Fracture fixing device control method

Abstract

The invention provides a fracture fixing device control method, belongs to the technical field of medical instruments, and aims to adjust the pressure value between a first pressing plate and a second pressing plate when the clamping force of a fracture fixing device is no longer suitable for a patient. Firstly, a real-time pressure value is obtained through a pressure sensor, then the activity amount of a driver is adjusted according to a preset formula in combination with preset parameters, the pressure value is continuously and dynamically adjusted in the adjusting process till the difference value between the actual pressure value and the preset pressure value is smaller than a set threshold value, and the pressure value of the driver is obtained through dynamic iteration. The pressure applied to the patient between the first pressing plate and the second pressing plate is adjusted to the optimal value. According to the fracture fixing device, manual adjustment of a patient is not needed, the clamping force of the fracture fixing device and the shape of the fracture fixing device can be finely adjusted through a program in the controller, and the treatment accuracy of the patient can be effectively ensured while the adjustment accuracy is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a control method for a fracture fixation device. Background Art

[0002] Fractures are common clinical diseases. In the prior art, in order to achieve fixation, a plaster is usually used to fix the injured part. When using this kind of fixation method, the shape of the plaster itself is fixed. As the condition changes, the shape of the plaster usually needs to be adjusted. At this time, a new plaster can only be remade, which is time-consuming and likely to affect the patient's recovery.

[0003] To solve the above problems, an adjustable fixing splint is disclosed in the prior art. An adjusting structure is provided on the splint, and the patient can manually adjust the clamping degree of the splint on the injured part through an adjusting component, thereby avoiding the inefficiency caused by using a plaster as a splint.

[0004] However, since patients do not have relevant medical knowledge, when manually adjusting the fixing splint, it is inevitable that the adjustment is too tight or too loose, which will affect the normal recovery of the patient. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the defect that the fracture fixation device in the prior art cannot be automatically adjusted.

[0006] To this end, the present invention provides a control method for a fracture fixation device, including the following steps: constructing a fracture fixation device; wherein, the fracture fixation device includes: a first pressing plate and a second pressing plate arranged oppositely, an accommodating cavity is formed between the first pressing plate and the second pressing plate; a driver, arranged on the first pressing plate or the second pressing plate; a rope, connected to the output end of the driver, for controlling the movement of the first pressing plate relative to the second pressing plate; a pressure sensor, arranged on the first pressing plate or the second pressing plate and adapted to be correspondingly arranged relative to the fracture end and / or the radial artery; a controller, for obtaining the signal sent by the pressure sensor and controlling the driver to start;

[0007] The control method further includes the following steps:

[0008] S1. The pressure sensor obtains a real-time pressure value;

[0009] S2. The controller obtains the real-time pressure value, adjusts the activity amount of the driver according to the real-time pressure value, and calculates according to the following formula:

[0010] V feed (t)=K p ×(P target (t)-P(t))+Ki ×∫(P target (t) - P(t))d t +K d ×

[0011] d / d t (P target (t) - P(t));

[0012] Wherein, V feed (t) is the activity of the actuator at time t, P(t) is the real-time pressure value at time t, P target (t) is the target pressure value, K p is the proportional control coefficient, K d is the derivative control coefficient, and ki is the integral control coefficient;

[0013] S3. The actuator controls the rope to pull or relax according to the V feed (t), and the pressure sensor acquires the real-time pressure, wherein:

[0014] P(t) = K motion (t) × V feed (t);

[0015] S4. The controller compares the real-time pressure with the target pressure value to obtain the pressure difference ΔP(t), wherein:

[0016] ΔP(t) = P target (t) - P(t);

[0017] S5. Judge the relationship between the pressure difference and the preset pressure deviation threshold. When the absolute value of the pressure difference is greater than the preset pressure deviation threshold, repeat S1 - S4 until the absolute value of the pressure difference is less than the preset pressure deviation threshold.

