A remotely controlled pelvic fracture reduction system

Abstract

The present application relates to a remote-controlled pelvic fracture reduction system, comprising a human-computer interaction automatic control unit, two or more servo drive systems, and two or more pelvic rotation push-pull devices. The human-computer interaction automatic control unit interacts through a human-computer interaction interface and formulates a reduction path automatic planning strategy based on an artificial intelligence algorithm of a pelvic unlocking reduction path. Then, each servo drive system provides high-precision servo drive of a servo motor according to the reduction path automatic planning strategy, and further drives the respective connected pelvic rotation push-pull device to perform an axial displacement push-pull reduction action in the respective direction on the patient's pelvic fracture block, to complete the multi-degree-of-freedom space linkage of the patient's pelvic fracture block, to realize the angular rotation and axial push-pull reduction on several two-dimensional planes under remote automatic control, to realize the intelligentization, precision, and minimally invasive of the reduction of a severely displaced pelvic fracture, to reduce the access threshold of pelvic fracture treatment, and to reduce the perspective radiation damage to medical personnel and patients.

Description

TECHNICAL FIELD

[0001] The present application relates to medical surgical instruments and equipment, in particular to a remotely controlled pelvic fracture reduction system, which can realize remote control of minimally invasive reduction of pelvic fracture. BACKGROUND

[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 great challenge for doctors around the world. In the existing treatment technology, the conventional surgical open operation needs to be opened with a large knife for fixation, which has problems such as large incision, massive bleeding, and difficulty in reduction and fixation. Patients / wounded often bleed thousands of milliliters and have incisions of dozens of centimeters during the operation, which undoubtedly adds to the suffering of patients who have already suffered serious trauma. Therefore, minimally invasive surgery has become the preferred treatment. In the international and domestic field, the minimally invasive reduction and fixation technology for pelvic fracture has been explored, but there has been no major breakthrough. The key technical bottlenecks of closed reduction of severe displaced pelvic fracture mainly include: 1) misalignment, which cannot achieve closed accurate reduction of complex fracture without cutting the fracture end; 2) invisibility, which cannot track and display the fracture reduction process in real time without repeated fluoroscopy; 3) insufficient reduction force, which cannot be operated due to the single function of the supporting equipment; and 4) high requirement for surgeons, which requires trained senior doctors to manually control and plan to complete such surgery. SUMMARY

[0003] The present application provides a remotely controlled pelvic fracture reduction system to solve the problems of manual control and planning by surgeons and the inability to achieve closed accurate reduction of complex fractures in the prior art during pelvic fracture reduction treatment. The system realizes remote control and automatic planning of minimally invasive reduction of pelvic fracture, achieves intelligent, accurate and minimally invasive reduction of severe displaced pelvic fracture, reduces the access threshold of pelvic fracture treatment, and reduces the fluoroscopy radiation damage to medical personnel and patients.

[0004] The technical scheme of the present application is as follows:

[0005] A remotely controlled pelvic fracture reduction system, characterized in that it comprises a man-machine interaction automatic control unit, two or more servo drive systems, and two or more pelvic rotation and push-pull devices. Each servo drive system comprises a high-precision servo motor and a corresponding servo driver. The man-machine interaction automatic control unit is connected to the servo drivers of each servo drive system. The high-precision servo motors of each servo drive system are connected to the corresponding pelvic rotation and push-pull devices.

[0006] Each of the pelvic rotation push-pull devices realizes axial stretching and contraction through its own rotation, and each includes a rod body having an axial through hole, a rotating mechanism in the axial through hole of the rod body, and a reset screw connected with the rotating mechanism, the rotating mechanism is connected with a high-precision servo motor of a servo driving system, the reset screw acts on a patient's pelvic fracture block, the high-precision servo motor drives the rotating mechanism to rotate, the rotating mechanism converts the rotary motion into linear push-pull motion, and then drives the reset screw to generate a pushing force or a pulling force, so as to realize the axial push-pull reduction action of the patient's pelvic fracture block.

[0007] The man-machine interaction automatic control unit interacts through a man-machine interaction interface, formulates a reduction path automatic planning strategy based on an artificial intelligence algorithm of the pelvic unlocking reduction path, and then the servo driving system provides servo driving of the high-precision servo motor according to the reduction path automatic planning strategy, and then drives the respective connected pelvic rotation push-pull devices to respectively perform axial displacement push-pull reduction actions in respective directions on the patient's pelvic fracture block, to complete the cooperative and consistent multi-degree-of-freedom space linkage of the patient's pelvic fracture block, and realize the angular rotation and axial push-pull reduction on the several two-dimensional planes under remote automatic control.

