WO2012102685A1 - Computer-assisted position identification and management method and apparatus with perpendicular edge geometric arrangement - Google Patents
Computer-assisted position identification and management method and apparatus with perpendicular edge geometric arrangement Download PDFInfo
- Publication number
- WO2012102685A1 WO2012102685A1 PCT/TR2011/000034 TR2011000034W WO2012102685A1 WO 2012102685 A1 WO2012102685 A1 WO 2012102685A1 TR 2011000034 W TR2011000034 W TR 2011000034W WO 2012102685 A1 WO2012102685 A1 WO 2012102685A1
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- WIPO (PCT)
- Prior art keywords
- arms
- platform
- motion
- image
- software
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/60—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like for external osteosynthesis, e.g. distractors, contractors
- A61B17/62—Ring frames, i.e. devices extending around the bones to be positioned
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Processing Or Creating Images (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The invention is the perpendicular edge platform technique and it relates to arrangement and motion of arms (20, 40) on the perpendicular edged geometric line (D) with the help of a range of main arms (20) between two plates (10, 30) and a range of auxiliary arms (40) or apparatus.
Description
DESCRIPTION
COMPUTER-ASSISTED POSITION IDENTIFICATION AND MANAGEMENT METHOD AND APPARATUS WITH PERPENDICULAR EDGE GEOMETRIC ARRANGEMENT
The Related Art
The invention relates to a mechanism providing usage of two plates having various shapes (circular, diagonal or unshaped) in relation with each other or two planes or surfaces in relation with each other via their collective or independent movements.
The invention particularly relates to an external locating mechanism for use in robotic technologies, medical technologies, weapon industry, and construction industry etc. all kinds of industrial branches with its rotating, angle forming, extending, shortening, displacement in horizontal axis etc. motions and functions in 3 dimensions and 6 axes via performing more numbers of the same function without being restricted to two pieces when simultaneous usage is needed at the same time in the additional piece or plane and in this way providing management of the motion of another piece or system with the control achieved with this motion.
The Prior Art
Hexagonally (HEXAPOD) arranged spatiajjattj.ee systems developed in 1950's for opening and closing manhole covers are used in weapon and robot technologies and then this technique has started to be used in the medical sector. Various robotic systems are produced and used with this technique used in medicine. At the same time, this technique has to be used in the orthopaedics sector in 1990's. With the technique used, it is aimed to perform correction operations in 6 axes and 3 dimensions and assistance of computer has been necessary in order to perform the required operations for achieving this purpose. Since hexagonally arranged spatial lattice systems are used for 3-dimensional operations, their operation functions and principles are also 3-dimensional. While moving, the system also moves in 3 dimensions. Correspondingly, it is not possible to perform usage without computer and software since the 3-dimensional calculations used in the bone treatment, wherein only 2-dimensional imaging is available, is complex and difficult and the
arrangement and functions of the systems operating with this technique require 3- dimensional mathematical operations. This¾situation has necessitated usage of the technique with computer.
As a result, transferring data from 2 dimensions for 3-dimensional operation and function necessitates software in hexagonally arranged lattice systems and requires repetition of operations. Moreover, when hexagonal arms are arranged in an angled manner and the arms are angled lower than 30° in order to perform the desired motion, load bearing capacity goes above the risk limits and loses its bearing safety. Again due to the triangular arrangement of the arms, it causes application difficulty at the internal parts of the arms. Because, use of this technique necessitates triangular arrangement due to 3 points principle. In the.tnangular arrangement, the distance of the arms controlling the motions are extended and therefore motion sensitivity increases. Since there is no perpendicular edge geometry in arrangement of the eight-leg arrangement systems, they can not be standardized with a geometric formulation and correspondingly they can. operate in restricted areas with restricted motions. In the eight-leg arrangement without perpendicular edges, the legs form line with different angles. In this case, due to the difficulty of formulation, narrowing takes place based on motion in the platform because of the positions of the legs.
