CN103462674A - Detachable long bone reduction robot - Google Patents
Detachable long bone reduction robot Download PDFInfo
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- CN103462674A CN103462674A CN2013104245342A CN201310424534A CN103462674A CN 103462674 A CN103462674 A CN 103462674A CN 2013104245342 A CN2013104245342 A CN 2013104245342A CN 201310424534 A CN201310424534 A CN 201310424534A CN 103462674 A CN103462674 A CN 103462674A
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- curved rod
- annular platform
- draw point
- fixed
- resetting
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- 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
Abstract
The invention discloses a detachable long bone reduction robot. The detachable long bone reduction robot comprises a fixing mechanism and a reduction mechanism which are connected with or separated from each other, wherein the fixing mechanism comprises two groups of same fixing units which are connected with or separated from each other via two same connecting plates (1); the reduction mechanism is provided with a small annular platform (11), a large annular platform (12), twelve universal hinges (13) and six driving rods (14); the small annular platform (11) is connected with a bottom plate (2) and the universal hinges (13); the universal hinges (13) are connected with the driving rods (14); the universal hinges (13) are connected with the large annular platform (12); the large annular platform (12) is connected with the bottom plate (2). Due to the adoption of a parallel mechanism of six degrees of freedom, the detachable long bone reduction robot has the advantages of high accuracy, high loading capacity, high rigidity, compact structure and the like; the detachable long bone reduction robot is applied to long bone fracture reduction, is used for replacing doctor operation, and contributes to increasing the reduction accuracy, reducing operation wounds and lowering the probability of operative infection.
Description
Technical field
The present invention relates to technical field of medical instruments, relate in particular to a kind of dismountable resetting long bone robot.
Background technology
Traditional long bone fracture repositioning method is under the direct-view environment, the doctor relies on doctor's experience and skill open reduction, this therapeutic modality makes closed fracture become artificially open fracture, increased the chance infected, in operative process, easily destroy blood fortune, cause the fracture end necrotic area to increase, cause slow healing and disunion.Also there are the problems such as operation time is long, working doctor intensity is high, easy malreduction in this repositioning method.The intramedullary pin got up for development in recent years and Wicresoft's steel plate technique for fixing, although solved the problem that open surgery causes, owing to needing constantly to carry out the X-ray irradiation in art, larger to doctor and patient's X-ray radiation quantity X.Utilize the robot assisted reduction of the fracture to make these problems be able to effective solution.In current research, the Gramham A.E. of Auckland, NZL university discloses the fracture of shaft of femur resetting system in document " Design of a Parallel Long Bone Fracture Reduction Robot with Planning Treatment Tool ", has adopted parallel institution as the actuator resetted.The TerryK.K.Koo of USA New York Chiropractic university discloses a kind of serial mechanism for the six degree of freedom that resets in document " Development and validation of a new approach for computer ?aided long bone fracture reduction using unilateral external fixator ".The patent of China, as " fracture reposition instrument (20081005456.3) ", " limb fracture reduction device (200810018060.0) " etc., all belongs to this type of research.The current major part of achievement in research both domestic and external also exists mechanism's underaction, function singleness, does not meet the problems such as doctor's operating habit.
Summary of the invention
The present invention has overcome shortcoming of the prior art, has proposed a kind of dismountable resetting long bone robot, realizes that utilizing robot to carry out long bone fracture resets.
