Orthopedic reduction forceps capable of accurately controlling clamping force

Abstract

The invention relates to orthopedic reduction forceps capable of accurately controlling clamping force, and belongs to the technical field of orthopedic reduction forceps, the orthopedic reduction forceps comprise a first forceps arm, a second forceps arm, a film piezoresistive sensor array, a linear motor, an OLED screen and an active infrared tracer, the first forceps arm is provided with a damping rotating shaft, and the first forceps arm is rotatably connected with the second forceps arm through the damping rotating shaft; the first clamp arm is rotationally connected with a connecting shaft. According to the orthopedic reduction forceps with the clamping force capable of being accurately controlled, the double-arc-shaped forceps heads can be designed according to the acetabulum anatomical characteristics, the thin film piezoresistive sensor and the multi-mode navigation tracking system are integrated, clamping force real-time monitoring and submillimeter-level accurate reduction are achieved, the overpressure risk is early warned through touch / vision double feedback, navigation interface track guiding is combined, and accurate reduction of the acetabulum is achieved. The system is simple in structure and convenient to operate, the fracture rate of bone blocks is remarkably reduced, the system is suitable for opening and minimally invasive surgery of complex acetabulum fractures, accurate clamping and visual reduction are achieved through cooperation of real-time force feedback and 3D navigation, and the fracture rate of the bone blocks is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of orthopedic reduction forceps, in particular to an orthopedic reduction forceps with precisely controllable clamping force. Background Art

[0002] Orthopedic reduction forceps are special instruments used to reduce (restore the normal anatomical position of bones) and fix the broken ends of bones during orthopedic surgery. They help doctors realign and temporarily fix broken bones by clamping, traction or pressure, providing an operating basis for subsequent internal fixation (such as steel plates and screws).

[0003] The acetabulum is located in the center of the lateral surface of the hip bone. It is hemispherical and deeply concave with a diameter of about 30 to 50 mm. The surface is covered with transparent articular cartilage about 2 mm thick and distributed in a semilunar shape. During the clamp fixation process, such as complex fractures of the acetabulum, it depends on the doctor's experience. Large reduction deviation (error of ± 2.1 mm) will affect healing. In the process of acetabular fracture treatment, the acetabulum is hemispherical and concave, and it is adjacent to important blood vessels and nerves. Traditional reduction forceps are difficult to grasp stably, making the dissection work complicated. In addition, the acetabular bone block is thin and mostly cancellous bone. The clamping force exceeding 1.5N is prone to secondary fragmentation, and the operation is difficult. The acetabular fracture is sensitive to manipulation force, has limited field of vision, relies on repeated fluoroscopy during deep operations, has high radiation exposure, and cannot track the reduction path in real time. In order to facilitate safe and stable reduction of acetabular fractures, an orthopedic reduction forceps with precisely controlled clamping force is proposed. The double-arc clamp head is designed according to the anatomical characteristics of the acetabulum, and a thin-film piezoresistive sensor and a multi-mode navigation and tracking system are integrated to achieve real-time monitoring of the clamping force and submillimeter precise reduction. The overpressure risk is warned through tactile / visual dual feedback, combined with navigation interface trajectory guidance, which significantly reduces the bone fragmentation rate. The acetabular fracture is suitable for open and minimally invasive surgery of complex acetabular fractures. Summary of the invention

[0004] The present invention provides an orthopedic reduction forceps with precisely controllable clamping force, which solves the problems of easy bone breakage and low positioning accuracy during deep acetabulum reduction. Through the coordination of real-time force feedback and 3D navigation, precise clamping and visual reduction are achieved, thereby reducing the bone fragmentation rate.