[0018] The fracture fixation device control method provided by the present invention, the fracture fixation device is provided with a Bluetooth module, and the control method further includes:

[0019] The verification step of abnormal data, including:

[0020] Obtain and calculate the change rate of pressure, according to the following formula: ΔP(t) = dP(t) / dt;

[0021] When ΔP(t) is greater than the preset threshold, send the real-time pressure value to the mobile phone;

[0022] The mobile phone uploads the pressure value to the cloud server;

[0023] The cloud server verifies the pressure data through the following formula:

[0024] P calibrated= P(t) × V scale + C offset

[0025] wherein, P calibrated represents the calibrated pressure value, P(t) represents the measured real-time pressure value, S scale represents the calibration scale factor, C offset represents the calibration offset;

[0026] Feed the calibrated pressure value back to the doctor's mobile phone.

[0027] The fracture fixation device control method provided by the present invention

[0028] In the step of feeding the calibrated pressure value back to the doctor's mobile phone, it further includes: calculating the pressure abnormality percentage, using the following formula:

[0029] E = ∣P calibrated - P target ∣ / P target , where E represents the deviation degree;

[0030] Send the deviation degree to the doctor's mobile phone.

[0031] The fracture fixation device control method provided by the present invention further includes: the doctor sends a power-off signal to the cloud server through the doctor's mobile phone; the cloud server sends a signal to the user's mobile phone; the user's mobile phone sends a signal to the Bluetooth module and controls the driver of the fracture fixation device to power off.

[0032] The fracture fixation device control method provided by the present invention, in the step of constructing the fracture fixation device, includes:

[0033] Directly scan the appearance of the patient's forearm using a 3D scanner, import the CT three-dimensional reconstruction data into a 3D printer for modeling, and print and produce a physical model;

[0034] Apply polycaprolactam as the material of the external fixation device, and make the dorsal and palmar sides of the external fixation device into a hollow structure.

[0035] The fracture fixation device control method provided by the present invention, after the step of the pressure sensor obtaining the real-time pressure value, in the step of controlling the driver to start, includes: receiving a control voltage; using the following formula:

[0036] V control (t) = K p × (Ptarget(t) - P(t)) + K d × (dP(t) / d t );

[0037] wherein, V control(t) is the control voltage issued by the controller, P target (t) is the target pressure value, K d is the differential control coefficient;

[0038] Control the change of the rope length according to the control voltage; use the following formula:

[0039] ΔL(t) = v control (t) × t action ;

[0040] wherein, ΔL(t) is the change of the rope length, t action is the movement duration of the driver, v control (t) is the control rate formed by the driver according to the control voltage.

[0041] For the fracture fixation device control method provided by the present invention, an acoustic and optical prompting device is arranged on the fracture fixation device, and the control method further includes an alarm prompting step, which is carried out according to the following formula:

[0042] ΔP(t) = dP(t) / dt;

[0043] When ΔP(t) exceeds the preset pressure change threshold, the controller sends a signal to the user terminal or the acoustic and optical prompting device.

[0044] The technical solution of the present invention has the following advantages:

[0045] 1. For the fracture fixation device control method provided by the present invention, the fracture fixation device includes: a first pressing plate and a second pressing plate which are oppositely arranged, and an accommodating cavity is formed between the first pressing plate and the second pressing plate; a driver, arranged on the first pressing plate or the second pressing plate; a rope, connected to the output end of the driver, and used to control the first pressing plate to move relative to the second pressing plate; a pressure sensor, arranged on the first pressing plate or the second pressing plate, and adapted to be correspondingly arranged at the fracture end and / or the radial artery; a controller, used to obtain the signal sent by the pressure sensor and control the driver to start;

[0046] The control method further includes the following steps:

[0047] S1. The pressure sensor obtains the real-time pressure value;

