阅读说明：本技术 一种钢板插入辅助装置、钢板自动插入系统及控制方法 (Steel plate insertion auxiliary device, steel plate automatic insertion system and control method ) 是由 毕建平 刘晓晨 于 2020-11-13 设计创作，主要内容包括：本公开提出了一种钢板插入辅助装置、钢板自动插入系统及控制方法,钢板插入辅助装置包括与钢板的夹持部表面弧度匹配的板体,板体上设置机械臂末端连接部、一个或多个凸起和第一固定孔,凸起与钢板夹持部的凹槽相匹配,所述第一固定孔用于实现辅助装置与钢板的固定连接,机械臂末端连接部与机械臂末端固定连接；所述板体上还设置有通孔,该通孔设置于钢板与骨骼连接的置钉位置的对应位置,并且通孔的直径大于置钉位置的钉孔直径。设计了作为机械臂和钢板连接中间件的钢板插入辅助装置,该装置同时解决了机械臂的夹持强度问题和钉空遮挡问题,在导航系统的引导下,应用机械臂将钢板准确插入,不需要反复透视,提高了操作的安全性和稳定性。(The steel plate insertion auxiliary device comprises a plate body matched with the surface radian of a clamping part of a steel plate, a mechanical arm tail end connecting part, one or more bulges and a first fixing hole are arranged on the plate body, the bulges are matched with grooves of the steel plate clamping part, the first fixing hole is used for realizing the fixed connection of the auxiliary device and the steel plate, and the mechanical arm tail end connecting part is fixedly connected with the tail end of a mechanical arm; the plate body is also provided with a through hole, the through hole is arranged at the position corresponding to the nail placing position where the steel plate is connected with the skeleton, and the diameter of the through hole is larger than that of the nail hole at the nail placing position. The steel plate inserting auxiliary device serving as the mechanical arm and the steel plate connecting intermediate piece is designed, the device solves the problem that the clamping strength of the mechanical arm and the nail space shield the mechanical arm, the mechanical arm is used for accurately inserting the steel plate under the guidance of a navigation system, repeated perspective is not needed, and the safety and the stability of operation are improved.)

1. A steel plate insertion assisting device is characterized in that: the auxiliary device comprises a plate body matched with the surface radian of a clamping part of a steel plate, wherein a mechanical arm tail end connecting part, one or more bulges and a first fixing hole are arranged on the plate body, the bulges are matched with grooves of the clamping part of the steel plate, the first fixing hole is used for realizing the fixed connection of the auxiliary device and the steel plate, and the mechanical arm tail end connecting part is fixedly connected with the tail end of the mechanical arm; the plate body is also provided with a through hole which is arranged at the position corresponding to the nail placing position where the steel plate is connected with the skeleton, and the inner diameter of the through hole is matched with the outer diameter of the sleeve.

2. A steel plate insertion aid as claimed in claim 1, wherein: the steel plate clamping part at least comprises three depressions which are arranged in a triangular mode, and screw holes are formed in the steel plate clamping part and used for fixing the steel plate and a target object.

3. A steel plate insertion aid as claimed in claim 1, wherein: the first fixing hole is provided in one, and the first fixing hole is provided at a position between the plurality of protrusions.

4. A steel plate insertion aid as claimed in claim 1, wherein: the structure of the tail end connecting part of the mechanical arm is a connecting column.

5. The steel plate insertion aid as set forth in claim 4, wherein: the two ends of the connecting column are different in size, and the smaller end face of the connecting part at the tail end of the mechanical arm is fixedly connected with one end of the plate body; or/and the connecting column is in the shape of a cone or a polyhedron.

6. An automatic steel plate inserting system is characterized in that: the steel plate inserting auxiliary device comprises a main control terminal, a mechanical arm, a steel plate and the steel plate inserting auxiliary device as claimed in any one of claims 1 to 5, wherein the steel plate inserting auxiliary device is used for establishing or disconnecting a fixed connection between the mechanical arm and the steel plate, and the main control terminal controls the mechanical arm to move so as to move the steel plate to a target position.