Purpose of the Invention
The purpose of the invention is to determinelhe change of form through the image in order to determine the change of form occurred in a geometrical shape previously defined in the software and calculate the amount and position of the determined change.
Another purpose of the invention is. to, m.akje..th§ measurements and calculations to determine the movement direction and amount of the mechanism in order to provide movement of a motion mechanism according to a defined geometry by identifying the position and shape of the mechanism through the image and bring it into the defined shape.
Another purpose of the invention is to perform the desired correction by providing movement of the platform in 6 axes via arrangement of the connection arms of the platform on the perpendicular edge geometry, wherein the platform is formed of the connection arms between the plates forming the correction mechanism to be used in converting the defined geometrical shape into the desired shape.
The purpose of the invention is to enable motion in 6 axes by supporting a range of main arms between the plates with auxiliary^arms. A purpose of the invention is to move the two plates or two or more numbers of plates connected to each other linearly and circularly in 3 dimensions (x, y, and z axes). 3-dimensional motion is performed in 6 axes, which are the x, y, and z axes in ± directions. Another purpose of the invention is to use standard software by standardization of the formula and calculations via a symmetrical geometric arrangement.
Another purpose of the invention is to eliminate conflict of dimension during data in using 2-dimensional image data in 3 dimensions and thus prevent loss of data.
Another purpose of the invention is to perform 3-dimensional operation with 2- dimensional motion mechanism. Dependency on software is eliminated by 3- dimensional operation which can be obtained from 2-dimensional motion. Another purpose of the invention is to eliminate sensitivity from occurring in the complete system due to having low number of angled arms and the, shortness of the angled arms because of the arrangement and as a result eliminate the margin of error. Another purpose of the invention is to form a larger field of application for formal use thanks to the arrangement. The purpose is to provide a light and quick system.
Another purpose of the invention is to eliminate measurement related errors via the software used in measurements and thus obtain error-free results from the operation.
Usage becomes easier, speed of application increases, and margin decreases thanks to this software.
Another purpose of the invention is to eliminate the necessary for circular plate form. In this way, the purpose is to form a wider area of usage.
Another purpose of the invention is to eliminate the locking possibility of the system during motion thanks to the design enabling rotation of the arms around their own axes.
The invention is the perpendicular edge platform method in order to eliminate the above said drawbacks and it relates to arrangement and motion of arms (20, 40) on the perpendicular edged geometric line (D) with the help of a range of main arms (20) between two plates (10, 30) and a range of auxiliary arms (40) or apparatus. The structural and characteristic features o the invention and all advantages will be understood better in detailed descriptions with the figures given below and with reference to the figures, and therefore, the assessment should be made taking into account the said figures and detailed explanations. Description of the Figures
Figure 1 is the front perspective view of the platform of the invention, wherein the main arms are in mounted position.
Figure 2 is the front perspective view of the platform of the invention, wherein 2 auxiliary arms are in mounted position.
Figure 3 is the front perspective view of ? hej)latform of the invention, wherein 4 auxiliary arms are in mounted position.
Figure 4 is the figure showing the motion of the platform in -x and -y axes.
Figure 5 is the figure showing the motion of the platform in +x and -y axes.
Figure 6 is the figure showing the motion of the platform in -y axis.
Figure 7 is the figure showing the rotating motion of the platform around y axis.
Figure 8 is the figure showing the rotating motion of the platform around y axis in the opposite direction.
Figure 9 is the figure showing the motion of the locating platform in -z axis.
Figure 10 is the figure showing the motion of the platform in +x and +z axes.
Figure 1 1 is the figure showing arrangement of the mechanism arms of the invention on the perpendicular edge.
Figure 12 is the perspective view of the connectors of the invention.
Figure 13 is the general perspective view of the arm of the invention.
Reference Numbers
Detailed Description of the Invention
The invention is the method of placement of a range of vertical arms (20) between a range of plates (10, 30) vertically in accordance with the perpendicular edge geometric arrangement and providing motion of the vertical arms (20) on the perpendicular edge line (D) by connection of the angle forming arms (40), which are in the form of auxiliary arm etc. other connectors, between the vertical arms (20) and the lower plate (30) via the arm connector (22), and relates a locating mechanism (1 ) to be used for this method (Figures 1 , 2, 3, \A).