[0048] S2. The controller obtains the real-time pressure value, adjusts the activity amount of the driver according to the real-time pressure value, and calculates according to the following formula: V feed (t) = K p × (Ptarget(t) - P(t)) + K i × ∫(P target (t) - P(t))d t + Kd ×d / d t (P target (t)-P(t)); where V feed (t) is the activity of the driver at time t, P(t) is the real-time pressure value at time t, P target (t) is the target pressure value, K p is the proportional control coefficient, K d is the differential control coefficient, and ki is the integral control coefficient;

[0049] S3. The driver controls the rope to pull or relax according to the V feed (t), and the pressure sensor obtains the real-time pressure, where: P(t) = K motion (t) × V feed (t);

[0050] S4. The controller compares the real-time pressure with the target pressure value to obtain the pressure difference ΔP(t), where: ΔP(t) = P target (t) - P(t);

[0051] S5. Judge the relationship between the pressure difference and the preset pressure deviation threshold. When the absolute value of the pressure difference is greater than the preset pressure deviation threshold, repeat S1 - S4 until the absolute value of the pressure difference is less than the preset pressure deviation threshold.

[0052] When the clamping force of the fracture fixation device is no longer suitable for the patient, it is necessary to adjust the pressure value between the first pressing plate and the second pressing plate. In the present invention, first, the real-time pressure value is obtained through the pressure sensor, and then, according to the preset formula and in combination with the preset parameters, the activity of the driver is adjusted, and during the adjustment process, the pressure value is continuously adjusted dynamically until the difference between the actual pressure value and the preset pressure value is less than the set threshold. Through dynamic iteration, the pressure applied to the patient between the first pressing plate and the second pressing plate is adjusted to the optimal value.

[0053] In the present invention, there is no need for the patient to make manual adjustment. The clamping force of the fracture fixation device and the shape of the fracture fixation device can be finely adjusted through the program in the controller, effectively ensuring the treatment accuracy of the patient while ensuring the adjustment accuracy.

[0054] 2. The fracture fixation device control method provided by the present invention is provided with a Bluetooth module in the fracture fixation device, and the control method further includes:

[0055] The verification step of abnormal data, including:

[0056] Obtain and calculate the change rate of the pressure, according to the following formula: ΔP(t) = dP(t) / dt;

[0057] When ΔP(t) is greater than the preset threshold, send the real-time pressure value to the mobile phone;

[0058] The mobile phone uploads the pressure value to the cloud server;

[0059] The cloud server verifies the pressure data through the following formula:

[0060] P calibrated = P(t) × V scale + C offset

[0061] Where, P calibrated represents the calibrated pressure value, P(t) represents the measured real-time pressure value, S scale represents the calibration scale factor, C offset represents the calibration offset;

[0062] Feed back the calibrated pressure value to the doctor's mobile phone.

[0063] Through the above operations, when the pressure change value of the fracture fixation device exceeds a certain threshold, it indicates that there are some abnormal situations in the device at this time. These abnormal situations are likely to cause discomfort to the patient and even have an adverse impact on the normal treatment.

[0064] Therefore, it is necessary to follow up the real-time pressure change of the fracture fixation device. When the change rate exceeds a certain value, send a signal to the cloud server. The server verifies according to the sent signal and then sends the calculated data to the doctor, so that the doctor can timely obtain the situation of the fracture fixation device, thus facilitating subsequent operations. Realize the online and remote operation of the device.

[0065] 3. The fracture fixation device control method provided by the present invention can realize the automatic adjustment of pressure, and at the same time can cooperate with the cloud server to enable the doctor to remotely control the fracture fixation device, improving the convenience and operation flexibility of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0067] Figure 1 It is a schematic structural diagram of the fracture fixation device provided by the present application from one perspective;

[0068] Figure 2Schematic diagram of the fracture fixation device provided by this application from another perspective;

[0069] Figure 3 Stereogram of the fracture fixation device provided by this application.

