patient's pelvic fracture in different positions in real time through multiple monitoring screens, so that medical personnel can observe the dynamic change process in real time and provide a reliable basis for their diagnostic operation. The various unit components of the present invention work together, combined with magnetic detection technology, optical tracking and positioning technology, artificial intelligence technology and mixed reality technology, etc., to realize intelligent monitoring of pelvic fracture reset, even severely displaced pelvic fractures can be accurately reset, which can meet the requirements of minimally invasive orthopedic surgery for closed reset of pelvic fractures, and at the same time meet the comprehensive requirements of minimally invasive orthopedic surgery for its operating space, occupied space, flexibility, load, stability and other performance. And most importantly, there is no need to take X-ray images during the operation, which completely solves the problem of radiation damage to patients and medical staff in the existing clinical application of fracture pelvic reduction treatment, reduces radiation damage to patients and medical staff, and protects the safety of both doctors and patients.

[0045] Further preferably, the pelvic fracture simulation data acquisition unit collects the fracture simulation data from several angles including but not limited to photographing, two-dimensional perspective or scanning. At the same time, preferably, the sample pelvis includes but is not limited to an artificial pelvis, an animal pelvis or a cadaver pelvis, and can also be a long tubular bone of the limbs. For example, this embodiment preferably adopts photographing, two-dimensional perspective or scanning of the artificial pelvis from several angles to obtain two-dimensional CT images of multiple angles, or performs virtual projection on these two-dimensional CT images to generate digital images, and performs automated analysis and processing based on artificial intelligence technology to obtain the patient's pelvic fracture simulation data.

[0046] The patient's pelvic fracture position data acquisition unit collects the patient's pelvic position information data in real time through the magnetic detection and positioning technology adopted by the magnetic detector close to the patient's pelvic surface and the optical tracking technology adopted by the optical positioner connected to the magnetic detector to realize the patient's pelvic positioning. The optical tracking technology also includes 3D motion capture technology. The positioning position accuracy is not less than 5mm and the positioning angle accuracy is not less than 5°. The patient's pelvic position information data includes but is not limited to the position information data of each bone block, implant and peripheral operating rod, reduction frame and operating table in the patient's pelvis. The patient's pelvic position information data is collected in real time through high-precision magnetic detection technology and optical tracking technology (focusing on collecting the coordinate point set of the patient's bone surface and operating rod, reduction frame, operating table, etc.). Therefore, the patient's pelvic fracture data acquisition 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 fragment with the patient's pelvic fracture simulation data, and can reconstruct an individualized patient's intelligent pelvic fracture model based on the bone three-dimensional deformation technology of the iterative nearest neighbor point algorithm (ICP algorithm). The use of magnetic detection and positioning technology and optical tracking technology to obtain the patient's pelvic fracture condition allows medical staff to accurately determine the patient's fracture condition without operating on the patient. They only need to make a small incision to implant some implants or operating rods, avoiding the problems of large incisions, high blood loss, and difficulty in reduction and fixation in previous pelvic reduction surgeries, and protecting patients from severe pain. The difficulty of surgery is greatly reduced, and the patient's recovery rate and quality of life are also improved.

[0047] Preferably, 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, to perform coordinate system matching and to match the relative position relationship between each pelvic bone block and the implant, operating rod, fixation frame, and operating table. The matching process is carried out through automated non-rigid image registration technology, that is, the instantaneous position of each bone block, implant, operating rod, etc. and their relative position relationship are calculated in real time during the matching process, and then accurate matching is performed to solve the correspondence problem between the two-dimensional image and the three-dimensional space image, and the mirror mapping result of one body position image of the patient's pelvis is used as the reset reference parameter of the patient's pelvic displacement, and the reset space coordinate parameters are obtained through surface registration in combination with the mirror mapping results of other body position images.

[0048] Preferably, the mixed reality data fusion processing unit loads muscle attachment conditions on the constructed intelligent fracture model for the patient's pelvic fracture status, that is, based on the atlas method or statistical morphological model, the muscle insertion points and action directions are automatically found on the individualized intelligent pelvic fracture model to load muscle attachment conditions (understood as human soft tissue, such as skin, muscle, etc.), and based on the human tissue bounding box tree method, the important human anatomical structures (such as blood vessels, nerves, etc.) are automatically avoided during the implantation of the operating rod, so as to avoid harm to the patient when the operating rod is implanted in the patient's body.

[0049] The present invention formulates an automatic planning strategy for the reduction path based on the artificial intelligence algorithm of the pelvic unlocking and reduction path through the human-computer interaction automatic control unit, realizes intelligent reduction clinical path planning, and automatically finds the most optimized clinical surgical path (note that the surgical path must first unlock each bone block of the pelvic fracture, and then perform push-pull displacement operations after unlocking), so that the operation path is the shortest to avoid secondary damage caused by large-scale movement, and at the same time effectively avoids important human anatomical structures or tissues such as blood vessels, nerves, and bones, avoids unnecessary damage, saves operation time, and improves surgical treatment effects. Even when using intelligent robots to replace medical personnel for surgical operations, it can be combined with the navigation servo control technology in the magnetic detection technology to track the bone block characteristics (human tissue characteristics) in real time as servo feedback, establish a servo control task, so that the intelligent robot performs surgical operations according to the intelligent reduction clinical path under navigation servo control, and tracks and adjusts the path in real time until the pelvis is successfully reduced, which greatly improves the real-time, stability, accuracy, reliability and safety of the pelvic reduction operation.