[0005] The solution of the present invention to the above technical problems is as follows: An orthopedic reduction forceps with precisely controllable clamping force, comprising a first forceps arm, a second forceps arm, a thin-film piezoresistive sensor array, a linear motor, an OLED screen, and an active infrared tracer. The first forceps arm is equipped with a damping rotating shaft, and the first forceps arm is rotatably connected to the second forceps arm through the damping rotating shaft. The first forceps arm is rotatably connected to a connecting shaft, and the connecting shaft is rotatably connected to a threaded rod. The second forceps arm is rotatably connected to a limiting cylinder, and the limiting cylinder is provided with a U-shaped card slot corresponding to the threaded rod. The threaded rod is threadedly connected to a positioning nut. The thin-film piezoresistive sensor array is installed at the jaws of the first forceps arm and the second forceps arm. The linear motor is installed at the holding end of the second forceps arm. The OLED screen is signal-connected to the thin-film piezoresistive sensor array and the active infrared tracer. The active infrared tracer is installed at the ends of the first forceps arm and the second forceps arm;

[0006] On the basis of the above technical solution, the present invention can be further improved as follows.

[0007] Further, the linear motor is provided with three preset modes to generate gradient vibrations, weak vibration exceeding 0.5N, strong vibration exceeding 1.2N, and continuous alarm exceeding 1.5N.

[0008] Further, the OLED screen real-time displays a thermal map of pressure distribution, marks the overpressure area, and the OLED screen displays a cloud map of the pressure distribution at the jaws, a predicted line of the bone block reduction trajectory, and a safe operation boundary. The acetabular roof weight-bearing area of the safe operation boundary is marked as a red warning area.

[0009] Further, both the first forceps arm and the second forceps arm are in a double-arc curved surface, and the radius of curvature matches the acetabular anatomical data, 25-28mm for males and 23-25mm for females.

[0010] Further, both the first forceps arm and the second forceps arm are provided with installation slots corresponding to the thin-film piezoresistive sensor array and the active infrared tracer. The thin-film piezoresistive sensor array and the active infrared tracer are installed in the installation slots. The installation slots are sequentially provided with a medical-grade parylene chemical vapor deposition coating, an aluminum nitride ceramic film, a silicone layer, and a fluorinated silicon dioxide nanoparticle superhydrophobic coating.

[0011] Further, the thickness of the medical-grade parylene chemical vapor deposition coating is 5-8μm, which completely wraps the thin-film piezoresistive sensor array, the active infrared tracer, and the circuit traces, achieving IP68-level waterproof and moisture-proof, and being resistant to high-temperature and high-pressure sterilization. As a biocompatible sealing layer, the thickness of the aluminum nitride ceramic film is 2-3μm, which can improve the surface hardness, prevent friction and scratching by bone fragments or instruments, optimize the pressure transmission efficiency, and reduce signal attenuation.

[0012] Furthermore, the silica gel layer is provided with micro anti-slip bumps with a diameter of 0.3 mm and a spacing of 1 mm, which can improve the grasping force by 30% while reducing the bone surface indentation. The thickness of the fluorinated silica nanoparticle superhydrophobic coating is 200 - 500 nm, which can achieve the rapid rolling of blood and tissue fluid, inhibit protein adsorption, avoid the formation of biofilms, and has good chemical stability: resistant to erosion by common intraoperative disinfectants such as ethanol and hydrogen peroxide.

[0013] Furthermore, the tips of the first clamping arm and the second clamping arm are configured with blunt protective heads to prevent damage to the articular cartilage by penetrating the inner wall of the acetabulum. The active infrared tracer is provided with a 6 - axis inertial measurement unit, which fuses optical and inertial data to achieve the tracking of the spatial pose of the clamp head.

[0014] The beneficial effects of the present invention are as follows: The present invention provides an orthopedic reduction clamp with precisely controllable clamping force, having the following advantages:

[0015] 1. Such an orthopedic reduction clamp with precisely controllable clamping force can be designed with double - arc clamp heads according to the anatomical characteristics of the acetabulum, integrating a thin - film piezoresistive sensor and a multi - mode navigation tracking system to achieve real - time monitoring of the clamping force and sub - millimeter - level precise reduction.