7. An automatic steel plate insertion system as claimed in claim 6, wherein: the main control terminal comprises a main control module, a navigation system and an image system, wherein the navigation system is used for moving the tail end of the mechanical arm to a target position according to a control instruction output by the main control module; the image system is used for acquiring the image information of a work site; and the main control module processes the acquired image information to obtain a corresponding control instruction.

8. An automatic steel plate insertion system as claimed in claim 6, wherein: the display device is in communication connection with the main control module and is used for visually displaying the action process of the operation.

9. An automatic steel plate inserting method is characterized by comprising the following steps:

registering the mechanical arm, the navigation system and the image system to make the coordinate systems of the mechanical arm, the navigation system and the image system uniform;

mounting a steel plate insertion auxiliary device on the tail end of the mechanical arm, and fixedly connecting the steel plate insertion auxiliary device with a steel plate;

the steel plate is driven to move to a steel plate implantation point by the mechanical arm, and the real-time position of the steel plate is recorded;

planning a steel plate insertion track according to the target position and the real-time steel plate position;

controlling the mechanical arm to move according to the planned track, and inserting the steel plate to a target position according to the planned estimation;

the steel plate is fixed to the target object at the target position, and the steel plate is detached from the steel plate insertion assisting device.

10. The automatic inserting method of a steel plate as set forth in claim 9, wherein: the method also comprises the following visual display steps:

acquiring a virtual model of a target object at a target position and a virtual model of a steel plate;

arranging the target object at the corresponding coordinates of the target position; updating the position of the steel plate in the display interface in real time according to the position of the steel plate acquired in real time until the steel plate is moved to a target position;

alternatively, the first and second electrodes may be,

after the step of detaching the steel plate from the steel plate insertion assisting device, the method further comprises the following steps: loosening the steel plate fastening screw, separating the steel plate and inserting the steel plate into the auxiliary device, and resetting the mechanical arm to the initial position.

Technical Field

The disclosure relates to the technical field of medical instruments, in particular to a steel plate insertion auxiliary device, an automatic steel plate insertion system and a control method.

Background

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

The general treatment process of fracture is to reduce the fractured bones first, and then fix the two or more fractured bones which are butted, the general method is to adopt a method of placing steel plates in an open way, different steel plates can be selected for different fractured bones, and the steel plates are also selected differently for the same fractured bone according to different approaches. For the LiSS steel plate, although the steel plate can be inserted through a small cut, the LiSS steel plate is difficult to be inserted into a proper position at one time, and repeated perspective determination is often needed.

With the development of robotics, computer technology and virtual simulation technology, robots are increasingly used for fracture treatment. The inventor finds that the robot can accurately place the steel plate at the optimal position, but has no small difficulty in the automatic implantation of the screw. In terms of a steel plate implanting device, the main difficulty lies in the contradiction between the clamping strength of a steel plate and the empty nail shielding, in order to enable the steel plate and a robot to have enough clamping strength, a place with a large enough steel plate needs to be clamped, but the empty nail shielding is increased along with the expansion of the clamping range of the steel plate. The screw can not be implanted with enough space, so that the implantation fails, the operation time is prolonged by multiple times of implantation, and the automatic implantation efficiency of the steel plate is reduced.

Disclosure of Invention

In order to solve the problems, the steel plate insertion auxiliary device, the steel plate automatic insertion system and the control method are provided, the steel plate insertion auxiliary device serving as a mechanical arm and a steel plate connecting intermediate piece is designed, and the device simultaneously solves the clamping strength problem and the empty nail shielding problem of the mechanical arm.

