CN112245005B - External fixing device, system and method for coordinate calibration - Google Patents

Abstract

The invention discloses an external fixing device, system and method for coordinate calibration, comprising: a clamping device, a calibration device and a bracket; the clamping device comprises a chute rod and a clamper, and the chute rod has a One end is connected to the bracket through the first fixing piece, and the holder is installed in the groove of the chute rod; the calibration device includes a calibration bracket, one end of the calibration bracket is connected to the bracket through the first connecting piece, and the calibration ball is installed on the calibration bracket, The calibration ball is provided with a calibration hole leading to the center of the ball. The clamping object to be fixed is clamped by the clamping device, the center coordinates of the calibration ball are read through the calibration hole on the calibration ball, and the optimal reset path is output after the reference coordinate system and the virtual coordinate system are unified according to the center coordinates.

Description

An external fixation device, system and method for coordinate calibration

technical field

The present invention relates to the technical field of medical equipment, in particular to an external fixation device, system and method for coordinate calibration.

Background technique

The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

Limb fractures are a common disease in orthopaedics. For limb fractures, surgical reduction and internal fixation and manual reduction and external fixation are mostly used. After the fracture is reduced by surgical reduction and internal fixation, it is necessary to cut the soft tissue of the fracture, expose the fractured segment, and reduce the fracture under direct vision. A splint or external fixator is installed. The external fixator is an external steel frame assembled by a collet and a steel tube, which can support the bone and correct various displacements of the bone during the healing process.

However, the inventor believes that the internal fixation method is an invasive method, and the larger trauma is likely to increase the probability of infection, easily cause joint adhesion, and seriously affect the fracture healing and recovery; the external fixation method and manual reduction are less accurate and depend on the experience of the reducer Strong, it is easy to cause incomplete recovery of fracture function. At present, the best reduction and fixation method for limb fractures is robot reduction and fixation guided by medical images. However, robot reduction and fixation require the unification of the robot reference coordinate system and the medical image virtual coordinate system. Otherwise, the coordinates of the bones that need to be reset cannot be accurately obtained. point, and the optimal reduction path of the bone cannot be accurately obtained.

SUMMARY OF THE INVENTION

In order to solve the problem of the unification of the robot reference coordinate system and the medical image virtual coordinate system, the present invention proposes an external fixation device, system and method for coordinate calibration. Collect, read the calibration sphere center coordinates through the calibration hole on the calibration sphere, and plan the optimal reset path after unifying the robot reference coordinate system and the medical image virtual coordinate system according to the sphere center coordinates.

In order to achieve the above object, the present invention adopts the following technical solutions:

In a first aspect, the present invention provides an external fixation device for coordinate calibration, comprising: a clamping device, a calibration device and a bracket;

The clamping device includes a chute rod and a clamp, one end of the chute rod is connected to the bracket through a first fixing piece, and the clamp is installed in the groove of the chute rod;

The calibration device includes a calibration bracket, one end of the calibration bracket is connected to the bracket through a first connecting piece, a calibration ball is installed on the calibration bracket, and a calibration hole leading to the center of the ball is provided on the calibration ball.

In a second aspect, the present invention provides an external fixation system for coordinate calibration, comprising: the external fixation device and a processor described in the first aspect;

The external fixing device is used to place the clamped object in the clamping device, insert the calibration needle into the calibration hole of the calibration ball, and obtain the coordinates of the center of the ball in the reference coordinate system;

The processor is used to perform virtual sphere modeling on the calibration sphere according to the obtained sphere center coordinates, and match the sphere center coordinates under the reference coordinate system to the virtual sphere, and after the virtual coordinate system of the virtual sphere and the reference coordinate system are one, The reset path planning is performed in the virtual coordinate system, and the reset path is executed in the reference coordinate system.

In a third aspect, the present invention provides an external fixation method for coordinate calibration, comprising:

Place the clamping object in the clamping device of the external fixing device, insert the calibration needle into the calibration hole of the calibration ball, and obtain the coordinates of the center of the ball in the reference coordinate system;

According to the obtained sphere center coordinates, the calibration sphere is modeled as a virtual sphere, and the sphere center coordinates in the reference coordinate system are matched to the virtual sphere. Plan the reset path and execute the reset path in the reference coordinate system.