[0070] Explanation of the reference numerals in the embodiments:

[0071] 1. First pressing plate; 2. Second pressing plate; 3. Driver; 4. Rope; 5. Push rod; 51. Connecting ring; 6. Ring structure. Detailed implementation manners

[0072] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0073] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0074] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0075] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0076] Embodiment

[0077] This embodiment provides a method for controlling a fracture fixation device, as Figures 1 - 3As shown, it includes the following steps: constructing a fracture fixation device; wherein, the fracture fixation device includes: a first pressing plate 1 and a second pressing plate 2 arranged oppositely, an accommodation cavity is formed between the first pressing plate and the second pressing plate; a driver 3, arranged on the first pressing plate or the second pressing plate; a rope 4, connected to the output end of the driver, used to control the movement of the first pressing plate relative to the second pressing plate; a pressure sensor, arranged on the first pressing plate or the second pressing plate, and adapted to be correspondingly arranged relative to the fracture end and / or the radial artery; a controller, used to obtain the signal sent by the pressure sensor and control the start of the driver;

[0078] Specifically, in the step of constructing the fracture fixation device, it includes:

[0079] Directly scan the appearance of the patient's forearm with a 3D scanner, import the CT three-dimensional reconstruction data into a 3D printer for modeling, and print and produce a physical model through the forming technology of discretization, stacking / bonding; simulate the fracture reduction situation and the external fixation situation before reducing the fracture, realize the simulation before reduction, and can carry out personalized design of the fracture fixation device according to the different conditions of the patient.

[0080] Apply polycaprolactam as the external material of the first pressing plate and the second pressing plate, and make the dorsal and palmar sides into a hollow structure to facilitate local disassembly and placement of structures such as pressure pads.

[0081] In this embodiment, two pressure sensors are respectively installed at the fracture end and / or the radial artery. Specifically, a thin-film pressure sensor or a freely distributed micro pressure sensor can be used. The calculation formula for the output voltage of the pressure sensor is as follows:

[0082] V out (t) = S × P(t) + V offset

[0083] Wherein, V out (t) is the output voltage at time t, S represents the sensitivity of the pressure sensor, P(t) represents the pressure measured at time t, and V offset is the zero-offset voltage of the pressure sensor.

[0084] Furthermore, a hook-shaped structure is arranged at the edge of the fixation device, and the device is initially tightened by the "8" method common in the prior art with a rope lock. The tension generated by the initial tightening is as follows:

[0085] F initial (t) = 2 × K tension × sinΘ / 2,

[0086] Wherein F initial (t) is the tension generated by the initial tightening, and K tensionis the rope tension coefficient, and Θ is the crossing angle when using the "8" - shaped method.

[0087] The control method further includes the following steps:

[0088] S1. The pressure sensor obtains the real - time pressure value;

[0089] In this embodiment, a processor is installed inside the fixing device to receive the information of the pressure sensor and control the movement of the subsequent driver. The electrical signal generated by the pressure sensor is as follows:

[0090] Receive the control voltage; using the following formula:

[0091] V control (t) = K p ×(Ptarget(t) - P(t)) + K d ×(dP(t) / d t );

[0092] Wherein, V control (t) is the control voltage issued by the controller, P target (t) is the target pressure value, and K d is the differential control coefficient;

[0093] In this embodiment, as Figure 1 shown, the driver is a servo driver arranged outside the fixing device. After the rope is redirected through a roller or a sheave, it is connected to the push rod 5 of the servo driver.

[0094] As Figure 1 and Figure 2 shown, in this embodiment, a set of rope structures are respectively arranged at the proximal palm end and the proximal finger end of the outer fixing device to respectively control the tightening forces at the proximal palm end and the proximal finger end. Specifically: Specifically, as Figure 1 shown, the rope arranged on the first pressing plate extends downward, and as Figure 2 shown, the rope arranged on the second pressing plate extends upward.