The invention is a mechanism (1 ) having the property of a motion platform operating via the motions of a range of vertical arms (20), which are principally 4 arms (figure 1 ) placed on the circular or diagonal plates (10, 30), on the perpendicular edge motion plane (D) principally with perpendicular edge geometric arrangement and it comprises various apparatus forming the mechanism (1 ).
Again the invention provides transferring of images in various formats onto the computer screen and then using of image processing method on the image found on the screen, and thus provides identification of the target image found on the picture via software according to the purpose of usage.
Again the invention uses software, which calculates the displacement required for bringing the object(s) into the desired position after marking of the object or objects on the image found on the screen, provides the required position calculation and the required data for control of the mechanism (1 ) in order to enable the mechanism (1 ) perform this displacement, and determines the route map of the platform for the target position.
In the above said perpendicular edge technique; a vertical line (D) is formed on a lower plate (30) by the contact points (31 , 31 1 ) of the said arms (20, 40) as shown in Figure 1 1 . All the arms (20, 40) are on the lines (D) which are perpendicular to each other. The connection points (31) of the yer jcal. arm (20) and the connection points (31 1) of the angled arms (40) both form perpendicular lines (D). Therefore, this technique is called the perpendicular edge technique.
The said invention is a system, which analyzes the formal difference between the geometrical forms defined by the software and the present image of the mechanism (1 ) by using the position determination and calculation software, and which plans the formal changes that has to be made on the platform for the required correction operations.
As it would be seen in Figures 4, 5, 6, 7, 8, 9, and 10; not only various arm (20, 40) designs can be used in order to providej oth linear and circular motion of the arms (20, 40) in 3 dimensions and 6 axes (± x,y,z), but also universal joints (hinges) (21 ,
23, 41 , 43) are connected at the arm (20, 40) ends in order to provide a wider motion opportunity (Figures 3 and 14). In order to prevent involuntary locking of the arms (20, 40) during the process, no piece is used on the arm (20, 40) for reading marks and axial motion of the grooved bar found inside the arm (20, 40) is enabled. An obstacle, which would prevent rotation of the arm connector (23) connected on the arms (20, 40), is formed for the additional arm or the apparatus to be used for providing horizontal motion to the arms (20, 40). In order to prevent involuntary locking of the arms (20, 40) during the process, no piece is used on the arm (20, 40) for reading marks and thus the axial motion of the grooved bar (24, 44) found inside the arm (20, 40) is enabled and the observation opening (25, 45) of the grooved bar (24, 44) is facilitated for reading marks. These openings (25, 45) are placed on the arms (20, 40) considering that the user would have to make observation from different angles (Figures 12, 13). An obstacle (42) is formed for the additional arms or the apparatus, which are to be used for providing horizontal motion to the arms (20, 40), in a way/type that it would prevent rotation of the middle joint (22) connected on the arms (20, 40) (Figure 1 1).
In Figure 14, the components and connectio^components (12) forming the joints (21 , 41 , 43) used in connecting the arms (20,~40) and the plates (10, 30) with each other. With the double-edged arm fitting screw (a) found among these, it is possible to connect the mechanism (1 ) within itself when more than one plates (10, 30) are required to be used on top of each other. With the arm holder piece (b, c), it is ensured to make connection of the angled^arms (40), which are used for providing horizontal motions (± x) of the arms (20, 40) used for connection of the plates (10, 30), with the convenient angle in accordance with the perpendicular edge arrangement. ,
Holes (1 1 ) are positioned on the plates (10, 30) given in Figure 1 as the connection points where the arms (20, 40) would be connected in a way that is convenient with the perpendicular edge method.