[0016] 2. Through tactile / visual double - feedback warning of overpressure risks and combined with the trajectory guidance of the navigation interface, the bone fragment fragmentation rate is significantly reduced, which is applicable to open and minimally invasive surgeries for complex acetabular fractures. Through the coordination of real - time force feedback and 3D navigation, precise clamping and visual reduction are achieved, reducing the bone fragment fragmentation rate.

[0017] The above description is only an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and be able to implement it according to the content of the description, the following takes the preferred embodiments of the present invention and combines with the attached drawings to elaborate in detail as follows. The specific implementation manners of the present invention are given in detail by the following embodiments and their attached drawings. Brief Description of the Drawings

[0018] The attached drawings described herein are used to provide a further understanding of the present invention, and constitute a part of this application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0019] Figure 1 is a schematic structural diagram of an orthopedic reduction clamp with precisely controllable clamping force provided by an embodiment of the present invention;

[0020] Figure 2 is a schematic structural diagram of the first clamping arm in an orthopedic reduction clamp with precisely controllable clamping force provided by an embodiment of the present invention;

[0021] Figure 3Schematic diagram of the structure of a thin-film piezoresistive sensor array in an orthopedic reduction forceps with precisely controllable clamping force provided by an embodiment of the present invention;

[0022] Figure 4 Schematic diagram of the structure of the installation groove in an orthopedic reduction forceps with precisely controllable clamping force provided by an embodiment of the present invention;

[0023] Figure 5 Schematic diagram of the structure of the OLED screen in an orthopedic reduction forceps with precisely controllable clamping force provided by an embodiment of the present invention.

[0024] In the drawings, the list of components represented by each reference numeral is as follows:

[0025] 1. First pliers arm; 2. Second pliers arm; 3. Damping rotating shaft; 4. Connecting shaft; 5. Threaded rod; 6. Limiting cylinder; 7. U-shaped card slot; 8. Locking nut; 9. Thin-film piezoresistive sensor array; 10. Linear motor; 11. OLED screen; 12. Active infrared tracer; 13. Installation groove; 14. Medical-grade parylene chemical vapor deposition coating; 15. Aluminum nitride ceramic film; 16. Silicone layer; 17. Fluorinated silica nanoparticle superhydrophobic coating. Detailed implementation manners

[0026] The principles and features of the present invention will be described below in conjunction with the attached Figures 1-5 Examples are given only to explain the present invention and are not intended to limit the scope of the present invention. The present invention will be described more specifically by way of example in the following paragraphs with reference to the drawings. The advantages and features of the present invention will be clearer according to the following description and claims. It should be noted that the drawings are all in very simplified forms and use non-precise scales, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention.

[0027] It should be noted that when a component is referred to as "fixed to" another component, it can be directly on the other component or there can also be an intermediate component. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be an intermediate component at the same time. When a component is considered to be "disposed on" another component, it can be directly disposed on the other component or there may be an intermediate component at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this invention belongs. The terms used in the description of the present invention herein are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0029] As Figures 1-5 shown, the present invention provides an orthopedic reduction forceps with precisely controllable clamping force, including a first forceps arm 1, a second forceps arm 2, a thin-film piezoresistive sensor array 9, a linear motor 10, an OLED screen 11, and an active infrared tracer 12. A damping rotating shaft 3 is installed on the first forceps arm 1. The first forceps arm 1 is rotatably connected to the second forceps arm 2 through the damping rotating shaft 3. A connecting shaft 4 is rotatably connected to the first forceps arm 1. A threaded rod 5 is rotatably connected to the connecting shaft 4. A limiting cylinder 6 is rotatably connected to the second forceps arm 2. The limiting cylinder 6 is provided with a U-shaped card slot 7 corresponding to the threaded rod 5. A positioning nut 8 is threadedly connected to the threaded rod 5. The thin-film piezoresistive sensor array 9 is installed at the jaws of the first forceps arm 1 and the second forceps arm 2. The linear motor 10 is installed at the holding end of the second forceps arm 2. The OLED screen 11 is signal-connected to the thin-film piezoresistive sensor array 9 and the active infrared tracer 12. The active infrared tracer 12 is installed at the ends of the first forceps arm 1 and the second forceps arm 2.