In order to achieve the purpose, the following technical scheme is adopted in the disclosure:

one or more embodiments provide a steel plate insertion assisting device, which comprises a plate body matched with the surface radian of a clamping part of a steel plate, wherein a mechanical arm tail end connecting part, one or more protrusions and a first fixing hole are arranged on the plate body, the protrusions are matched with grooves of the steel plate clamping part, the first fixing hole is used for realizing the fixed connection of the assisting device and the steel plate, and the mechanical arm tail end connecting part is fixedly connected with the tail end of a mechanical arm; the plate body is also provided with a through hole which is arranged at the position corresponding to the nail placing position where the steel plate is connected with the skeleton, and the inner diameter of the through hole is matched with the outer diameter of the sleeve.

One or more embodiments provide an automatic steel plate insertion system, which includes a main control terminal, a robot arm, a steel plate, and the above steel plate insertion assisting device, wherein the steel plate insertion assisting device is used to establish or break a fixed connection between the robot arm and the steel plate, and the main control terminal controls the robot arm to move so as to move the steel plate to a target position.

One or more embodiments provide an automatic steel plate insertion method including the steps of:

registering the mechanical arm, the navigation system and the image system to make the coordinate systems of the mechanical arm, the navigation system and the image system uniform;

mounting a steel plate insertion auxiliary device on the tail end of the mechanical arm, and fixedly connecting the steel plate insertion auxiliary device with a steel plate;

the steel plate is driven to move to a steel plate implantation point by the mechanical arm, and the real-time position of the steel plate is recorded;

planning a steel plate insertion track according to the target position and the real-time steel plate position;

controlling the mechanical arm to move according to the planned track, and inserting the steel plate to a target position according to the planned estimation;

the steel plate is fixed to the target object at the target position, and the steel plate is detached from the steel plate insertion assisting device.

Compared with the prior art, the beneficial effect of this disclosure is:

the steel plate insertion auxiliary device can realize rigid connection with a steel plate by arranging the structure matched with the steel plate clamping part, and meanwhile, the mechanical arm tail end connecting device is arranged, so that the auxiliary device can be connected with the tail end of the mechanical arm; the auxiliary device is connected with the skeleton at the steel sheet put the nail position set up with sleeve external diameter assorted through-hole, when adopting the sleeve installation, this kind of structure can find the lock nail central line more easily, can realize that the steel sheet inserts the accuracy of back steel sheet and skeleton fixed, can improve the flexibility of operation, this is supplementary as the intermediate junction spare between arm and the steel sheet, can reduce or remove because the size of steel sheet is to the restriction of centre gripping dynamics, conveniently put the nail simultaneously, for putting the nail set up sufficient space.

The steel plate insertion auxiliary device serves as a middleware to realize stable and reliable fixation of the mechanical arm and the steel plate, and under the guidance of a navigation system, the steel plate is accurately inserted by the aid of the mechanical arm through planning of steel plate insertion tracks without repeated perspective, so that the safety and the stability of operation are improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and not to limit the disclosure.

FIG. 1 is a schematic view of a part of the automatic steel plate insertion system according to embodiment 2 of the present disclosure;

fig. 2 is a front view of the steel plate insertion assisting device 3 of embodiment 1 of the present disclosure;

fig. 3 is a rear view of the steel plate insertion assisting device 3 of embodiment 1 of the present disclosure;

FIG. 4 is a schematic illustration of an example steel plate structure of embodiment 1 of the present disclosure;

FIG. 5 is a diagram showing the effect of the system of the embodiment 2 of the present disclosure before steel plate insertion;

FIG. 6 is a diagram of the display effect of the system of example 2 of the present disclosure after the steel plate is inserted;

wherein: 1. the mechanical arm comprises a mechanical arm tail end, 2 parts of a steel plate, 3 parts of a steel plate insertion auxiliary device, 3-1 parts of a plate body, 3-2 parts of a protrusion, 3-3 parts of a through hole, 3-4 parts of a first fixing hole.

The specific implementation mode is as follows:

the present disclosure is further described with reference to the following drawings and examples.