Compared with the prior art, the beneficial effects of the present invention are:

The clamping device of the present invention realizes universal clamping through the movable clamp in the chute rod and the connection between the chute rod and the bracket, and can clamp the clamped object from any angle.

In the clamping device of the present invention, the clamper is provided with a V-shaped groove, which is favorable for locking the clamped object.

The calibration sphere of the present invention is provided with calibration holes, and the calibration sphere is placed on a curved surface and the center of the sphere is not on the same plane. By constructing a virtual coordinate system, the center coordinates of the calibration sphere in the real reference coordinate system correspond to the virtual coordinate system. , to realize the unification of the real reference coordinate system and the software virtual coordinate system, which is convenient to record the reset path coordinates when virtual reset of the bones in the virtual system, and realize the path in the real coordinate system.

The invention unifies the real environment and the virtual environment, carries out the path planning of the fracture reduction in the software, obtains the optimal feasible path, and finally directly inputs the path coordinates into the actual execution system to execute the optimal path, which can improve the fracture reduction process. Accuracy, and greatly save operation time.

Description of drawings

The accompanying drawings forming a part of the present invention are used to provide further understanding of the present invention, and the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute an improper limitation of the present invention.

1 is a schematic structural diagram of an external fixation device for coordinate calibration provided in Embodiment 1 of the present invention;

2 is a schematic structural diagram of the clamping device provided in Embodiment 1 of the present invention;

3 is a schematic structural diagram of a stent provided in Embodiment 1 of the present invention;

4 is a schematic structural diagram of a calibration device provided in Embodiment 1 of the present invention;

5 is a schematic structural diagram of an external fixation device for coordinate calibration provided in Embodiment 2 of the present invention;

Among them, 1. clamping device, 101, end cover, 102, chute rod, 103, convex block, 104, rotating block, 105, pressing block, 106, screw, 107, eccentric rod, 108, double ball head connecting rod, 109, top block; 2, calibration device, 201, calibration bracket, 202, calibration ball, 3, bracket, 301, fixed platform, 302, holder fixture, 5, bone pin, 6, bone.

Detailed ways:

The present invention will be further described below with reference to the accompanying drawings and embodiments.

It should be noted that the following detailed description is exemplary and intended to provide further explanation of the invention. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

It should be noted that the terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural as well, furthermore, it is to be understood that when the terms "comprising" and/or "including" are used in this specification, it indicates that There are features, steps, operations, devices, components, and/or combinations thereof.

In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", etc. The orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, and is only a relational word determined for the convenience of describing the structural relationship of each component or element of the present invention, and does not specifically refer to any component or element in the present invention, and should not be construed as a reference to the present invention. Invention limitations.

In the present invention, terms such as "fixed connection", "connected", "connected", etc. should be understood in a broad sense, indicating that it can be a fixed connection, an integral connection or a detachable connection; it can be directly connected, or it can be connected through the middle media are indirectly connected. For the relevant scientific research or technical personnel in the field, the specific meanings of the above terms in the present invention can be determined according to the specific situation, and should not be construed as a limitation of the present invention.

Example 1

As shown in FIG. 1 , this embodiment provides an external fixation device for coordinate calibration, which can be applied to a bone external fixation device with coordinate calibration function in orthopaedic robotic surgery. The main purpose of the device for coordinate calibration is to unify different coordinates In this embodiment, taking bone fixation as an example, it specifically includes: a clamping device 1, a calibration device 2 and a bracket 3;

The clamping device 1 includes a chute rod 102 and a clamp, one end of the chute rod 102 is connected to the bracket 3 through a first fixing member, and a clamp is installed in the groove of the chute rod 102;

The calibration device 2 includes a calibration bracket 201, one end of the calibration bracket 201 is connected to the bracket 3 through a first connector, and a calibration ball 202 is installed on the calibration bracket 201, and the calibration ball 202 is provided with a calibration hole leading to the center of the sphere. .

In this embodiment, as shown in FIG. 2 , the holder includes a convex block 103 , a rotating block 104 , a pressing block 105 and a screw 106 ; the convex block 103 , the rotating block 104 , and the pressing block 105 There are bolt holes matching with the screws 106, and the screws 106 pass through the bolt holes to fix and connect the convex block 103, the rotating block 104, and the pressing block 105 in sequence;

Preferably, the width of the convex block 103 is larger than the groove width of the chute rod 102, the holder is placed in the groove, and the convex block 103 is placed on the groove surface and can move in the groove;

Preferably, a V-shaped groove is left between the rotating block 104 and the pressing block 105, and the holder clamps the bone needle and locks the bone needle in the V-shaped groove;

Preferably, the rotating block 104 is combined with the pressing block 105 to realize the clamping of the bone needle at any angle around the screw 106 , and the universal clamping is realized through the double ball-head connecting rod 108 and the end cover 101 .