Depending on the durability requirements, when additional arms are required to be used in order to provide horizontal motion ± x in the arms (20, 40) found between the plates (10, 30), linear and circular motion san be obtained in 3 dimensions and 6
axes (± x,y,z) on the perpendicular edge plane with the angled arms (40) which would be used crosswise (Figure 4, 5, 6, 7, 8, 9, and 10). Again depending on the durability requirements, a range of additional arms (40) can be used with the same purpose. In case of using apparatus on the arm (20, 40), which would protect the form and at the same time provide horizontal motion (± x) to the arms (20, 40), the joints (21 , 22, 41) have locking properties. In these cases, there is no need for using additional angled arms (40). In Figure 7, a rotation with the centre of y axis is given. In Figure 8, a rotating motion is given, which is opposite to the one given in Figure 7 with the centre of y axis.
When it is required to use additional angled arm(s) (40) in the arrangement (D) convenient to perpendicular edge method, the motions of the arms (20, 40) are performed by providing the arrangement which would move on the straight line (D) between the vertical arms (20) in accordance with the geometric arrangement. Therefore, one of the ends of each of the auxiliary arms (40) are connected to the connection hole (311) found on the lower plate (30) having the straight line (D) form between the vertical arms (20), while the other ends are connected to the vertical arms (20). This connection operation of the angled arms (40) is performed by joints (22, 41).
With the software; markings are made, which would define the target object found on the image on the screen and the size and position of the platform in relation with the object. With these markings, the software identifies the target object and the size and position of the platform (1) and compares the .geometry of the object with the defined geometry, and if there is difference between them, then it finds and calculates the difference. Afterwards, it makes the planning which would manage the position of the platform (1) for the required changes for correcting the difference. It plans the amount, order, and time of the motion on the arms in order to perform the motion of the platform (1). And the geometrical deformity is eliminated by application of these data on the platform (1).
Operation steps of the software used in automation usage of the said platform (1) are as follows;
• Determination of the image of the target object (by photographing etc. methods),
• Loading and thus introduction of the image (photograph format) to the software,
• On the image, marking of the region, on which the analysis of geometric change will be made on the software screen,
• Marking the image in order to determine the position and size of the platform,
• Calculation of the amount anckposition of geometric deformation on the object,
• Calculation of the amount of deformation to be corrected with the platform,
• Calculation of the amount of movement to be made on the platform for the changes which would correct the deformation,
• Calculation of the amount, order, and time of the motion in the arms for the required amount of motion in the platform, and
• Performing of the correction operation by application of the obtained motion plan.
Way of Application of the Invention in the Industry:
The invention is used in treatment of bone disorders especially in the medical sector as the corrector mechanism (1) for singular or multiple use, and it is used in robotic technologies together with robotic motion mechanism (1) and software again starting from the medical sector, weapon, machine industries, and all other branches of the industry in all kinds of mechanisms providing linear and circular motion in 6 axes (x, y, z) and 3 dimensions with the help of the arms (20, 40) found between two or more plates (10, 30).
Claims
1 - The invention is the perpendicular edge, platform technique and it is characterized in that; it comprises arrangement and motion of arms (20, 40) on the perpendicular edged geometric line (D) with the help of a range of main arms (20) between two plates (10, 30) and a range of auxiliary arms (40) or apparatus (Figures 1 , 2, 3, 4, and 5).
2- The invention is motion platform, and it is characterized in that; it is the platform (1) according to the perpendicular edge platform technique of Claim 1 and it comprises two plates (10, 30) and arms (20, 40) connected between them (Figures 1 , 2, 3, 4, and 5).
3- A way/type of connection of auxiliary arm (40) or apparatus according to Claim 1 and it is characterized in that; the auxiliary arm (40) or the apparatus are connected to the main arm (20) body through the pre-determined connection points (311 ), which are found on the line (D) on which the plane formed by two adjacent main arms (20) and the plate (10, 30) intersect with each other (Figure 2).
4- A leg arrangement geometry according to Claim 1 and it is characterized in that; it comprises all of the vertical angle geometric arrangements (Figures 1 , 2, and 1 1 ).