The object of the present invention is achieved like this:
A kind of dismountable resetting long bone robot, it comprises fixed mechanism and resetting-mechanism, the two can interconnect or split.Described fixed mechanism comprises two groups of identical fixed cells, and they connect or split by 2 identical connecting plates 1; Connecting plate 1 be a kind of two ends each with two screwed holes, side, with the strip structure of draw-in groove, is connected with base plate 2 by bolt; This fixed cell is provided with 4,2 of 3,4 slide bars of 2,4 squares of base plate or a plurality of curved rod assembly (containing curved rod seat 7 and catch 8), 2 or a plurality of curved rod 5,2 covers or overlaps snap close (containing draw point terminal 9 and curved rod terminal 10) and 2 or a plurality of draw point 6 more, relation is therebetween: square 3 is fixed on base plate 2, slide bar 4 is fixed on square 3, the curved rod assembly is connected with slide bar 4, curved rod 5 is fixed on the curved rod seat 7 of curved rod assembly, snap close is connected with curved rod 5, and draw point 6 is connected with snap close; This base plate 2 is a kind of rectangular plate-like structures, and end is with thin flight, and side is threaded hole, for other structure of fixing fixed cell and be connected with resetting-mechanism or split by plain bolt; This square 3 is the block structures with two circular holes, for connecting bottom board 2 and slide bar 4; This slide bar 4 is common round bars, for connecting square 3 and curved rod assembly; This curved rod 5 is common round bars of an a kind of end bending, for connecting bending link assembly and snap close; This draw point 6 is the screwed draw points of an a kind of end, for fixing suffering limb; This curved rod assembly is provided with curved rod seat 7 and catch 8, and both are bolted; This curved rod seat 7 block structure with two semicircle grooves that is a kind of tops with a circular hole, side with two circular holes, opposite side face, for connecting bending connecting rod 5 and slide bar 4; This catch 8 block structure with two semicircle grooves that is a kind of sides with two screwed holes, another side, for by plain bolt fixed bend connecting rod base 7; This snap close is provided with draw point terminal 9 and curved rod terminal 10, and draw point terminal 9 is connected with the curved rod terminal by plain bolt; This draw point terminal 9 is a kind of block structures with two circular holes, for connecting draw point 6, and by plain bolt connecting bending connecting rod terminal 10; This curved rod terminal 10 is a kind of block structures with a circular hole and a screwed hole, for by circular hole connecting bending connecting rod 5, by screwed hole and plain bolt, connects draw point terminal 9.
Described resetting-mechanism is provided with little annular platform 11, large 12,12 universal hinges 13 of annular platform and 6 drive rods 14, relation is therebetween: little annular platform 11 is connected with universal hinge 13 with base plate 2, universal hinge 13 is connected with drive rod 14, universal hinge 13 is connected with large annular platform 12, and large annular platform 12 is connected with base plate 2; This little annular platform 11 is the circulus of an end with T shape plate, for the Motion Transmission of resetting-mechanism is arrived to fixed mechanism, this large annular platform 12 is the circulus of an end with T shape plate, for the Motion Transmission of resetting-mechanism is arrived to fixed mechanism, this universal hinge 13 is the common universal hinges of choosing as required, for connecting little annular platform 11, large annular platform 12, and provides the rotation of both direction, this drive rod 14 is the connecting rods of choosing as required that can stretch, and for driven Parallel Kinematic Manipulator, moves.
Compared with prior art, the invention has the beneficial effects as follows:
1. reset for long bone fracture, replace doctor's operation, improve reseting precision, reduce operation wound, reduce the postoperative infection chance;
2. resetting-mechanism adopts the parallel institution of 6DOF, has the advantages such as precision is high, load capacity is large, rigidity is large, compact conformation;
3. fixed mechanism adopts fixedly suffering limb of serial mechanism, solid and reliable, little to patient's wound;
4. fixed mechanism and resetting-mechanism adopt detachable mounting means, and fixed mechanism is placed in the resetting-mechanism outside, easy installation and removal, are convenient to doctor's operation.
The accompanying drawing explanation
Fig. 1 is dismountable resetting long bone robot overall diagram
Fig. 2 is dismountable resetting long bone robot side view
Fig. 3 is the reposition machine composition
Fig. 4 is the fixing machine composition
Fig. 5 is fixed mechanism part component drawings
Fig. 6 is fixed mechanism part components side view
Fig. 7 is connecting plate figure
Fig. 8 is the curved rod component drawings
Fig. 9 is universal hinge component figure
In figure: 1, connecting plate, 2, base plate, 3, square, 4, slide bar, 5, curved rod, 6, draw point, 7, the curved rod seat, 8, catch, 9, the draw point terminal, 10, the curved rod terminal, 11, little annular platform, 12, large annular platform, 13, universal hinge, 14, drive rod.
The specific embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is described further.
Population structure of the present invention as shown in Figures 1 to 9.