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, 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 disclosure belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments in the present disclosure may be combined with each other. The embodiments will be described in detail below with reference to the accompanying drawings.

Example 1

In the technical solutions disclosed in one or more embodiments, as shown in fig. 1 to 3, a steel plate insertion assisting device 3 includes a plate body 3-1 matched with the surface radian of a clamping portion of a steel plate 2, a mechanical arm end connecting portion, one or more protrusions 3-2 and first fixing holes 3-4 are arranged on the plate body 3-1, the protrusions 3-2 are matched with grooves of the clamping portion of the steel plate, the first fixing holes 3-4 are used for fixedly connecting the assisting device with the steel plate, and the mechanical arm end connecting portion is fixedly connected with a mechanical arm end 1; the plate body is also provided with a through hole 3-3, the through hole 3-3 is arranged at the position corresponding to the nail placing position where the steel plate 2 is connected with the skeleton, the diameter of the through hole 3-3 is larger than that of the nail hole at the nail placing position, and the inner diameter of the through hole 3-3 is matched with the outer diameter of the sleeve; wherein the sleeve is an installation tool for realizing the connection of the steel plate 2 and the bone and is matched with the size of the nail placed at the position.

The steel plate insertion auxiliary device of the embodiment can realize rigid connection with a steel plate by arranging a structure matched with the steel plate clamping part, and meanwhile, the mechanical arm tail end connecting device is arranged to realize connection of the auxiliary device and the mechanical arm tail end 1; the auxiliary device sets up the through-hole with sleeve external diameter assorted in the dorsal part of putting of steel sheet metaphysis position, can realize that the steel sheet inserts the fixed of back steel sheet and skeleton, can improve the operation accuracy, and this is supplementary as the intermediate junction spare between arm and the steel sheet, can reduce or relieve the restriction of the size of steel sheet to the centre gripping dynamics, conveniently puts the nail simultaneously, has set up sufficient space for putting the nail.

The structure of the steel plate for human bone fixation: the shape, size and the bending radian of the steel plate are different, in reality, in order to realize the consistency of operation, the steel plate for fixing the skeleton has a clamping part with the same structure, the clamping part at least comprises three depressions which are arranged according to a triangle, a screw hole 3-4 is arranged in the middle of each depression for fixing the steel plate and the auxiliary device, and the target object of the embodiment is the skeleton.

As shown in a structural diagram of a steel plate in fig. 4, the auxiliary device of this embodiment is suitable for a LiSS series steel plate, in which a wider metaphysis end has three recesses, connecting lines of the three recesses form a triangle, a screw hole for fixing with the steel plate is arranged at a position close to the middle of the three recesses, and for most of the LiSS series steel plates, the three recesses and the screw hole are identical in relative position, size and shape.

The size of the through hole 3-3 can be set according to actual use requirements, when the head of the fixing screw is an outer hexagon, the size of the through hole 3-3 needs to be larger than the outer diameter of the mounting sleeve, and when the head of the fixing screw is a crosshead, the size of the through hole is larger than the size of the head of the screw. The position of the through hole 3-3 corresponds to the position of the steel plate screw hole.

Alternatively, the first fixing holes 3-4 may be provided in one, and the first fixing holes 3-4 are provided at positions between the protrusions 3-2. The auxiliary device of the embodiment can be effectively fixed with the steel plate through the positioning of the three protrusions 3-2 and the fastening and fixing of the first fixing holes 3-4.

Optionally, the structure of the mechanical arm end connecting portion may be a connecting column 4, and may be set to be in the shape of a cone, a polyhedron or the like with two ends of different sizes, and the smaller end face of the mechanical arm end connecting portion is fixedly connected with one end of the plate body 3-1.

Optionally, the included angle between the connecting column 4 and the surface of the plate body 3-1 on the side where the through hole 3-3 is disposed may be an obtuse angle, and preferably, may be set to 135 degrees.