[0008] Preferably, the pelvic unlocking reduction device and a plurality of holding and stabilizing components are further included, the pelvic unlocking reduction device includes a fixing frame connected to a surgical bed and two or more fixing screws fixed on the fixing frame, and the fixing screws act on the patient's healthy side pelvis to fix it.

[0009] Each of the holding and stabilizing components is used to fix each of the pelvic rotation push-pull devices on the fixing frame of the pelvic unlocking reduction device, and the holding and stabilizing component has a six-degree-of-freedom rotating structure to realize six-degree-of-freedom rotation of the holding and stabilizing component, so that other rotation push-pull devices produce cooperative and consistent space following linkage when a single pelvic rotation push-pull device linearly pushes and pulls.

[0010] Preferably, the rod body of the pelvic rotation push-pull device is provided with a vertical connecting handle, the holding and stabilizing component includes a first annular structure, a six-degree-of-freedom rotating structure and a first holding 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 the first fastener outside the first annular structure, the first holding structure has a first recessed part matching the pipe diameter size of the side pipe of the fixing frame, and the side pipe of the fixing frame is clamped to realize holding.

[0011] Preferably, the holding and stabilizing component comprises a second ring structure, a six-degree-of-freedom rotation structure and a second holding structure arranged in sequence, the ring hole of the second ring structure is matched in size with the reset screw, the reset screw passes through the ring hole of the second ring structure and is fixed by the second fastener outside the second ring structure, and the second holding structure has a second inner recess matched in size with the pipe diameter of the connecting rod of the fixing frame, and the connecting rod of the fixing frame is clamped through the second inner recess to achieve holding.

[0012] Preferably, the patient's pelvic fracture position data acquisition unit, the pelvic fracture simulation data acquisition unit, the mixed reality data fusion processing unit and the reduction condition monitoring unit are connected to the mixed reality data fusion processing unit.

[0013] The patient's pelvic fracture position data acquisition unit acquires the spatial position data of the patient's pelvic fracture block in real time by using magnetic force detection and optical tracking technology and uploads the data to the mixed reality data fusion processing unit. The patient's pelvic fracture position data acquisition unit includes a magnetic force detector close to the surface of the patient's pelvic fracture block and an optical positioner connected to the magnetic force detector. The optical positioner includes four optical positioning rods arranged in sequence and uniformly on the four sides of the magnetic force detector, two of which are arranged vertically and the other two are arranged horizontally. The top end of the optical positioning rod has an optical positioning ball. The pelvic fracture simulation data acquisition unit obtains data simulating the patient's pelvic fracture by using a sample pelvic bone through a camera device, a two-dimensional perspective device or a scanning device, obtains patient pelvic fracture simulation data and uploads the data 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 block spatial position data and the patient's pelvic fracture simulation data to generate an intelligent pelvic fracture model for the patient's pelvic fracture state. The reduction condition monitoring unit loads and displays the intelligent fracture model in different body positions in real time and monitors the reduction condition of the patient's pelvic fracture in different body positions through multiple monitoring screens.

[0014] Preferably, when the mixed reality data fusion processing unit matches the patient's pelvic fracture block spatial position data and the patient's pelvic fracture simulation data using mixed reality technology, it matches the coordinate systems and matches the relative positions between each pelvic bone block and the implant, operating rod, fixing frame and operating table. The matching process is performed by automatic non-rigid image registration technology. The intelligent pelvic fracture model for the patient's pelvic fracture state is also loaded with muscle attachment conditions, and the automatic avoidance of human anatomical structure during the operation of the operating rod is realized based on the method of human tissue bounding volume tree.

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

[0016] Preferably, the rotating mechanism in the pelvic rotating and pushing-pulling device comprises a lead screw and a nut, the nut is connected to the reset screw, the lead screw is connected to a high-precision servo motor of a servo driving system, the high-precision servo motor drives the lead screw to rotate, the nut moves axially along the thread of the lead screw, and then the reset screw connected to the nut is driven to generate a pushing force or a pulling force, so as to realize the axial displacement and pushing-pulling correction of the patient's pelvic fracture block in the direction of the pelvic rotating and pushing-pulling device.

[0017] Preferably, the rotating mechanism in the pelvic rotating and pushing-pulling device comprises a gear pair and a connecting rod, the connecting rod is connected to the reset screw, the gear pair is connected to a high-precision servo motor of a servo driving system, the high-precision servo motor drives the gear pair to rotate, the gear pair is meshed, and the reset screw is driven by the connecting rod to generate a pushing force or a pulling force, so as to realize the axial displacement and pushing-pulling correction of the patient's pelvic fracture block in the direction of the pelvic rotating and pushing-pulling device.

