CN103462674B - Detachable long bone reduction robot - Google Patents
Detachable long bone reduction robot Download PDFInfo
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- CN103462674B CN103462674B CN201310424534.2A CN201310424534A CN103462674B CN 103462674 B CN103462674 B CN 103462674B CN 201310424534 A CN201310424534 A CN 201310424534A CN 103462674 B CN103462674 B CN 103462674B
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- curved rod
- annular platform
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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
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- Heart & Thoracic Surgery (AREA)
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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, particularly relate to a kind of Detachable long bone reduction robot.
Background technology
Traditional long bone fracture repositioning method is under direct-view atmosphere, doctor relies on the experiences and skills open reduction of doctor, this therapeutic modality makes closed fracture become open fracture artificially, add the chance of infection, in operative process, easy destruction blood fortune, causes fracture end necrotic area to increase, and causes healing and disunion late.Also there is the problems such as operation time is long, working doctor intensity is high, easy malreduction in this repositioning method.Although the intramedullary pin got up for development in recent years and Wicresoft's Interal fixation technology are the problem solving that open surgery causes, owing to needing constantly to carry out X-ray irradiation in art, larger to the X-ray radiation quantity X of doctor and patient.The robot assisted reduction of the fracture is utilized to make these problems be able to effective solution.In current research, the Gramham A.E. of Auckland, NZL university discloses fracture of shaft of femur resetting system in document " Design of a Parallel Long Bone FractureReduction Robot with Planning Treatment Tool ", have employed parallel institution as the actuator resetted.The TerryK.K.Koo of USA New York Chiropractic university discloses a kind of serial mechanism of the six degree of freedom for resetting in document " Development andvalidation of a new approach for computer ?aided long bone fracture reduction using unilateralexternal 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 also exists mechanism's underaction, function singleness, does not meet the problems such as doctor's operating habit.
Summary of the invention
Instant invention overcomes shortcoming of the prior art, propose a kind of Detachable long bone reduction robot, realize utilizing robot to carry out long bone fracture reset.
The object of the present invention is achieved like this:
A kind of Detachable long bone reduction robot, it comprises fixed mechanism and resetting-mechanism, and the two can be interconnected or split.Described fixed mechanism comprises two groups of identical fixed cells, and they are connected by 2 identical connecting plates 1 or split; Connecting plate 1 be a kind of two ends respectively 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 base plate 2,4 squares 3,4 slide bars 4,2 or multiple curved rod assembly (containing curved rod seat 7 and catch 8), 2 or multiple curved rod 5,2 overlap or overlap snap close (containing draw point terminal 9 and curved rod terminal 10) and 2 or multiple draw point 6 more, relation is therebetween: square 3 is fixing on a base plate 2, slide bar 4 is fixed on square 3, 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, end with thin flight, side with screwed hole, for fixing fixed cell other structure and to be connected with resetting-mechanism by plain bolt or to split; 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 a kind of one end bending, for connecting bending link assembly and snap close; This draw point 6 is the screwed draw points in a kind of one 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 is a kind of tops with a circular hole, side with two circular holes, opposite side face with the block structure of two semicircle grooves, for connecting bending connecting rod 5 and slide bar 4; This catch 8 is a kind of sides with two screwed holes, another side with the block structure of two semicircle grooves, 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 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, connects draw point terminal 9 by screwed hole and plain bolt.
Described resetting-mechanism is provided with little annular platform 11, the large universal hinge 13 of annular platform 12,12 and 6 drive rods 14, relation is therebetween: little annular platform 11 is connected with base plate 2 and universal hinge 13, 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 one end with T-shaped plate, for by the Motion Transmission of resetting-mechanism to fixed mechanism, this large annular platform 12 is the circulus of one end with T-shaped plate, for by the Motion Transmission of resetting-mechanism 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 chosen as required that can stretch, and moves for driven Parallel Kinematic Manipulator.