The auxiliary device of the setting of this embodiment is as the middleware, and the size only covers the clamping part of steel sheet, and the shape phase-match of the clamping part of structural shape and steel sheet has extensive suitability, is applicable to the steel sheet that has this clamping part.

Example 2

The embodiment provides an automatic steel plate inserting system, which can be used in a bone fixation operation and comprises a main control terminal, a mechanical arm, a steel plate and the steel plate inserting auxiliary device 3 in the embodiment 1, wherein the steel plate inserting auxiliary device 3 is used for establishing or disconnecting the fixed connection between the mechanical arm and the steel plate, and the main control terminal controls the mechanical arm to move so as to move the steel plate to a target position.

The main control terminal comprises a main control module, a navigation system and an image system, wherein the navigation system is used for moving the tail end of the mechanical arm to a target position according to a control instruction output by the main control module; the image system is used for acquiring the image information of a work site; and the main control module processes the acquired image information to obtain a corresponding control instruction. If the work site is a bone fixation operation, the image information of the work site is used for determining the position of the broken bone and the real-time position of the steel plate.

In order to realize the real-time demonstration of the operation process, the device also comprises a display device, wherein the display device is in communication connection with the main control module and is used for visually displaying the action process of the operation.

The embodiment also provides an automatic steel plate inserting method, which comprises the following steps:

step 1, registering a mechanical arm, a navigation system and an image system to enable coordinate systems of the mechanical arm, the navigation system and the image system to be uniform;

step 2, installing a steel plate insertion auxiliary device 3 on the tail end 1 of the mechanical arm, and fixedly connecting the steel plate insertion auxiliary device 3 with a steel plate;

specifically, a groove of a steel plate clamping part is aligned with a protrusion 3-2, and a steel plate insertion auxiliary device 3 is screwed into a fixing screw through a first fixing hole 3-4 to be fixedly connected with a steel plate; the steel plate is inserted into the auxiliary device 3 and is fixedly connected with the tail end of the mechanical arm through the connecting column 4.

Step 3, driving the mechanical arm to move the steel plate to a steel plate implantation point, and recording the real-time position of the steel plate;

in the step, because the installation position of the steel plate is unique, the coordinate of any point on the steel plate in a mechanical arm coordinate system can be obtained;

step 4, planning a steel plate insertion track according to the target position and the real-time steel plate position;

step 5, controlling the mechanical arm to move according to the planned track, and inserting the steel plate to a target position according to the planned estimation;

optionally, inputting trajectory planning data into the mechanical arm to automatically complete accurate insertion of the steel plate; and the steel plate clamping mechanical arm can be remotely operated to complete the insertion of the steel plate.

And 6, fixing the steel plate with the target object at the target position, and detaching the steel plate from the steel plate insertion auxiliary device 3.

In a steel plate inserting system after a fracture reduction operation, a target object at a target position is a broken bone, and after the steel plate is inserted, a locking screw is driven into the bone through a screw hole according to the position of the screw hole in the steel plate, so that the fixation between the steel plate and the bone is completed.

Further, step 6 is followed by a step of restoring the apparatus, loosening the steel plate fastening screws, separating the steel plate and the steel plate insertion assisting device 3, and returning the robot arm to the initial position.

Further, the method also comprises the step of visual display:

step 41, acquiring a virtual model of a target object at a target position and a virtual model of a steel plate;

the target object of the present embodiment is a fractured bone, and as shown in fig. 5 and 6, a display effect diagram of a display interface showing the shape of the fractured bone and the shape and structure of the steel plate is shown. Fig. 5 shows the initial position, and fig. 6 shows the position after the steel plate is automatically inserted.

Step 42, arranging the target object at the corresponding coordinate of the target position; and updating the position of the steel plate in the display interface in real time according to the position of the steel plate acquired in real time until the steel plate is moved to the target position.

The visual display can improve the operation intuitiveness, and can timely stop or correct the error operation in the automatic execution process, thereby improving the operation safety.

The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.

Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.