In this embodiment, as shown in FIG. 2 , the first fixing member includes an end cover 101 , an eccentric rod 107 , a double ball joint link 108 and a top block 109 ;

A top block 109 is provided in the inner hole of the end cover 101, and the top block 109 can be put into the inner hole of one end of the chute rod;

One end of the chute rod is connected with the end cover by screw fit, and a radial through hole is provided at the end of the chute rod. An eccentric rod 107 is placed in the radial through hole to connect the chute rod and the end cover. 101 is fixed, and the eccentric rod 107 is in contact with the bottom of the top block 109. When the eccentric rod 107 is rotated, the top block 109 can move axially along the chute rod.

The spherical ends of the double ball joints 108 are respectively connected to the end caps 101, and the end caps 101 are respectively connected to the chute rod and the bracket 3. The spherical ends of the double ball joints 108 can be rotated at any angle, thus driving the sliding movement. The slotted rod can rotate at any angle.

As shown in FIG. 3 , the bracket includes a fixed platform 301 and a holder fixing member 302. The holder fixing member 302 is a stepped cylinder, and the end of the holder fixing member 302 is provided with a radial through hole. The eccentric rod 107 is connected to the end cover 101 of the first fixing piece by means of the eccentric rod 107 in cooperation with the top block 109. The eccentric rod passes through the radial through hole at the end of the clamp fixture and contacts the bottom of the top block in the end cover. The slotted rod is fixed with the holder fixture.

In this embodiment, one end of the chute rod in the clamping device is connected to the bracket 3, and the other end can be connected in series with other chute rods in sequence, that is, multiple chute rods are used in series, and the first Fixture connection.

As shown in FIG. 4 , the calibration bracket of the calibration device 2 is in the shape of a curved surface, and four metal calibration balls 202 are arranged on the curved bracket;

Preferably, the calibration device 2 is connected to the bracket 3 through bolts;

Preferably, the centers of the calibration balls 202 are not on the same plane;

Preferably, the calibration ball is provided with a calibration hole leading to the center of the sphere, the calibration ball is used together with the calibration needle, the aperture size of the calibration hole is matched with the calibration needle, and the opening of the calibration hole should be kept upward to facilitate reading the coordinates of the sphere center .

Example 2

This embodiment provides an external fixation system for coordinate calibration, including: the external fixation device and the processor described in Embodiment 1;

The external fixing device is used to place the clamped object in the clamping device, insert the calibration needle into the calibration hole of the calibration ball, and obtain the coordinates of the center of the ball in the reference coordinate system;

The processor is used to perform virtual sphere modeling on the calibration sphere according to the obtained sphere center coordinates, and match the sphere center coordinates under the reference coordinate system to the virtual sphere, and after the virtual coordinate system of the virtual sphere and the reference coordinate system are one, The fixed path planning is carried out in the virtual coordinate system, and the fixed path is executed in the reference coordinate system.

It should be understood that, in this embodiment, the processor may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors, DSPs, application-specific integrated circuits (ASICs), off-the-shelf programmable gate arrays (FPGAs), or other programmable logic devices. , discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

In this embodiment, the method implemented by the processor may be implemented by a combination of hardware and software modules in the processor. The software modules may be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other storage media mature in the art. The storage medium is located in the memory, and the processor reads the information in the memory, and completes the steps of the above method in combination with its hardware.