[0050] Preferably, the reduction status monitoring unit monitors the position of the patient's pelvis in real time, including any combination of three or more positions of pelvic anteroposterior position, pelvic inlet position, pelvic outlet position, obturator oblique position, iliac oblique position, LC-2 full-length image, teardrop image, obturator outlet position, iliac inlet position, frontal sacroiliac joint image inlet position, frontal sacroiliac joint image outlet position, frontal iliac wing image, pelvic lateral image ICD line position, and pelvic lateral image posterior column position. Through the real-time observation results of three or more body positions, the reduction status of the patient's pelvic fracture can be effectively judged. If the observation results of only one or two body positions are that the reduction is successful and the reduction of the third body position has not been achieved, it is determined that the actual reduction of the three-dimensional pelvis is unsuccessful. If the observation results of three or more body positions are all If the reduction is successful, the actual reduction of the three-dimensional pelvis is determined to be successful. For example, the intelligent pelvic fracture model displays the medical images of the three positions of the pelvic entrance, pelvic outlet and iliac oblique position on the reduction status monitoring unit. As the pelvic reduction surgery proceeds, the medical images of the three positions change dynamically. When the medical images of the three positions of the pelvic entrance, pelvic outlet and iliac oblique position all show that the pelvic reduction is successful, it is determined that the patient's pelvis is actually successfully reduced. This solution 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 accurate guidance of three-dimensional reduction. Finally, the patient can be given another medical perspective to verify whether the result of the intelligent reduction is really successful, thereby doubly guaranteeing the success of the pelvic reduction surgery. Medical staff can directly observe the reduction status of the patient's pelvic position monitored in real time by the reduction status monitoring unit, and reduce the patient's pelvic fracture; each module works together to realize the virtual reality navigation multi-position view operation navigation tracking operation, and confirm the consistency of the pelvic position accuracy.

[0051] Furthermore, the patient's pelvic fracture position data acquisition unit includes a magnetic detector close to the patient's pelvic surface and an optical locator connected to the magnetic detector, the magnetic detector is embedded with a gyroscope and / or a positioning chip, and the lower end of the magnetic detector is connected to the operating rod, the optical locator includes four optical positioning rods evenly arranged on the four sides of the magnetic detector in sequence, and two of the optical positioning rods are arranged vertically and the other two are arranged horizontally, and the top of the optical positioning rod has an optical positioning ball, and the optical positioning ball is preferably a metal ball and / or a pig cortical bone ball with a diameter of 1 mm. The metal ball and / or the pig cortical bone ball has a photosensitive effect and can serve as a basis 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 the optical locator can fully observe the connection status of the magnetic detector and the optical locator with the bone block and their relative position relationship, thereby providing guidance for the medical staff's surgical operations.

[0052] The preferred structure of the remote-controlled pelvic fracture reduction system of the present invention provides a complete set of technology and equipment for minimally invasive surgery of pelvic fractures. The surgery is a closed reduction and nail fixation with a small incision instead of a large incision reduction and plate fixation in open surgery. For the difficult surgery known as the crown jewel of orthopedics, ordinary surgeons can independently complete it through the technology and device of the present invention.

[0053] It should be noted that the above-described specific implementations can enable those skilled in the art to more fully understand the invention, but do not limit the invention in any way. Therefore, although this specification has described the invention in detail with reference to the drawings and embodiments, those skilled in the art should understand that the invention can still be modified or replaced by equivalents. In short, all technical solutions and improvements that do not deviate from the spirit and scope of the invention should be included in the protection scope of the patent for the invention.

Claims

1. A remote-controlled pelvic fracture reduction system, characterized in that: It includes a human-machine interactive 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-machine interactive 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 accordingly. Each of the pelvic rotation push-pull devices realizes axial extension and retraction through its own rotation, and comprises a rod body with an axial through hole, a rotation mechanism in the axial through hole of the rod body, and a reset screw connected to the rotation mechanism, wherein the rotation mechanism is connected to a high-precision servo motor of a servo drive system, and the reset screw acts on the patient's pelvic fracture fragment, and the high-precision servo motor drives the rotation mechanism to rotate, and the rotation mechanism converts the rotational motion into a linear push-pull motion, thereby driving the reset screw to generate a thrust or a pull force, so as to realize the push-pull reset action of the patient's pelvic fracture fragment in the axial direction; The human-machine interactive automatic control unit interacts through the human-machine interactive interface, and formulates an automatic planning strategy for the reset path based on the artificial intelligence algorithm of the pelvic unlocking reset path. Each servo drive system then provides a servo drive for the high-precision servo motor according to the automatic planning strategy for the reset path, thereby driving the respective connected pelvic rotation and push-pull devices to perform axial displacement push-pull reset actions in their respective orientations on the patient's pelvic fracture fragments, completing the coordinated multi-degree-of-freedom spatial linkage of the patient's pelvic fracture fragments, and realizing remote and automatic control of angular rotation and axial push-pull reset on several two-dimensional planes.