A kind of dismountable resetting long bone robot, be comprised of fixed mechanism and resetting-mechanism, and the two can connect or split, during connection, fixed mechanism is positioned over to the resetting-mechanism top, and the top of resetting-mechanism is positioned at the U-lag of fixed mechanism, and both sides contact with the catch of fixed mechanism.Make the two tight connection in screwed hole with plain bolt screw-in fixed mechanism side.During fractionation, by the plain bolt opposite spin, fixed mechanism and resetting-mechanism are broken away from.The fixed cell of fixed mechanism can connect or split, and during connection, two connecting plates 1 is embedded respectively to the end face of two fixed cells, in the screwed hole with plain bolt screw-in connecting plate 1, makes the two tight connection.During fractionation, by the plain bolt opposite spin, fixed cell is separated with connecting plate 1.Curved rod seat 7 in the curved rod assembly can be connected or split by plain bolt with catch 8, and the curved rod assembly can move axially along slide bar 4, and after screwing plain bolt, the relative position of curved rod assembly and slide bar 4 is fixed.Snap close is comprised of draw point terminal 9 and curved rod terminal 10, circular hole by them is connected with draw point 6 and curved rod 5 respectively, with plain bolt through the circular hole of draw point terminal 9 and screw in the screwed hole of curved rod terminal 10, draw point terminal 9 can rotate around bolt with curved rod terminal 10, screw bolt after draw point 6 with curved rod 5 relative positions, be fixed.The drive rod 14 of resetting-mechanism can be driven by motor or other power set, along its axial stretching, by universal hinge 13, with little annular platform 11, with large annular platform 12, is connected, and universal hinge 13 has two rotary freedoms.
The present invention carries out work in the following manner: the curved rod assembly is fixed on the slide bar 4 of base plate 2, by connecting plate 1, two base plates, 2 use plain bolts is fixed.Far-end and near-end at the fracture long bone screw in respectively two pieces or many pieces of draw points 6, by draw point terminal 9, curved rod terminal 10 and plain bolt, draw point 6 are fixed in to the curved rod assembly, carry out the preoperative works for the treatment of such as CT scan.While carrying out the robot reset operation, two base plates 2 are connected by plain bolt with large annular platform 12 with little annular platform 11 respectively, remove connecting plate 1, adopt the motor equal power device to drive drive rod 14, control the pose of little annular platform 11 with respect to large annular platform 12, complete reset operation, after resetting, connect draw point 6 with plain connecting rod, remove fixed mechanism.
Above is schematically with reference to the accompanying drawing description of this invention, does not have restrictedly, and those skilled in the art should be understood that, in reality is implemented, in the present invention, the shape of each member and layout type all some change may occur; And, under enlightenment of the present invention, other staff also can make the design similar to the present invention or the present invention be made to the replacement that is equal to of modification and certain member.Special needs to be pointed out is, only otherwise break away from design aim of the present invention, all apparent changes and have the similar Design that is equal to replacement, within all being included in protection scope of the present invention.
Claims (1)
1. a dismountable resetting long bone robot, it is characterized in that: it comprises fixed mechanism and resetting-mechanism, the two interconnects or splits;