Example 3

This embodiment provides an external fixation method for coordinate calibration, including:

(1) Place the gripping object in the gripper of the gripping device;

In this embodiment, taking the reduction and fixation of the fractured bone as an example, the bone needle is placed in the V-shaped groove of the holder of the clamping device, and the holder is fixed to fix the relative position of the distal and proximal ends of the bone, as shown in FIG. 5 . Show;

(2) 3D panoramic modeling of the external fixation device holding the clamped object by CT scanning;

In this embodiment, CT scan is used to perform three-dimensional panoramic modeling of the external fixation device and the bone, and segmentation and solid modeling are performed for the structures necessary for the reduction and fixation of the robot fracture;

(3) Fix the whole device on the workbench, insert the calibration needle into the calibration hole of the calibration ball, and measure the spherical center coordinates of the four calibration balls in a certain reference coordinate system in turn;

(4) According to the obtained calibration sphere coordinates in the reference coordinate system, the virtual sphere modeling is carried out according to the calibration sphere in the image coordinate system, and the four calibration spheres are respectively matched with the virtual balls in the three-dimensional image. Assign the center coordinate of the calibration ball under the reference coordinate system to the virtual ball, and unify the virtual coordinate system of the virtual sphere with the reference coordinate system;

In this embodiment, in the virtual coordinate system, the path planning of the bone repositioning is performed on the virtual sphere to obtain the optimal feasible path, and the path coordinates in the virtual coordinate system are directly input into the actual execution system to execute the optimal path, This embodiment realizes the unification of the real reference coordinate system and the software virtual coordinate system, which facilitates the recording of the reset path coordinates when performing virtual reduction of the bone, and realizes the path in the real coordinate system to improve the accuracy of fracture reduction.

The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Although the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, they do not limit the scope of protection of the present invention. Those skilled in the art should understand that on the basis of the technical solutions of the present invention, those skilled in the art do not need to pay creative work. Various modifications or deformations that can be made are still within the protection scope of the present invention.

Claims (7)

1. An external fixation system for coordinate calibration, an external fixation device for coordinate calibration, comprising: a clamping device, a calibration device and a bracket; The clamping device includes a chute rod and a clamp, one end of the chute rod is connected to the bracket through a first fixing piece, and the clamp is installed in the groove of the chute rod; The calibration device includes a calibration bracket, one end of the calibration bracket is connected to the bracket through a first connecting piece, a calibration ball is installed on the calibration bracket, and the calibration ball is provided with a calibration hole leading to the center of the ball. The external fixation system for coordinate calibration includes: the external fixation device and a processor; The external fixing device is used to place the clamped object in the clamping device, insert the calibration needle into the calibration hole of the calibration ball, and obtain the coordinates of the center of the ball in the reference coordinate system; The processor is used to perform virtual sphere modeling on the calibration sphere according to the obtained sphere center coordinates, and match the sphere center coordinates under the reference coordinate system to the virtual sphere, and after the virtual coordinate system of the virtual sphere and the reference coordinate system are one, Plan the reset path in the virtual coordinate system, and execute the reset path in the reference coordinate system; Wherein, the first fixing member includes an end cover, an eccentric rod, a double ball joint connecting rod and a top block; the spherical ends of the double ball joint connecting rod are respectively connected to the end cover, and the inner hole of the end cover is provided with a top The top block is set at one end of the chute rod, and one end of the chute rod is provided with a radial through hole, an eccentric rod is placed in the radial through hole, and the eccentric rod is in contact with the bottom of the top block. When the eccentric rod is rotated, the top The block moves axially along the chute rod. 2. An external fixation system for coordinate calibration according to claim 1, wherein the holder comprises a convex block, a rotating block and a pressing block; , the rotating block and the pressing block are fixed and connected in sequence. 3. An external fixation system for coordinate calibration according to claim 2, wherein the width of the convex block is greater than the groove width of the chute rod, and the convex block is placed on the groove surface and can be placed on the groove surface. move in the slot. 4. An external fixation system for coordinate calibration according to claim 1, characterized in that, one end of the chute rod is connected with the bracket, and the other end is connected in series with other chute rods in sequence, and the multiple chute rods are connected in series. are connected by a first fixing member. 5 . The external fixation system for coordinate calibration according to claim 1 , wherein the bracket comprises a holder fixing member, and the end of the holder fixing member is provided with a radial through hole. 6 . , the end cover of the first fixing piece is connected with the holder fixing piece through the eccentric rod passing through the radial through hole and matching with the top block. 6. An external fixation system for coordinate calibration according to claim 1, characterized in that, the calibration bracket is in the shape of a curved surface, and a plurality of calibration balls are arranged on the calibration bracket, and the center of the calibration ball is not on the same plane. 7 . The external fixation system for coordinate calibration according to claim 1 , wherein the aperture size of the calibration hole is matched with that of the calibration needle, and the opening of the calibration hole is kept upward to read the spherical center coordinates. 8 .

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