5- A motion line according to Claim 1 and -Claim 4 and it is characterized in that; it comprises motion of the platform arms (20, 40) on vertical lines in all vertical angle geometrical arrangements (Figures 1 , 1 1 ).
6- A platform function according to Claim, 1 and Claim 2 and it is characterized in that; it comprises motion of the platform (1 ) in 3 dimensions and 6 axes according to the technique of Claim 1 (Figures 6, 7 ;8, 9, 10, and 1 1).
7- A motion platform (1 ) according to Claim 2 and it is characterized in that; visually detectable motions of the legs can be used manually with or without computer software.
8- The invention is an image processing method and it is characterized in that; via transfer of two or three dimensional images to the computer screen and marking of the target object on the display screen, its shape, dimensions, and position is three dimensionally defined with the help of computer.
9- The invention is calculation software arid it is characterized in that; it comprises computer-assisted calculation software, which would calculate the required displacement in order to bring the objects, positions of which had been previously determined with the image processing method of Claim 8, to the defined position, and which would control the platform or the apparatus to perform this displacement.
10- An image identification method according to Claim 8 and it is characterized in that; the marking which would determine the coordinates identifying the target object and its position on the image is formed by drawing of lines on the image. 11- An image identification method according to Claim 8 and it is characterized in that; the marking which would determine the coordinates identifying the target object and its position on the image is formed by placement of dots on the image.
12- An image identification method according to Claim 8 and it is characterized in that; with the platform (1 ) described in Claim 2, relative positions of the objects connected to the platform (1 ) are determined through the image.
13- An image identification method according to Claim 8 and it is characterized in that; when the image loaded to the software for position determination is in the reverse direction, it rotates the image into the correct direction with a single button.
14- An image identification method according to Claim 8 and it is characterized in that; according to the measurements made on the image, the deformation of the measured object according to the defined geometry is numerically shown on the screen.
15- A computer-assisted calculation method according to Claim 9 and it is characterized in that; it calculates the difference between the desired position and position defined with the image identification method of Claim 2 and performs the required calculatioa for^ringLng the platform (1 ) described in Claim 2 into the desired position through web with the assistance of computer.
16- A Computer-assisted usage software according to Claim 9 and it is characterized in that; the sizes of the platform (1 ) to be fitted, the places at which the platform
(1 ) would be connected with the target objects, and the place where the cutting would be made on the target object are determined on the images before the operation and all of the operations to be made are animated on the screen.
17- The platform plates (10, 30) according to Claim 2 and it is characterized in that; the places of the connection points at which the vertical and auxiliary arms (20, 40) would be placed on it are determined with regard to the dimensions determined according to the need as described in the technique according to Claim 1.
18- The software according to Claim 9 and it is characterized in that; in order to bring the shape of the platform (1 ) or the present position of the connected object into the target position, the extending and shortening amount of the arms (20, 40) operating the platform (1 ) and the order and time of motion of the arms (20, 40) are determined due to the calculations of the software according to Claim 9.
19- A locking method according to Claim 2 and it is characterized in that; considering the arms (20, 40) providing motion of the platform (1), all of the arms (20, 40) are locked by being controlled by the calculation software described in Claim 9 or by not causing any displacement in the apparatus by extending or shortening of it relatively in the same amount during manual usage.
20- The platform arms (20, 40) according to Claim 2 and it is characterized in that; the arms (20, 40) found on the platform (1 ) can rotate around their own axes at the points where they are connected to the plate (10, 30).
21 - The platform arms (20, 40) according to Claim 2 and it is characterized in that; the area where the angled arms (40) would be connected to the vertical arms
(20) is the connection area preventing rotation of the apparatus providing motion in horizontal axis or the holder while they are connected with the arms.
22- The connector (23) according to Claim _2 and it is characterized in that; it comprises inner structure preventing rotation, screw improving connection safety after being connected, and the female grooved connection end (41 ) of the arm (40) to be connected in an angled manner.