[0018] Preferably, the reset screw acting on the patient's pelvic fracture block in the pelvic rotating and pushing-pulling device is a Schanz screw, and the fixing screw acting on the patient's healthy side pelvic bone to fix it in the pelvic unlocking and resetting device is at least two of the following: an upper transverse acetabular screw, an LC-2 screw, and a gluteus medius column screw.

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

[0020] The application relates to a long-distance controlled pelvis fracture reduction system, which comprises a man-machine interaction automatic control unit, two or more servo driving systems and two or more pelvis rotating and pushing and pulling devices. A pelvis fracture block needing reduction is connected with the pelvis rotating and pushing and pulling devices in multiple directions. The pelvis rotating and pushing and pulling devices are driven by high-precision servo motors of the servo driving systems, so that the axial rotation of the pelvis rotating and pushing and pulling devices is converted into axial extension, and then the reduction screw is automatically driven to generate a pushing force or a pulling force. The high-precision servo motor, the servo driver and the man-machine interaction automatic control unit are connected. The man-machine interaction automatic control unit based on an artificial intelligence algorithm realizes man-machine interaction automatic control through a man-machine interaction interface. The artificial intelligence algorithm based on a pelvis unlocking and reduction path formulates a reduction path automatic planning strategy. According to the reduction path automatic planning strategy, each servo driving system drives the pelvis rotating and pushing and pulling device connected therewith to respectively perform an axial displacement and pushing and pulling reduction action in the corresponding direction on the pelvis fracture block of the patient, so that the multi-degree-of-freedom space linkage of the displaced pelvis fracture block is realized. The disadvantages that the closed reduction of the current serious displacement pelvis fracture cannot realize the precise closed reduction of the complex fracture without cutting the fracture end are avoided. The intelligentization, precision and minimally invasive treatment of the serious displacement pelvis fracture reduction are realized. The angular rotation and axial pushing and pulling reduction on a plurality of two-dimensional planes are realized through long-distance automatic control. The manual control and planning of the surgeon are avoided. The access threshold of the pelvis fracture treatment is lowered. The ordinary surgeon can independently complete the treatment. The radiation damage to the medical staff and the patient is reduced.

[0021] Further, the long-distance controlled pelvis fracture reduction system further comprises a pelvis unlocking and reduction device and a plurality of holding and stabilizing components. Each holding and stabilizing component is used for fixing the pelvis rotating and pushing and pulling device on the fixing frame of the pelvis unlocking and reduction device. The holding and stabilizing component has a six-degree-of-freedom rotating structure, so that the holding and stabilizing component can rotate in six degrees of freedom. When the single pelvis rotating and pushing and pulling device moves linearly, the other rotating and pushing and pulling devices can produce a consistent space following linkage (angular rotation), so that the pelvis fracture reduction accuracy and efficiency are further improved.

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

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

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

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

[0026] Figure 2 Fig. 1 is a schematic diagram of a preferred structure of the pelvic rotation push-pull device of the present application.

[0027] Figure 3 Fig. 2 is a schematic diagram of a preferred structure of the remote-controlled pelvic fracture reduction system of the present application.

[0028] Figure 4a 、 4b Fig. 4c is another schematic diagram of a preferred structure of the remote-controlled pelvic fracture reduction system of the present application.

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

[0030] Figure 6 Fig. 6 is a third schematic diagram of a preferred structure of the remote-controlled pelvic fracture reduction system of the present application.

[0031] The figure reference list is as follows:

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

[0033] The present application will be described in detail below with reference to the accompanying drawings.

[0034] The present application relates to a remote-controlled pelvic fracture reduction system, which is based on the optimization of the existing pelvic fracture unlocking and reduction device according to the morphological characteristics of pelvic fractures and the clinical needs of minimally invasive surgery. Through the characteristics of high-precision servo motors, the servo drive system and the human-computer interaction automatic control unit are developed, and the pelvic rotation push-pull device is designed to automatically drive the reduction screw to generate a pushing or pulling force to realize the pushing and pulling reduction action of the patient's pelvic fracture block in the axial direction. Combined with the development of the electric control system based on the CANOpen protocol for the human-computer interaction automatic control unit, the writing of the upper computer human-computer interaction interface, and the multi-degree-of-freedom linkage based on trajectory planning, intelligent high-precision remote control unlocking and reduction are realized.

[0035] The structure of the remote-controlled pelvic fracture reduction system is as follows Figure 1As shown, it comprises a human-computer interaction automatic control unit 4, two or more servo drive systems 3, two or more pelvic rotation push-pull devices 2, such as three servo drive systems 3 and three pelvic rotation push-pull devices 2, each servo drive system 2 comprises a high-precision servo motor and a corresponding servo driver, the human-computer interaction automatic control unit 4 is connected to the servo drivers of each servo drive system, and the high-precision servo motors of each servo drive system are connected to the corresponding pelvic rotation push-pull devices 2.