[0095] At the same time, annular structures 6 are sleeved on both the first pressing plate and the second pressing plate. The two annular structures are respectively arranged at the upper and lower positions of the fixing device. The annular structures play a role in pre - fixing the first pressing plate and the second pressing plate to prevent the first pressing plate and the second pressing plate from moving. At the same time, grooves are respectively arranged on the first pressing plate and the second pressing plate, and the annular structures are arranged in the grooves to achieve a stable effect.

[0096] The driver controls the change of the rope length according to the control voltage; using the following formula:

[0097] ΔL(t) = v control(t)×t action ;

[0098] where ΔL(t) is the change in the length of the rope, t action is the movement duration of the actuator, and v control (t) is the control rate formed by the actuator according to the control voltage.

[0099] S2. The controller obtains the real-time pressure value, adjusts the activity of the actuator according to the real-time pressure value, and calculates according to the following formula:

[0100] V feed (t) = K p × (P target (t) - P(t)) + K i × ∫(P target (t) - P(t))d t + K d ×

[0101] d / d t (P target (t) - P(t));

[0102] where V feed (t) is the activity of the actuator at time t, P(t) is the real-time pressure value at time t, and P target (t) is the target pressure value, K p is the proportional control coefficient, K d is the differential control coefficient, and ki is the integral control coefficient. The three control coefficients are used for the PID controller.

[0103] In this embodiment, P target (t) is the data built into the fracture fixation device. A memory is provided in the device, and the data is written into the memory before the device leaves the factory for the controller to call. At the same time, the doctor can manually adjust the data written into the memory according to the patient's condition.

[0104] S3. The actuator controls the rope to pull or relax according to the V feed (t), and the pressure sensor obtains the real-time pressure, where:

[0105] P(t) = K motion (t) × V feed (t);

[0106] where K motion (t) is the conversion coefficient of the actuator movement to force, which is pre-stored in the memory, and V feed (t) is the activity of the actuator received from the controller.

[0107] Subsequently, the force sensor connected to the driver feeds back the tension data of the rope to the controller.

[0108] S4. The controller compares the real-time pressure with the target pressure value to obtain the pressure difference ΔP(t), where:

[0109] ΔP(t) = P target (t) - P(t);

[0110] S5. Determine the relationship between the pressure difference and the preset pressure deviation threshold. When the absolute value of the pressure difference is greater than the preset pressure deviation threshold, repeat S1 - S4 until the absolute value of the pressure difference is less than the preset pressure deviation threshold.

[0111] In this embodiment, for the pressure detection of the pressure sensor and the pressure adjustment of the external fixation device, considering the variation characteristics of the treatment pressure over time, an event-triggered control mechanism is adopted. The pressure change situation is calculated and predicted through a tracking differentiator. According to the predicted value, the control window is opened according to the preset triggering strategy, and the nonlinear feedback control law based on type-2 fuzzy logic is called to calculate the feed amount of the linear motor. A drive instruction is sent to the servo driver responsible for adjusting the rope tension, and a step-by-step operation is performed until the tension enters the expected error limit set by the system.

[0112] When the clamping force of the fracture fixation device is no longer suitable for the patient, it is necessary to adjust the pressure value between the first pressing plate and the second pressing plate. In the present invention, first, the real-time pressure value is obtained through a pressure sensor, and then according to a preset formula, combined with preset parameters, the activity amount of the driver is adjusted, and the pressure value is dynamically adjusted continuously during the adjustment process until the difference between the actual pressure value and the preset pressure value is less than the set threshold. Through dynamic iteration, the pressure applied to the patient between the first pressing plate and the second pressing plate is adjusted to the optimal value.

[0113] In this embodiment, there is no need for the patient to make manual adjustments. The clamping force of the fracture fixation device and the shape of the fracture fixation device can be finely adjusted through the program in the controller, effectively ensuring the treatment accuracy for the patient while ensuring the adjustment accuracy.