23- The motion platform according to Claim 2 and it is characterized in that; it connects the arms (20, 40) together ar$.pn top of each other without deforming the arrangement in order to provide collective operation of more than two plates (10, 30) by being connected to each other.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TR2012/01064T TR201201064T1 (en) | 2011-01-28 | 2011-01-28 | Computer aided position identification and management methods and apparatus with perpendicular geometric alignment. |
| PCT/TR2011/000034 WO2012102685A1 (en) | 2011-01-28 | 2011-01-28 | Computer-assisted position identification and management method and apparatus with perpendicular edge geometric arrangement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/TR2011/000034 WO2012102685A1 (en) | 2011-01-28 | 2011-01-28 | Computer-assisted position identification and management method and apparatus with perpendicular edge geometric arrangement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2012102685A1 true WO2012102685A1 (en) | 2012-08-02 |
Family
ID=44140846
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/TR2011/000034 WO2012102685A1 (en) | 2011-01-28 | 2011-01-28 | Computer-assisted position identification and management method and apparatus with perpendicular edge geometric arrangement |
Country Status (2)
| Country | Link |
|---|---|
| TR (1) | TR201201064T1 (en) |
| WO (1) | WO2012102685A1 (en) |
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| EP2700370A3 (en) * | 2012-08-23 | 2014-05-14 | Stryker Trauma SA | Bone transport external fixation frame |
| US8834467B2 (en) | 2010-08-11 | 2014-09-16 | Stryker Trauma Sa | External fixator system |
| US8858555B2 (en) | 2009-10-05 | 2014-10-14 | Stryker Trauma Sa | Dynamic external fixator and methods for use |
| US8945128B2 (en) | 2010-08-11 | 2015-02-03 | Stryker Trauma Sa | External fixator system |
| CN104915498A (en) * | 2015-06-08 | 2015-09-16 | 广东工业大学 | Model identification and equivalent simplification based high-speed platform motion parameter self-adjusting method |
| WO2016159901A1 (en) * | 2015-04-03 | 2016-10-06 | Akcali Ibrahim Deniz | Lambda fixator |
| US9936975B2 (en) | 2014-09-09 | 2018-04-10 | Integra Lifesciences Corporation | External fixation system |
| EP3354214A1 (en) * | 2017-01-30 | 2018-08-01 | Stryker European Holdings I, LLC | Strut attachments for external fixation frame |
| CN109771020A (en) * | 2019-02-11 | 2019-05-21 | 北京工业大学 | A kind of three bar parallel connection external fixators for shin bone malformation correction |
| EP3416583A4 (en) * | 2016-02-17 | 2019-10-16 | Rowan University | Robotic systems and methods for minimally invasive orthopedic surgeries |
| CN111481280A (en) * | 2020-04-22 | 2020-08-04 | 北京工业大学 | Y-shaped branched chain external fixator for correcting long bone deformity |
| US11141196B2 (en) | 2010-08-11 | 2021-10-12 | Stryker European Operations Holdings Llc | External fixator system |
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| US20030191466A1 (en) * | 2002-04-05 | 2003-10-09 | Ed Austin | Orthopaedic fixation method and device |
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| US8858555B2 (en) | 2009-10-05 | 2014-10-14 | Stryker Trauma Sa | Dynamic external fixator and methods for use |
| US8906020B2 (en) | 2009-10-05 | 2014-12-09 | Stryker Trauma Sa | Dynamic external fixator and methods for use |
| US10285734B2 (en) | 2010-08-11 | 2019-05-14 | Stryker European Holdings I, Llc | External fixator system |
| US8834467B2 (en) | 2010-08-11 | 2014-09-16 | Stryker Trauma Sa | External fixator system |
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| US10405888B2 (en) | 2012-08-23 | 2019-09-10 | Stryker European Holdings I, Llc | Bone transport external fixation frame |
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| EP2700370A3 (en) * | 2012-08-23 | 2014-05-14 | Stryker Trauma SA | Bone transport external fixation frame |
| US9101398B2 (en) | 2012-08-23 | 2015-08-11 | Stryker Trauma Sa | Bone transport external fixation frame |
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