[0036] Each of the pelvic rotation push-pull devices 2 realizes axial stretching and contraction through its own rotation, and provides axial push-pull force to the pelvic fracture block through a long threaded screw connected to the pelvic fracture block, thereby realizing axial displacement and push-pull correction of the pelvic fracture block in the direction of the pelvic rotation push-pull device. Figure 2 As shown, it comprises 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 reduction 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 the high-precision servo motor 31 of the servo drive system, and the reduction screw 23 acts on the patient's pelvic fracture block 1, which can be a Schanz screw; the high-precision servo motor 31 drives the rotating mechanism 22 to rotate, converts the rotary motion into linear push-pull motion through the rotating mechanism 22, and then drives the reduction screw 23 to generate a pushing or pulling force, so as to realize the push-pull reduction action of the patient's pelvic fracture block 1 in the axial direction.

[0037] Specifically, the rotating mechanism 22 in the pelvic rotation push-pull device 2 can comprise a gear pair 221 and a connecting rod 222 as shown in Figure 2 At this time, the connecting rod 222 is connected to the reduction screw 23, which can be fixed together with the connecting rod 222 through a lock pin mechanism, the gear pair 221 is connected to the high-precision servo motor 31 of the servo drive system, the high-precision servo motor 31 drives the gear pair 221 to rotate, the gear pair 221 is engaged, and the reduction screw 23 is driven by the connecting rod 222 to generate a pushing or pulling force, so as to realize the axial displacement and push-pull correction of the patient's pelvic fracture block in the direction of the pelvic rotation push-pull device.

[0038] In addition, the rotating mechanism in the pelvic rotation push-pull device 2 can also be other structures, such as a lead screw and a nut, at this time the nut is connected to the reduction screw, the lead screw is connected to the high-precision servo motor of the servo drive system, the high-precision servo motor drives the lead screw to rotate, the nut moves axially along the threads of the lead screw, and then the nut connected to the reduction screw is driven to generate a pushing or pulling force, so as to realize the axial displacement and push-pull correction of the patient's pelvic fracture block in the direction of the pelvic rotation push-pull device.

[0039] The human-computer interaction automatic control unit 4 interacts through the human-computer interaction interface, formulates a reset path automatic planning strategy based on an artificial intelligence algorithm of a pelvic unlocking reset path, instructs the placement position of the pelvic rotation push-pull device 2, and then the servo drive system 3 provides servo drive of a high-precision servo motor according to the reset path automatic planning strategy, and then drives the respective connected pelvic rotation push-pull device 2 to respectively perform an axial displacement push-pull reset action in the respective direction on the patient pelvic fracture block 1, completes the cooperative and consistent multi-degree-of-freedom space linkage of the patient pelvic fracture block 1, realizes the angular rotation and axial push-pull on the several two-dimensional planes under remote automatic control, and finally resets the pelvic fracture.

[0040] The remote control pelvic fracture reset system of the application can further comprise a pelvic unlocking reset device and a plurality of holding and stabilizing components, such as Figure 3 and Figure 4a 、 4b , the pelvic unlocking reset device 5 and the plurality of holding and stabilizing components 6 shown in 4c, the pelvic unlocking reset device 5 comprises a fixed frame 51 connected to the operating bed 7 and two or more fixed screws 52 fixed on the fixed frame 51, the fixed screws 52 act on the healthy side of the patient's pelvis to fix it, the fixed screws 52 can be fixed on the fixed frame 51 by ordinary fixed clamps, and the fixed screws 52 can adopt at least two of the acetabular upper transverse screw, LC-2 screw and gluteus medius column screw. Figure 3 In the figure, the patient's pelvis and the corresponding fracture block are not shown, in this figure, the reset screw 23 acts on the right patient pelvic fracture block (the affected side pelvis), and the fixed screw 52 acts on the left healthy side pelvis. Figure 4a 、 4b , in 4c, the left is the affected side pelvis, which is reset by different angle reset screws 23, and the right is the healthy side pelvis, which is fixed by a plurality of fixed screws 52. The holding and stabilizing component 6 is used to fix each of the pelvic rotation push-pull devices 2 on the fixed frame 51 of the pelvic unlocking reset device 5, and the holding and stabilizing component 6 has a six-degree-of-freedom rotation structure to realize the six-degree-of-freedom rotation of the holding and stabilizing component, so that when a single pelvic rotation push-pull device 2 moves linearly, the other rotation push-pull devices 2 produce cooperative and consistent space following linkage (angular rotation).