Described fixed mechanism comprises two groups of identical fixed cells, and they connect by 2 identical connecting plates (1) or split; Connecting plate (1) be a kind of two ends each with two screwed holes, side the strip structure with draw-in groove, by bolt, with base plate (2), be connected; This fixed cell is provided with base plate (2), 4 squares (3), 4 slide bars (4), 2 or a plurality of curved rod assembly, 2 or a plurality of curved rod (5), 2 covers or plural number cover snap close and 2 or a plurality of draw point (6); Square (3) is fixed on base plate (2), slide bar (4) is fixed on square (3), the curved rod assembly is connected with slide bar (4), curved rod (5) is fixed on the curved rod seat (7) of curved rod assembly, snap close is connected with curved rod (5), and draw point (6) is connected with snap close; This base plate (2) is a kind of rectangular plate-like structure, and end is with thin flight, and side is threaded hole, for other structure of fixing fixed cell and be connected with resetting-mechanism or split by plain bolt; This square (3) is the block structure with two circular holes, for connecting bottom board (2) and slide bar (4); This slide bar (4) is common round bar, for connecting square (3) and curved rod assembly; This curved rod (5) is a kind of common round bar of an end bending, for connecting bending link assembly and snap close; This draw point (6) is the screwed draw point of an a kind of end, for fixing suffering limb; This curved rod assembly is provided with curved rod seat (7) and catch (8), and both are bolted; This curved rod seat (7) block structure with two semicircle grooves that is a kind of top with a circular hole, side with two circular holes, opposite side face, for connecting bending connecting rod (5) and slide bar (4); This catch (8) block structure with two semicircle grooves that is a kind of side with two screwed holes, another side, for by plain bolt fixed bend connecting rod base (7); This snap close is provided with the draw point terminal, and (9 and curved rod terminal (10), draw point terminal (9) is connected with the curved rod terminal by plain bolt; This draw point terminal (9) is a kind of block structure with two circular holes, for connecting draw point (6) and passing through plain bolt connecting bending connecting rod terminal (10); This curved rod terminal (10) is a kind of block structure with a circular hole and a screwed hole, for by circular hole connecting bending connecting rod (5), by screwed hole and plain bolt, connects draw point terminal (9);
Described resetting-mechanism is provided with little annular platform (11), large annular platform (12), 12 universal hinges (13) and 6 drive rods (14); Little annular platform (11) is connected with universal hinge (13) with base plate (2), universal hinge (13) is connected with drive rod (14), universal hinge (13) is connected with large annular platform (12), and large annular platform (12) is connected with base plate (2); This little annular platform (11) is the circulus of an end with T shape plate, for the Motion Transmission by resetting-mechanism, arrives fixed mechanism; This large annular platform (12) is the circulus of an end with T shape plate, for the Motion Transmission by resetting-mechanism, arrives fixed mechanism; This universal hinge (13) is for connecting little annular platform (11), large annular platform (12) and the rotation of both direction being provided; This drive rod (14) is retractable connecting rod, for driven Parallel Kinematic Manipulator, moves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310424534.2A CN103462674B (en) | 2013-09-17 | 2013-09-17 | Detachable long bone reduction robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310424534.2A CN103462674B (en) | 2013-09-17 | 2013-09-17 | Detachable long bone reduction robot |
Publications (2)
| Publication Number | Publication Date |
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| CN103462674A true CN103462674A (en) | 2013-12-25 |
| CN103462674B CN103462674B (en) | 2015-07-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310424534.2A Expired - Fee Related CN103462674B (en) | 2013-09-17 | 2013-09-17 | Detachable long bone reduction robot |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104000640A (en) * | 2014-05-12 | 2014-08-27 | 北京航空航天大学 | Master-slave same-structure teleoperation fracture reduction mechanism |
| CN104758035A (en) * | 2015-03-30 | 2015-07-08 | 北京航空航天大学 | Six-degree-of-freedom series- reduction robot for fracture of pelvis |
| CN106308900A (en) * | 2016-08-25 | 2017-01-11 | 赵滨 | Lower-limb multi-position tractor |
| CN106539617A (en) * | 2017-01-24 | 2017-03-29 | 清华大学深圳研究生院 | A kind of orthopaedics mechanical traction device |