[0114] In the fracture fixation device control method provided in this embodiment, the fracture fixation device is provided with a Bluetooth module. Through the Bluetooth module, signals sent and received by the mobile phone can be sent and received. At the same time, the mobile phone itself is connected to the cloud server, and the signals sent by the fracture fixation device can be processed. Specifically:

[0115] The control method further includes:

[0116] The verification step for abnormal data, including:

[0117] Obtain and calculate the rate of change of pressure according to the following formula: ΔP(t) = dP(t) / dt;

[0118] When ΔP(t) is greater than the preset threshold, send the real-time pressure value to the user's mobile phone;

[0119] The user's mobile phone uploads the pressure value to the cloud server;

[0120] The cloud server verifies the pressure data through the following formula:

[0121] P calibrated = P(t) × V scale + C offset

[0122] Where P calibrated represents the calibrated pressure value, P(t) represents the measured real-time pressure value, S scale represents the calibration scale factor, C offset represents the calibration offset;

[0123] Feed back the calibrated pressure value to the doctor's mobile phone.

[0124] Specifically, in this embodiment, the low-power Bluetooth BLE technology is introduced to transmit the pressure data collected by the pressure sensor to the patient's mobile phone. The data transmission volume D trans is calculated through the following formula:

[0125] D trans = B rate × T slot ;

[0126] Where B rate is the Bluetooth transmission rate, and T slot is the time slot length.

[0127] At the same time, the patient-side App is developed synchronously to receive the pressure data transmitted by Bluetooth and perform visual display. At the same time, the collected pressure data is uploaded to the cloud server for storage through the patient-side App. Refer to the following formula:

[0128] D cloud = f(BLE date );

[0129] In addition, the patient-side App is also developed synchronously. After the doctor understands the patient's pressure data through the App, professional judgment can be made, and the pressure or position of the fracture fixation device can be adjusted as needed. And the doctor issues an adjustment instruction in the App, such as manually updating the target pressure value, and the cloud server transmits the instruction to the intelligent external fixation device.

[0130] During the treatment process, P at different stages targetThey are often different. Generally speaking, different Ps are set in the front, middle, and back stages of the entire treatment cycle. target These values are usually obtained based on the doctor's experience. For patients of different ages, body types, and physical conditions, P target should also be adjusted in principle.

[0131] When the pressure change value of the fracture fixation device exceeds a certain threshold, it indicates that some abnormal conditions have occurred in the device at this time. These abnormal conditions are likely to cause discomfort to the patient and even have an adverse impact on the normal treatment.

[0132] Therefore, it is necessary to follow up on the real-time pressure change situation of the fracture fixation device. When the change rate exceeds a certain value, the device sends a signal to the patient's mobile phone. The mobile phone further sends a signal to the cloud server through the Internet. The cloud server verifies according to the sent signal and then sends the calculated data to the doctor's mobile app, enabling the doctor to obtain the situation of the fracture fixation device in a timely manner, thus facilitating subsequent operations. To achieve the online and remote operation of the device.

[0133] The fracture fixation device control method provided by the present invention further includes:

[0134] In the step of feeding back the calibrated pressure value to the doctor's mobile phone, it further includes: calculating the pressure abnormality percentage, using the following formula:

[0135] E = ∣P calibrated - P target ∣ / P target , where E represents the deviation degree;

[0136] Send the deviation degree to the doctor's mobile phone.

[0137] Specifically, by calculating the deviation degree, an icon can be formed on the doctor's mobile phone. Through the icon, the change situation of the pressure in the most recent measurement cycle can be displayed, enabling the doctor to timely determine whether it is necessary to remind the patient to perform manual operations. Or store these data to facilitate the doctor to optimize the preset values.

[0138] Furthermore, in this embodiment, it further includes: the doctor sends a power-off signal to the cloud server through the doctor's mobile phone; the cloud server sends a signal to the user's mobile phone; the user's mobile phone sends a signal to the Bluetooth module and controls the driver of the fracture fixation device to power off.