[0041] Further, the preferred structure of the holding and stabilizing component 6 is as shown in Figure 5As shown, it comprises a first annular structure 61, a six-degree-of-freedom rotation structure 62 and a first gripping structure 63 arranged in sequence, the annular hole size of the first annular structure 61 matches the connecting handle 211 of the pelvic rotation push-pull device 2, the connecting handle 211 passes through the annular hole of the first annular structure 61 and is fixed by the first fastener outside the first annular structure 61, the six-degree-of-freedom rotation structure 62 realizes the six-degree-of-freedom rotation of the gripping and stabilizing component 6, and the first gripping structure 63 has a first inner recess matched with the pipe diameter size of the side pipe of the fixed frame 51, and the side pipe of the fixed frame 51 is clamped and fixed through the first inner recess to realize gripping.

[0042] In addition to the above-mentioned embodiments, the structure of the gripping and stabilizing component can be adjusted to other forms, which can still be referred to Figure 5 , which can be understood as being different from Figure 5 different models, the annular hole sizes of the annular structures of the two are different and the inner recess sizes of the gripping structures are different, for example, the gripping and stabilizing component is provided to comprise a second annular structure, a six-degree-of-freedom rotation structure and a second gripping structure arranged in sequence, the annular hole size of the second annular structure matches the reset screw 23, the reset screw passes through the annular hole of the second annular structure and is fixed by the second fastener outside the second annular structure, and the second gripping structure has a second inner recess matched with the pipe diameter size of the connecting rod of the fixed frame (the side pipe is on both sides of the operating bed, and the connecting rod connects the side pipes on both sides transversely), and the connecting rod of the fixed frame is clamped and fixed through the second inner recess to realize gripping.

[0043] Figure 4a , 4b , 4c respectively shows the automatic planning of the reset path in sequence, this embodiment shows two pelvic rotation push-pull devices 2 arranged at different positions, which are respectively located on the outside and above the patient's pelvic fracture block 1, and act on the patient's pelvic fracture block 1 through the respective reset screws 23, first Figure 4a as shown, the reset screw 23 of the pelvic rotation push-pull device 2 on the outside generates a pulling force, then Figure 4b as shown, the reset screw 23 of the pelvic rotation push-pull device (not shown in the figure) on the top generates a pulling force, and then Figure 4c as shown, the reset screw 23 of the pelvic rotation push-pull device 2 on the outside generates a pushing force, and through the respective pelvic rotation push-pull devices, the patient's pelvic fracture block 1 is respectively subjected to the axial displacement pushing and pulling reset action in the respective directions, to complete the multi-degree-of-freedom space linkage of the patient's pelvic fracture block in a coordinated manner, realize the angular rotation and axial pushing and pulling reset on several two-dimensional planes under the remote automatic control.

[0044] Figure 6For the third preferred structure block diagram of the remote control pelvic fracture reduction system of the application, the system further comprises 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 condition monitoring unit. The patient pelvic fracture position data acquisition unit, the pelvic fracture simulation data acquisition unit and the reduction condition monitoring unit are connected with the mixed reality data fusion processing unit. Among them, the patient pelvic fracture position data acquisition unit uses magnetic force detection and optical tracking technology to acquire patient pelvic fracture block spatial position data in real time and upload to the mixed reality data fusion processing unit. The patient pelvic fracture position data acquisition unit includes a magnetic force detector close to the surface of the patient pelvic fracture block and an optical positioner connected with the magnetic force detector. The optical positioner includes four optical positioning rods arranged uniformly on the four sides of the magnetic force detector in sequence, and two of the optical positioning rods are arranged vertically and the other two are arranged horizontally. The top end of the optical positioning rod has an optical positioning ball. The pelvic fracture simulation data acquisition unit obtains data simulating patient pelvic fracture by using a sample pelvic through a camera device, a two-dimensional perspective device or a scanning device, obtains patient pelvic fracture simulation data and uploads to the mixed reality data fusion processing unit. The mixed reality data fusion processing unit uses mixed reality technology to perform data matching and data fusion processing on the patient pelvic fracture block spatial position data and the patient pelvic fracture simulation data to generate an intelligent pelvic fracture model for the patient pelvic fracture state. Through computer simulation, the reduction of the displaced bone block is navigated to improve the reduction accuracy. The reduction condition monitoring unit loads and displays the intelligent fracture model in different body positions in real time and monitors the reduction condition of the patient pelvic fracture in different body positions through multiple monitoring screens, so as to facilitate medical personnel to observe the dynamic change process in real time and provide reliable basis for their diagnosis and operation. The units and components of the application work cooperatively, combined with magnetic force detection technology, optical tracking positioning technology, artificial intelligence technology and mixed reality technology, to realize intelligent monitoring of pelvic fracture reduction. Even for severe displaced pelvic fracture, it can be accurately reduced to meet the requirements of minimally invasive orthopedic surgery for closed reduction of pelvic fracture, and meet the comprehensive requirements of minimally invasive orthopedic surgery for its operation space, occupied space, flexibility, load, stability and other performance. Moreover, most importantly, X-ray images do not need to be taken during the operation, which completely solves the problem that both the patient and the medical staff will be damaged by radiation exposure during the clinical application of the existing pelvic fracture reduction treatment, reduces the radiation damage to the patient and the medical staff, and protects the safety of both the patient and the medical staff.