[0030] Preferably, the linear motor 10 is provided with three preset modes to generate gradient vibrations, including weak vibrations exceeding 0.5 N, strong vibrations exceeding 1.2 N, and continuous alarms exceeding 1.5 N.

[0031] Preferably, the OLED screen 11 real-time displays a heat map of the pressure distribution, marks the overpressure area, and the OLED screen 11 displays a cloud map of the jaw pressure distribution, a predicted line of the bone block reduction trajectory, and a safe operation boundary. The acetabular roof weight-bearing area of the safe operation boundary is marked as a red warning area.

[0032] Preferably, both the first forceps arm 1 and the second forceps arm 2 are in a double-arc curved surface, and the radius of curvature matches the acetabular anatomical data, 25 - 28 mm for males and 23 - 25 mm for females.

[0033] Preferably, both the first forceps arm 1 and the second forceps arm 2 are provided with mounting grooves 13 corresponding to the thin-film piezoresistive sensor array 9 and the active infrared tracer 12. The thin-film piezoresistive sensor array 9 and the active infrared tracer 12 are installed in the mounting grooves 13. The mounting grooves 13 are sequentially provided with a medical-grade parylene chemical vapor deposition coating 14, an aluminum nitride ceramic film 15, a silica gel layer 16, and a fluorinated silicon dioxide nanoparticle superhydrophobic coating 17.

[0034] Preferably, the thickness of the medical-grade parylene vapor deposition coating 14 is 5-8 μm, which completely wraps the thin-film piezoresistive sensor array 9, the active infrared tracer 12 and the circuit traces, achieving IP68-level waterproof and moisture-proof performance, and being resistant to high-temperature and high-pressure sterilization. As a biocompatible sealing layer, the thickness of the aluminum nitride ceramic thin film 15 is 2-3 μm, which can improve the surface hardness, prevent bone fragments or instruments from scratching by friction, optimize the pressure transmission efficiency, and reduce signal attenuation.

[0035] Preferably, the silicone layer 16 is provided with micro anti-slip bumps with a diameter of 0.3 mm and a spacing of 1 mm, which can increase the grasping force by 30% while reducing the indentation on the bone surface. The thickness of the fluorinated silicon dioxide nanoparticle superhydrophobic coating 17 is 200-500 nm, which enables blood and tissue fluid to roll off quickly, inhibits protein adsorption, avoids the formation of biofilms, and has good chemical stability: resistant to erosion by common intraoperative disinfectants such as ethanol and hydrogen peroxide.

[0036] Preferably, the tips of the first clamping arm 1 and the second clamping arm 2 are configured with blunt protection heads to prevent damage to the articular cartilage by penetrating the inner wall of the acetabulum. The active infrared tracer 12 is provided with a 6-axis inertial measurement unit, which fuses optical and inertial data to achieve the tracking of the spatial pose of the clamping head.

[0037] The specific working principle and usage method of the present invention are as follows:

[0038] S1: Preoperative preparation: Obtain the thin-slice CT scan data (slice thickness ≤ 1 mm) of the patient's acetabulum, import it into a 3D navigation system such as BrainLab Trauma 3D, reconstruct the three-dimensional model of the acetabulum, and mark the fracture line, main bone fragments and adjacent vascular and nerve structures. The system calculates the safe clamping area, avoiding the weight-bearing area of the acetabular roof and the projection area of the sciatic nerve;

[0039] Instrument preparation: Select a double-arc special acetabular clamping head with a curvature radius matching the patient's anatomy,

[0040] Calibrate the sensor: Press the jaws to 1.5 N under no-load conditions to ensure that the heat map on the OLED screen is evenly displayed;

[0041] Parameter setting:

[0042] Set the pressure safety threshold according to the bone density (measured by preoperative QCT):

[0043] Normal bone mass: 1.2-1.5 N

[0044] Osteoporosis: 0.8-1.0 N

[0045] Check the dynamic trajectory prediction mode on the navigation interface and set the reset target accuracy ≤ 1 mm.