[0139] Specifically, when the doctor believes that the pressure adjustment of the device significantly exceeds the acceptable capacity of the patient, the device can be remotely controlled to stop, avoiding unnecessary pain to the patient. For example, when the doctor believes that the pressure after the device is adjusted is significantly too tight for the patient, the doctor sends a stop signal in the app on the mobile phone. This stop signal is transmitted through the Internet to the app on the patient's mobile phone, and the patient's mobile phone further sends the signal to the Bluetooth module of the device. The Bluetooth module sends the signal to the controller, and the controller further controls the driver to cut off the power. When the driver completes the power cut-off, at this time, the driver will no longer apply tension to the rope, and the patient can easily remove the device from his own body.

[0140] In this embodiment, an acoustic-optic prompt device is provided on the fracture fixation device, and the control method further includes an alarm prompt step, which is carried out according to the following formula:

[0141] ΔP(t) = dP(t) / dt;

[0142] When ΔP(t) exceeds the preset pressure change threshold, the controller sends a signal to the user terminal or the acoustic-optic prompt device.

[0143] In this embodiment, when the pressure change amount per unit time is greater than the preset pressure change threshold, as an implementation manner, the signal can be sent to the processor, and the processor can further control the acoustic-optic prompt device to start, thereby realizing the prompt for the user. The acoustic-optic prompt device can be indicator lights of different colors such as red and yellow; or a speaker provided on the fixation device. When the pressure change amount per unit time is greater than the preset pressure change threshold, the indicator light lights up or the speaker emits a warning sound.

[0144] At the same time, a switch is provided on the device. After the prompt device starts, the patient can press the switch to control the entire device to cut off the power, thereby avoiding the harm caused by subsequent pressure adjustment to the patient.

[0145] In this embodiment, a space for a waterproof battery slot and a PCB control board is provided on the fracture fixation device. By placing a battery in the corresponding space, the battery can be a rechargeable battery commonly used in the prior art, and the battery is used to provide an energy source for the driver and send relevant signals.

[0146] V supply (t) = I(t) × R(t) + V battery (t);

[0147] Among them, V supply (t) represents the voltage that the power supply can provide, I(t) represents the current, R(t) represents the total resistance in the circuit, and V battery (t) represents the voltage of the battery.

[0148] Further, in this embodiment, when the battery power is exhausted, to avoid emergencies, an unlocking switch is also synchronously provided. Through the unlocking switch, the rope can be loosened so that the patient can quickly complete the untying operation.

[0149] Specifically, the push rod 5 includes a body and a connecting ring 51 provided on the body. The connecting ring is connected to the rope 4. At the same time, the connecting ring is inserted into the body. A notch is provided at the lower part of the connecting ring. A connecting hole is provided on the body of the push rod, and a connecting pin is provided on the connecting hole. The connecting pin abuts against the notch part of the connecting ring. When an emergency occurs, the connecting pin is pulled out. At this time, the connecting pin and the notch will be separated, and further the push rod will be separated from the rope.

[0150] Obviously, the above embodiments are only examples given for clear illustration, rather than limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or variations can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. And the obvious changes or variations derived therefrom are still within the protection scope of the present invention.