[0045] Further preferably, the pelvic fracture simulation data acquisition unit collects fracture simulation data by means of shooting, two-dimensional perspective or scanning from several angles, including but not limited to. Preferably, the sample pelvis includes but is not limited to artificial pelvis, animal pelvis or cadaver pelvis, and can also be long tubular bones such as limbs. In this embodiment, two-dimensional CT images of the artificial pelvis are obtained by shooting, two-dimensional perspective or scanning from several angles, or digital images are generated by virtual projection of these two-dimensional CT images, and automatic analysis and processing are carried out based on artificial intelligence technology to obtain patient pelvic fracture simulation data.

[0046] The patient pelvic fracture position data acquisition unit acquires patient pelvic position information data in real time by means of magnetic force detection positioning technology of the magnetic force detector close to the surface of the patient's pelvis and optical tracking technology of the optical locator connected to the magnetic force detector, realizes patient pelvis positioning, and the optical tracking technology also includes 3D motion capture technology. The positioning accuracy is not less than 5mm and the positioning angle accuracy is not less than 5°. The patient 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 bed in the patient's pelvis. The position information data of the patient's pelvis is collected in real time by high-precision magnetic force detection technology and optical tracking technology (the coordinate point set of the patient's skeletal surface and the operating rod, reduction frame, operating bed, etc. is collected), so that the patient pelvic fracture data acquisition unit is actually a high-precision optical inertial tracking system. Then the mixed reality data fusion processing unit matches the patient pelvic fracture block spatial position data with the patient pelvic fracture simulation data by using mixed reality technology, and reconstructs the individualized patient's intelligent pelvic fracture model based on the skeletal three-dimensional deformation technology of the iterative closest point algorithm (ICP algorithm). The use of magnetic force detection positioning technology and optical tracking technology to obtain the patient's pelvic fracture condition makes it unnecessary for medical personnel to operate on the patient and only needs to implant some implants or operating rods through a small incision to accurately determine the patient's fracture condition, avoiding the problems of large incision, large blood loss and difficult reduction and fixation in the past pelvic reduction surgery, and making the patient avoid severe pain, greatly reducing the difficulty of surgery, and improving the recovery rate and quality of life of the patient.

[0047] Preferably, the mixed reality data fusion processing unit matches the coordinate system when the patient's pelvic fracture block spatial position data is matched with the patient's pelvic fracture simulation data using mixed reality technology, and matches the relative position relationship between each bone block of the pelvis and the implant, operating rod, fixing frame, operating table, etc. The matching process is carried out through automatic non-rigid image registration technology, that is, the real-time position of each bone block, implant, operating rod, etc. and its relative position relationship are calculated in real time during the matching process, and then accurate matching is carried out to solve the correspondence problem between two-dimensional images and three-dimensional space images. In addition, the mirror mapping result of one body position image of the patient's pelvis is used as the reduction reference parameter of the patient's pelvis displacement, and the mirror mapping result of other body position images is obtained through surface registration to obtain the reduction space coordinate parameter.

[0048] Preferably, the mixed reality data fusion processing unit loads the muscle attachment condition of the constructed intelligent fracture model for the patient's pelvic fracture state, that is, based on the atlas method or statistical shape model, the muscle attachment condition (understood as human soft tissue such as skin, muscle, etc.) is loaded by automatically finding the muscle stop point and action direction on the individualized intelligent pelvic fracture model, and the important human anatomical structures (such as blood vessels, nerves, etc.) are automatically avoided during the operation of the operating rod based on the method of human tissue bounding volume tree, to avoid damage to the patient when the operating rod is implanted in the patient's body.

[0049] The artificial intelligence algorithm of the pelvic unlocking reduction path based on the human-computer interaction automatic control unit formulates the reduction path automatic planning strategy, realizes the intelligent reduction clinical path planning, and automatically finds the optimized clinical operation path (note that the operation path must first unlock each bone block of the pelvic fracture, and then perform the push-pull displacement operation after unlocking), so that the operation path is the shortest to avoid secondary damage caused by large-scale movement, while effectively avoiding important human anatomical structures or tissues such as blood vessels, nerves, and bone blocks, avoiding unnecessary damage, saving operation time, improving operation treatment effect, and even when the intelligent robot is used instead of medical personnel to perform operation, it can also be combined with the navigation servo control technology in the magnetic force detection technology to track the bone block features (human tissue features) in real time as servo feedback, establish a servo control task, so that the intelligent robot performs operation according to the intelligent reduction clinical path under the navigation servo control, and adjusts the path in real time until the pelvic reduction is successful, greatly improving the real-time, stability, accuracy, reliability and safety of the pelvic reduction operation.