2. The remote-controlled pelvic fracture reduction system according to claim 1, characterized in that: It also includes a pelvic unlocking and resetting device and a plurality of gripping and stabilizing components, wherein the pelvic unlocking and resetting device includes a fixing frame connected to the operating table and two or more fixing screws fixed on the fixing frame, wherein the fixing screws act on the healthy side pelvis of the patient to fix it; Each of the grasping and stabilizing components is used to fix each of the pelvic rotation and push-pull devices on the fixed frame of the pelvic unlocking and resetting device, and the grasping and stabilizing components have a six-degree-of-freedom rotation structure to realize the six-degree-of-freedom rotation of the grasping and stabilizing components, so that when a single pelvic rotation and push-pull device moves linearly, other rotation and push-pull devices can produce a coordinated and consistent spatial follow-up linkage.

3. The remote-controlled pelvic fracture reduction system according to claim 2, characterized in that: The rod body of the pelvic rotation push-pull device is provided with a vertical connecting handle, and the grasping and stabilizing component includes a first annular structure, a six-degree-of-freedom rotation structure and a first grasping structure distributed in sequence, the annular hole size 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, and the first grasping structure has a first inner recessed portion matching the diameter size of the side tube of the fixing frame, and the side tube of the fixing frame is grasped by clamping the first inner recessed portion.

4. The remote-controlled pelvic fracture reduction system according to claim 2, characterized in that: The gripping stabilization component includes a second annular structure, a six-degree-of-freedom rotation structure and a second gripping structure distributed in sequence. The annular hole size of the second annular structure matches 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 outer side of the second annular structure. The second gripping structure has a second inner recess that matches the diameter size of the connecting rod of the fixing frame. The connecting rod of the fixing frame is gripped by the second inner recess.

5. The remote-controlled pelvic fracture reduction system according to any one of claims 1 to 4, characterized in that: It also includes a patient pelvic fracture position 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 position 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 position data acquisition unit uses magnetic detection and optical tracking technology to collect the spatial position data of the patient's pelvic fracture fragment in real time and upload it to the mixed reality data fusion processing unit. The patient pelvic fracture position data acquisition unit includes a magnetic detector close to the surface of the patient's pelvic fracture fragment and an optical locator connected to the magnetic detector. The optical locator includes four optical locating rods evenly arranged on four sides of the magnetic detector in sequence, and two of the optical locating rods are arranged vertically and the other two are arranged horizontally. The top of the optical locating rod has an optical locating ball; the pelvic fracture simulation data acquisition unit obtains data of simulating the patient's pelvic fracture using a sample pelvis through a camera device, a two-dimensional perspective device or a scanning device, obtains the patient's 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 patient's pelvic fracture fragment spatial position data with the patient's pelvic fracture simulation data to generate an intelligent pelvic fracture model for the patient's pelvic fracture state, and the reduction status monitoring unit loads and displays the 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 in real time through multiple monitoring screens.

6. The remote-controlled pelvic fracture reduction system according to claim 5, characterized in that: 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, to match the coordinate system, and to match the relative position relationship between each pelvic bone fragment and the implant, the operating rod, the fixation frame, and the operating table. The matching process is performed using automated non-rigid image registration technology. The constructed intelligent pelvic fracture model for the patient's pelvic fracture state is also loaded with muscle attachment conditions, and the automated avoidance of the human anatomical structure during the implantation of the operating rod is achieved based on the method of the human tissue bounding box tree.

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

8. The remote-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, and the lead screw is connected to a high-precision servo motor of a 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, and then the reset screw is driven by the connected nut to generate thrust or pulling force to achieve push-pull correction of the axial displacement of the patient's pelvic fracture fragment in the direction of the pelvic rotation push-pull device.

9. The remote-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 a servo drive system. The high-precision servo motor drives the gear pair to rotate, meshes the gear pair, and drives the reset screw through the connecting rod to generate thrust or tension, so as to achieve axial displacement push-pull correction of the patient's pelvic fracture fragment in the direction of the pelvic rotation push-pull device.

10. The remote-controlled pelvic fracture reduction system according to any one of claims 2 to 4, characterized in that: The reset screw in the pelvic rotation and pushing device that acts on the patient's pelvic fracture fragment is a Schanz screw, and the fixing screw in the pelvic unlocking and resetting device that acts on the patient's healthy side pelvis to fix it is at least two of the acetabular transverse screw, LC-2 screw and gluteus medius column screw.

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