Claims

1. A method for controlling a fracture fixation device, characterized in that: The steps include: Construct a fracture fixation device; wherein the fracture fixation device comprises: a first pressing plate and a second pressing plate arranged opposite to each other, wherein a receiving cavity is formed between the first pressing plate and the second pressing plate; a driver arranged on the first pressing plate or the second pressing plate; a rope connected to the output end of the driver, and used to control the first pressing plate to move relative to the second pressing plate; a pressure sensor arranged on the first pressing plate or the second pressing plate, and suitable for being arranged corresponding to the fracture end and / or the radial artery; a controller, used to obtain a signal sent by the pressure sensor, and control the driver to start; The control method further comprises the following steps: S1. The pressure sensor obtains real-time pressure value; S2. The controller obtains the real-time pressure value, and adjusts the activity of the driver according to the real-time pressure value, and calculates according to the following formula: V feed (t)=K p ×(P target (t)-P(t))+K i ×∫(P target (t)-P(t))d t +K d × d / d t (P target (t)-P(t)); Among them, V feed (t) is the activity of the actuator at time t, P(t) is the real-time pressure value at time t, P target (t) is the target pressure value, K p is the proportional control coefficient, K d is the differential control coefficient, ki is the integral control coefficient; S3. The driver is based on the V feed (t) controlling the pulling or loosening of the rope, the pressure sensor acquires the real-time pressure, wherein: P(t)=K motion (t)×V feed (t); Among them, K motion (t) is the conversion factor of the actuator motion to force, V feed (t) is the amount of activity of the actuator received from the controller; S4. The controller compares the real-time pressure with the target pressure value to obtain the pressure difference ΔP(t), where: ΔP(t)=P target (t)-P(t); S5. Determine the relationship between the pressure difference and the preset pressure deviation threshold. When the absolute value of the pressure difference is greater than the preset pressure deviation threshold, repeat S1-S4 until the absolute value of the pressure difference is less than the preset pressure deviation threshold.

2. The fracture fixation device control method according to claim 1, characterized in that: The fracture fixation device is provided with a Bluetooth module, and the control method further comprises: a step of verifying abnormal data, comprising: Obtain and calculate the rate of change of pressure according to the following formula: ΔP(t) = dP(t) / dt; When ΔP(t) is greater than the preset threshold, the real-time pressure value is sent to the user's mobile phone; The user's mobile phone uploads the pressure value to the cloud server; The cloud server verifies the pressure data using the following formula: P calibrated =P(t)×V scale +C offset Among them, P calibrated represents the calibrated pressure value, P(t) represents the measured real-time pressure value, S scale represents the calibration scale factor, C offset Indicates the calibration offset; The calibrated pressure value is fed back to the doctor's mobile phone.

3. The fracture fixation device control method according to claim 2, characterized in that: In the step of feeding back the calibrated pressure value to the doctor's mobile phone, it also includes: calculating the pressure abnormality percentage using the following formula: E=|P calibrated -P target ∣ / P target , where E represents the deviation; The deviation is sent to the doctor’s mobile phone.

4. The fracture fixation device control method according to claim 3, characterized in that: Also includes: The doctor sends a power-off signal to the cloud server through the doctor's mobile phone; The cloud server sends a signal to the user’s mobile phone; The user's mobile phone sends a signal to the Bluetooth module, and controls the driver of the fracture fixation device to cut off power.

5. The fracture fixation device control method according to claim 1, characterized in that: The step of constructing the fracture fixation device includes: Use a 3D scanner to directly scan the appearance of the patient's forearm, import the CT three-dimensional reconstruction data into the 3D printer for modeling, and print out a solid model; Polylaurolactam is used as the material of the external fixator, and the dorsal and palmar sides of the external fixator are made into hollow structures.

6. The fracture fixation device control method according to claim 1, characterized in that: After the pressure sensor acquires the real-time pressure value, the driver is controlled to start, comprising: Receive control voltage; use the following formula: V control (t)=K p ×(Ptarget(t)-P(t))+K d ×(dP(t) / d t ); Among them, V control (t) is the control voltage issued by the controller, P target (t) is the target pressure value, K d is the differential control coefficient; The rope length changes according to the control voltage; the following formula is used: ΔL(t)=v control (t)×t action ; Where ΔL(t) is the change in rope length, t action is the motion duration of the actuator, v control (t) is the control rate formed by the driver according to the control voltage.

7. The fracture fixation device control method according to claim 2, characterized in that: The fracture fixation device is provided with an audible and visual prompt device, and the control method further comprises an alarm prompt step, which is performed according to the following formula: When ΔP(t) exceeds a preset pressure change threshold, the controller sends a signal to the user end or an audio-visual prompt device.

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