[0050] Preferably, the reset condition monitoring unit monitors the patient's pelvic position in real time, including any three or more positions of the following: pelvic orthotaxis, pelvic inlet position, pelvic outlet position, obturator oblique position, iliac oblique position, LC-2 full-length image, tear drop image, obturator outlet position, iliac inlet position, orthoview sacroiliac joint image inlet position, orthoview sacroiliac joint image outlet position, orthoview iliac wing image, pelvic lateral image ICD line position, pelvic lateral image posterior column position. Through real-time observation of three or more positions, the reset condition of the patient's pelvic fracture can be effectively determined. If only one or two positions are reset successfully, but the third position is not reset, it is determined that the actual reset of the three-dimensional pelvis is not successful. If all three or more positions are reset successfully, it is determined that the actual reset of the three-dimensional pelvis is successful. For example, the intelligent pelvic fracture model displays the medical images of the pelvic inlet position, the pelvic outlet position, and the iliac oblique position on the reset condition monitoring unit. As the pelvic reset operation progresses, the medical images of the three positions change dynamically. When the medical images of the pelvic inlet position, the pelvic outlet position, and the iliac oblique position all show that the pelvic reset is successful, it is determined that the patient's pelvic reset is successful. This scheme fully solves the problem of three-dimensional operation space control caused by the lack of information of real-time two-dimensional medical images, realizes accurate guidance of three-dimensional reset, and finally checks the success of intelligent reset by performing medical fluoroscopy on the patient again. Thus, the success of the pelvic reset operation is guaranteed.

[0051] Further, the patient's pelvic fracture position data acquisition unit includes a magnetic force detector that closely contacts the surface of the patient's pelvis and an optical positioner connected to the magnetic force detector. The magnetic force detector is embedded with a gyroscope and / or a positioning chip, and the lower end of the magnetic force detector is connected to an operating rod. The optical positioner includes four optical positioning rods that are uniformly arranged on the four sides of the magnetic force detector, with two of the optical positioning rods being vertically arranged and the other two being horizontally arranged. The top end of the optical positioning rod has an optical positioning ball, which is preferably a 1mm diameter metal ball and / or a pig cortical bone ball. The metal ball and / or pig cortical bone ball have a photosensitive effect and can serve as a basis point for optical tracking. After the intelligent pelvic fracture model is projected onto the reset condition monitoring unit, the use state of the magnetic force detector and the optical positioner simulated by the model can be fully observed, and the connection state and relative position relationship between the magnetic force detector and the optical positioner and the bone fragments can be observed, providing guidance for the surgical operation of medical personnel.

[0052] The preferred structure of the remote control pelvic fracture reduction system provides complete matching technology and equipment for the pelvic fracture minimally invasive surgery, and the surgery is a small incision closed reduction nail fixing instead of a large incision reduction, steel plate fixing of surgical open surgery; for the high-difficulty surgery known as the crown of the orthopedics, through the technology and device of the application, an ordinary surgery doctor can independently complete the surgery.

[0053] It should be noted that the above specific embodiments can enable those skilled in the art to more fully understand the present application, but in no way limit the present application. Therefore, although the present application has been described in detail with reference to the drawings and examples, those skilled in the art should understand that the present application can still be modified or equivalently replaced, in short, all technical solutions and improvements that do not deviate from the spirit and scope of the present application should be covered in the protection scope of the patent of the present application.

Claims

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

2. The remotely controlled pelvic fracture reduction system according to claim 1, characterized in that, The pelvic rotation push-pull device has a vertical connecting handle on its rod. The gripping and stabilizing component includes a first annular structure, a six-degree-of-freedom rotation structure, and a first gripping structure arranged in sequence. The size of the annular hole of the first annular structure matches the connecting handle. The connecting handle passes through the annular hole of the first annular structure and is fixed by a first fastener on the outside of the first annular structure. The first gripping structure has a first concave portion that matches the diameter of the side tube of the fixing frame. The first concave portion engages with the side tube of the fixing frame to achieve gripping.

3. The remotely controlled pelvic fracture reduction system according to claim 1, characterized in that, The gripping and stabilizing component includes a second annular structure, a six-degree-of-freedom rotational structure, and a second gripping structure arranged in sequence. The size of the annular hole of the second annular structure matches the size of the reset screw. The reset screw passes through the annular hole of the second annular structure and is fixed by a second fastener on the outside of the second annular structure. The second gripping structure has a second concave portion that matches the diameter of the connecting rod of the fixing frame. The second concave portion engages with the connecting rod of the fixing frame to achieve gripping.