| CN108969077A (en) * | 2018-06-29 | 2018-12-11 | 哈尔滨理工大学 | A kind of external fixed support for bone of area of computer aided driving |
| CN109966106A (en) * | 2019-04-11 | 2019-07-05 | 潍坊钰鼎生物科技有限公司 | A kind of fracture auxiliary reset mechanism |
| CN112370135A (en) * | 2020-11-13 | 2021-02-19 | 山东中医药大学附属医院 | Robot reset system for multi-section fracture |
| CN112716603A (en) * | 2021-01-19 | 2021-04-30 | 威海威高骨科手术机器人有限公司 | Orthopedics positioning robot that resets |
| US11076801B2 (en) | 2016-06-19 | 2021-08-03 | Orthospin Ltd. | User interface for strut device |
| CN113208794A (en) * | 2021-04-20 | 2021-08-06 | 哈尔滨工业大学 | Lower limb fracture reduction parallel robot |
| WO2021232605A1 (en) | 2020-05-18 | 2021-11-25 | 天津大学 | Wearable fracture reduction and rehabilitation integrated robot |
| CN113843070A (en) * | 2021-09-26 | 2021-12-28 | 扬州扬子到河复合材料制品有限公司 | Spraying device for automobile front wall side-turning door and machining method of spraying device |
| CN114569246A (en) * | 2022-02-23 | 2022-06-03 | 西南交通大学 | Portable tibia fracture reduction robot |
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| CN102697543A (en) * | 2012-06-11 | 2012-10-03 | 中国人民解放军总医院 | Long bone resetting robot in series-parallel connection |
| WO2013034877A1 (en) * | 2011-09-09 | 2013-03-14 | University Of The West Of England, Bristol | A system for anatomical reduction of bone fractures |
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| CN1073353A (en) * | 1991-12-13 | 1993-06-23 | 刘维胜 | Universal fixator for reduction of longer diaphyses |
| CN1186421A (en) * | 1995-03-01 | 1998-07-01 | 史密夫和内修有限公司 | Spatial frame |
| WO2007075114A1 (en) * | 2005-12-29 | 2007-07-05 | Federalnoe Gosudarstvennoe Uchrezhdenie Rossiisky Nauchny Tsentr 'vosstanovitelnaya Travmotologiya I Ortopediya' Im. Ak. G.I.Ilizarova Federalnogo Agenstva Vysokotekhnologichoi Meditsinskoi Pomoschi | Compression-distraction device |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104000640B (en) * | 2014-05-12 | 2016-03-16 | 北京航空航天大学 | A kind of principal and subordinate's isomorphism remote operating reduction of the fracture mechanism |
| CN104000640A (en) * | 2014-05-12 | 2014-08-27 | 北京航空航天大学 | Master-slave same-structure teleoperation fracture reduction mechanism |
| CN104758035A (en) * | 2015-03-30 | 2015-07-08 | 北京航空航天大学 | Six-degree-of-freedom series- reduction robot for fracture of pelvis |
| US11076801B2 (en) | 2016-06-19 | 2021-08-03 | Orthospin Ltd. | User interface for strut device |
| CN106308900A (en) * | 2016-08-25 | 2017-01-11 | 赵滨 | Lower-limb multi-position tractor |
| CN106308900B (en) * | 2016-08-25 | 2018-08-03 | 赵滨 | Lower limb multi-traction device |
| CN106539617A (en) * | 2017-01-24 | 2017-03-29 | 清华大学深圳研究生院 | A kind of orthopaedics mechanical traction device |
| CN106539617B (en) * | 2017-01-24 | 2019-03-29 | 清华大学深圳研究生院 | A kind of orthopaedics mechanical traction device |
| CN108969077A (en) * | 2018-06-29 | 2018-12-11 | 哈尔滨理工大学 | A kind of external fixed support for bone of area of computer aided driving |
| CN109966106A (en) * | 2019-04-11 | 2019-07-05 | 潍坊钰鼎生物科技有限公司 | A kind of fracture auxiliary reset mechanism |
| CN109966106B (en) * | 2019-04-11 | 2023-11-21 | 潍坊钰鼎生物科技有限公司 | Auxiliary reduction mechanism for fracture |
| WO2021232605A1 (en) | 2020-05-18 | 2021-11-25 | 天津大学 | Wearable fracture reduction and rehabilitation integrated robot |
| CN112370135A (en) * | 2020-11-13 | 2021-02-19 | 山东中医药大学附属医院 | Robot reset system for multi-section fracture |
| CN112370135B (en) * | 2020-11-13 | 2022-07-08 | 山东中医药大学附属医院 | Robot reset system for multi-section fracture |
| CN112716603A (en) * | 2021-01-19 | 2021-04-30 | 威海威高骨科手术机器人有限公司 | Orthopedics positioning robot that resets |
| CN113208794A (en) * | 2021-04-20 | 2021-08-06 | 哈尔滨工业大学 | Lower limb fracture reduction parallel robot |
| CN113843070A (en) * | 2021-09-26 | 2021-12-28 | 扬州扬子到河复合材料制品有限公司 | Spraying device for automobile front wall side-turning door and machining method of spraying device |
| CN113843070B (en) * | 2021-09-26 | 2023-01-17 | 扬州扬子到河复合材料制品有限公司 | Spraying device for automobile front wall side-turning door and machining method of spraying device |
| CN114569246A (en) * | 2022-02-23 | 2022-06-03 | 西南交通大学 | Portable tibia fracture reduction robot |
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