[0046] S2: Intraoperative operation:

[0047] a. Classical approach: Kocher-Langenbeck approach (posterior column fracture) or ilioinguinal approach (anterior column fracture); bluntly dissect the soft tissues to expose the fracture ends, remove the hematoma and free bone fragments; use a navigation probe to register the spatial position of the bone fragments and update the intraoperative model;

[0048] b. The navigation system of the OLED screen 11 plans the reduction path, sets the safety pressure threshold of the thin-film piezoresistive sensor array 9 to 1.2 N, inserts the reduction forceps through the incision, and the navigation interface displays the spatial relationship between the forceps tip and the bone fragment in real time. Adjust the angle of the forceps arm to 30°-45° so that the double-arc forceps jaws fit the posterior / anterior column surface of the acetabulum;

[0049] c. The first forceps arm 1 and the second forceps arm 2 can be naturally opened by the damping rotating shaft 3. Gently hold the handle and slowly close the forceps jaws. The thin-film piezoresistive sensor array 9 integrated in the forceps jaws can monitor the clamping pressure distribution in real time and send the pressure signal to the controller of the linear motor 10 and the OLED screen 11. The OLED screen 11 can display the pressure distribution cloud map of the forceps jaws, the predicted line of the bone fragment reduction trajectory and the safe operation boundary in real time. Green area (<1.0 N): Allows pressurization; Yellow area (1.0 - 1.2 N): Tactile vibration warning; Red area (>1.2 N): Continuous strong vibration and lock the opening and closing of the forceps jaws. The linear motor 10 of the handle can vibrate to indicate approaching the threshold. By finely adjusting the rotation angle of the forceps body, the pressure is concentrated on the non-weight-bearing area such as the inner edge of the posterior column of the acetabulum. The heat map of the OLED screen 11 shows that the pressure is concentrated on the non-weight-bearing area of the posterior column of the acetabulum;

[0050] d. Adjust the clamp position according to the navigation trajectory line of the OLED screen 11. According to the virtual reduction trajectory line (blue arrow) in the navigation interface, slowly lift or rotate the forceps body to gradually reduce the bone fragment. The system calculates the fracture gap in real time. Gap > 2 mm: The trajectory line turns red, indicating that the direction needs to be adjusted; Gap ≤ 1 mm: The trajectory line turns green and emits a prompt sound to confirm anatomical reduction until the fracture gap < 1 mm and the pressure stabilizes in the range of 0.8 - 1.0 N. After stabilization, screw the threaded rod 5 of the connecting shaft 4 into the U-shaped card slot 7 of the limiting cylinder 6, and then tighten the positioning nut 8 to carry out positioning;

[0051] e. Maintain the positioning state and percutaneous insert hollow screws for fixation.

[0052] S3: Postoperative treatment:

[0053] Sterilize the orthopedic reduction forceps using low-temperature plasma sterilization to avoid damaging the sensor due to high temperature.