4. The remotely controlled pelvic fracture reduction system according to any one of claims 1 to 3, characterized in that, It also includes a patient pelvic fracture location data acquisition unit, a pelvic fracture simulation data acquisition unit, a mixed reality data fusion processing unit, and a reduction status monitoring unit. The patient pelvic fracture location data acquisition unit, the pelvic fracture simulation data acquisition unit, and the reduction status monitoring unit are all connected to the mixed reality data fusion processing unit. The patient pelvic fracture location data acquisition unit uses magnetic detection and optical tracking technology to collect spatial location data of the patient's pelvic fracture fragments in real time and uploads it to the mixed reality data fusion processing unit. The patient pelvic fracture location data acquisition unit includes a magnetic detector closely attached to the surface of the patient's pelvic fracture fragments and an optical locator connected to the magnetic detector. The optical locator includes four optical positioning rods evenly arranged on the four sides of the magnetic detector, with two of the optical positioning rods vertically and the other two horizontally. The top of each optical positioning rod has an optical positioning ball. The pelvic fracture simulation data acquisition unit acquires data simulating the patient's pelvic fracture using a sample pelvis through a camera, two-dimensional perspective device, or scanning device, obtains patient pelvic fracture simulation data, and uploads it to the mixed reality data fusion processing unit. The mixed reality data fusion processing unit uses mixed reality technology to match and fuse the spatial location data of the patient's pelvic fracture fragments with the patient's pelvic fracture simulation data to generate an intelligent pelvic fracture model for the patient's pelvic fracture state. The reduction status monitoring unit loads and displays images of the intelligent fracture model in different positions in real time and monitors the reduction status of the patient's pelvic fracture in different positions through multiple monitoring screens.

5. The remotely controlled pelvic fracture reduction system according to claim 4, characterized in that, The mixed reality data fusion processing unit utilizes mixed reality technology to match the spatial location data of the patient's pelvic fracture fragments with the simulated data of the patient's pelvic fracture. This involves coordinate system matching and matching the relative positional relationships between each pelvic bone fragment and the implant, manipulator, fixation frame, and operating table. The matching process is performed using automated non-rigid image registration technology. Furthermore, the unit applies muscle attachment conditions to the constructed intelligent pelvic fracture model tailored to the patient's pelvic fracture state and uses a bounding box tree method based on human tissue to achieve automated avoidance of human anatomical structures during manipulator implantation.

6. The remotely controlled pelvic fracture reduction system according to claim 4, characterized in that, The repositioning monitoring unit monitors the patient's pelvic fracture position in real time, including any combination of three or more of the following: anteroposterior pelvic view, pelvic inlet view, pelvic outlet view, obturator oblique view, iliac oblique view, LC-2 full-length image, teardrop image, obturator outlet view, iliac inlet view, anteroposterior view of the sacroiliac joint inlet view, anteroposterior view of the sacroiliac joint outlet view, anteroposterior view of the iliac wing, lateral pelvic view (ICD line view), and lateral pelvic view (posterior column view).

7. The remotely controlled pelvic fracture reduction system according to any one of claims 1 to 3, characterized in that, The rotating mechanism in the pelvic rotation push-pull device includes a lead screw and a nut. The nut is connected to a reset screw. The lead screw is connected to a high-precision servo motor of the servo drive system. The high-precision servo motor drives the lead screw to rotate, and the nut moves axially along the thread of the lead screw. In turn, the reset screw is driven by the connected nut to generate a pushing or pulling force, so as to realize the axial displacement and push-pull correction of the patient's pelvic fracture fragments in the direction of the pelvic rotation push-pull device.

8. The remotely controlled pelvic fracture reduction system according to any one of claims 1 to 3, characterized in that, The rotating mechanism in the pelvic rotation push-pull device includes a gear pair and a connecting rod. The connecting rod is connected to a reset screw, and the gear pair is connected to a high-precision servo motor of the servo drive system. The high-precision servo motor drives the gear pair to rotate, and the gear pair meshes and drives the reset screw through the connecting rod to generate a pushing or pulling force, so as to realize the axial displacement push-pull correction of the patient's pelvic fracture fragments in the direction of the pelvic rotation push-pull device.

9. The remotely controlled pelvic fracture reduction system according to any one of claims 1 to 3, characterized in that, The reduction screws acting on the fractured pelvic fragments in the pelvic rotation push-pull device are Schanz screws, and the fixation screws acting on the healthy side of the pelvis in the pelvic unlocking and reduction device are at least two of the following: supraacetabular transverse screws, LC-2 screws, and gluteus medius column screws.

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