[0054] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0055] As mentioned above, the above are only the preferred embodiments of the present invention, and do not impose any formal restrictions on the present invention; any ordinary technician in the industry can smoothly implement the present invention as shown in the accompanying drawings of the specification and as described above; however, any minor changes, modifications, and equivalent variations made by those skilled in the art within the scope of the technical solution of the present invention by using the technical content disclosed above are all equivalent embodiments of the present invention; at the same time, any equivalent changes, modifications, and evolutions made to the above embodiments based on the essence of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims

1. An orthopedic reduction forceps with precisely controllable clamping force, comprising a first forceps arm (1), a second forceps arm (2), a thin-film piezoresistive sensor array (9), a linear motor (10), an OLED screen (11), and an active infrared tracer (12), characterized in that: The first clamping arm (1) is equipped with a damping rotating shaft (3). The first clamping arm (1) is rotatably connected to the second clamping arm (2) through the damping rotating shaft (3). The first clamping arm (1) is rotatably connected to a connecting shaft (4), and the connecting shaft (4) is rotatably connected to a threaded rod (5). The second clamping arm (2) is rotatably connected to a limiting cylinder (6). The limiting cylinder (6) is provided with a U-shaped card slot (7) corresponding to the threaded rod (5). The threaded rod (5) is threadedly connected to a positioning nut (8). The thin-film piezoresistive sensor array (9) is installed at the jaws of the first clamping arm (1) and the second clamping arm (2). The linear motor (10) is installed at the holding end of the second clamping arm (2). The OLED screen (11) is signal-connected to the thin-film piezoresistive sensor array (9) and the active infrared tracer (12). The active infrared tracer (12) is installed at the ends of the first clamping arm (1) and the second clamping arm (2).

2. The orthopedic reduction forceps with precisely controllable clamping force according to claim 1, characterized in that, The linear motor (10) is provided with three preset modes, generating gradient vibrations, weak vibrations exceeding 0.5N, strong vibrations exceeding 1.2N, and continuous alarms exceeding 1.5N.

3. The orthopedic reduction forceps with precisely controllable clamping force according to claim 1, characterized in that, The OLED screen (11) displays the pressure distribution heat map in real time, marking the overpressure area. The OLED screen (11) displays the pressure distribution cloud map of the jaws, the bone block reduction trajectory prediction line, and the safe operation boundary. The acetabular roof weight-bearing area of the safe operation boundary is marked as a red warning area.

4. The orthopedic reduction forceps with precisely controllable clamping force according to claim 1, wherein, Both the first clamping arm (1) and the second clamping arm (2) are in a double-arc curved surface, and the radius of curvature matches the acetabular anatomical data, 25-28mm for males and 23-25mm for females.

5. The orthopedic reduction forceps with precisely controllable clamping force according to claim 1, characterized in that, Both the first clamping arm (1) and the second clamping arm (2) are provided with installation grooves (13) corresponding to the thin-film piezoresistive sensor array (9) and the active infrared tracer (12). The thin-film piezoresistive sensor array (9) and the active infrared tracer (12) are installed in the installation grooves (13). The installation grooves (13) are successively provided with a medical-grade parylene chemical vapor deposition coating (14), an aluminum nitride ceramic film (15), a silica gel layer (16), and a fluorinated silicon dioxide nanoparticle superhydrophobic coating (17).

6. The orthopedic reduction forceps with precisely controllable clamping force according to claim 5, characterized in that, The thickness of the medical-grade parylene chemical vapor deposition coating (14) is 5-8μm, which completely wraps the thin-film piezoresistive sensor array (9), the active infrared tracer (12), and the circuit traces. The thickness of the aluminum nitride ceramic film (15) is 2-3μm.

7. The orthopedic reduction forceps with precisely controllable clamping force according to claim 5, characterized in that, The silica gel layer (16) is provided with micro anti-slip bumps with a diameter of 0.3mm and a spacing of 1mm. The thickness of the fluorinated silicon dioxide nanoparticle superhydrophobic coating (17) is 200-500nm.

8. The orthopedic reduction forceps with precisely controllable clamping force according to claim 1, characterized in that, The tips of the first clamping arm (1) and the second clamping arm (2) are configured with blunt protection heads. The active infrared tracer (12) is provided with a 6-axis inertial measurement unit, which fuses optical and inertial data to realize the tracking of the spatial pose of the clamp head.

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