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 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 serial mechanism to fix suffering limb, solid and reliable, little to patient trauma;
4. fixed mechanism and resetting-mechanism adopt detachable mounting means, and fixed mechanism is placed in outside resetting-mechanism, easy installation and removal, be convenient to doctor operation.
Accompanying drawing explanation
Fig. 1 is Detachable long bone reduction robot overall diagram
Fig. 2 is Detachable long bone reduction robot side view
Fig. 3 is reposition machine composition
Fig. 4 is fixing machine composition
Fig. 5 is fixed mechanism members figure
Fig. 6 is fixed mechanism members side view
Fig. 7 is connecting plate figure
Fig. 8 is 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, curved rod seat, 8, catch, 9, draw point terminal, 10, curved rod terminal, 11, little annular platform, 12, large annular platform, 13, universal hinge, 14, drive rod.
Detailed description of the invention
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 Detachable long bone reduction robot, be made up of fixed mechanism and resetting-mechanism, the two can connect or split, during connection, be positioned over by fixed mechanism above resetting-mechanism, the top of resetting-mechanism is positioned at the U-lag of fixed mechanism, and both sides contact with the catch of fixed mechanism.The two compact siro spinning technology is made with in the screwed hole of plain bolt screw-in fixed mechanism side.During fractionation, plain bolt is rotated in the other direction, fixed mechanism and resetting-mechanism are departed from.The fixed cell of fixed mechanism can connect or split, and during connection, two connecting plates 1 is embedded respectively the end face of two fixed cells, makes the two compact siro spinning technology with in the screwed hole of plain bolt screw-in connecting plate 1.During fractionation, plain bolt is rotated in the other direction, fixed cell is separated with connecting plate 1.Curved rod seat 7 in curved rod assembly can be connected by plain bolt with catch 8 or split, and 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 made up of draw point terminal 9 and curved rod terminal 10, be connected with draw point 6 and curved rod 5 respectively by their circular hole, the screwed hole of curved rod terminal 10 is screwed in through the circular hole of draw point terminal 9 with plain bolt, draw point terminal 9 and curved rod terminal 10 can rotate around bolt, and after screwing bolts, draw point 6 and curved rod 5 relative position are fixed.The drive rod 14 of resetting-mechanism can be driven by motor or other power set, and along its axial stretching, be connected with little annular platform 11 by universal hinge 13 with large annular platform 12, universal hinge 13 has two rotary freedoms.
The present invention carries out work in the following manner: be fixed on by curved rod assembly on the slide bar 4 of base plate 2, is fixed by two base plates 2 by connecting plate 1 with plain bolt.Screw in two pieces or many pieces of draw points 6 respectively at the far-end of fractured long bones and near-end, by draw point terminal 9, curved rod terminal 10 and plain bolt, draw point 6 is fixed on curved rod assembly, carries out the preoperative medication work such as CT scan.When performing robot reset operation, two base plates 2 are connected by plain bolt with little annular platform 11 and large annular platform 12 respectively, remove connecting plate 1, motor equal power device is adopted to drive drive rod 14, control the pose of little annular platform 11 relative to large annular platform 12, complete reset operation, after reset, connect draw point 6 with plain connecting rod, remove fixed mechanism.
Be schematic with reference to the accompanying drawing description of this invention above, do not have restricted, those skilled in the art should be understood that, in reality is implemented, in the present invention, the shape of each component and layout type some all may occur change; And under enlightenment of the present invention, other staff also can make the design similar with the present invention or to the present invention make revise and certain component be equal to replacement.Special needs to be pointed out is, only otherwise depart from design aim of the present invention, all apparent changes and have equivalent similar Design of replacing, are all included within protection scope of the present invention.
Claims (1)
1. a Detachable long bone reduction robot, is characterized in that: it comprises fixed mechanism and resetting-mechanism, and the two is interconnected or splits;
Described fixed mechanism comprises two groups of identical fixed cells, and they are connected by 2 identical connecting plates (1) or split; Connecting plate (1) be a kind of two ends respectively with two screwed holes, side with the strip structure of draw-in groove, be connected with base plate (2) by bolt; This fixed cell is provided with base plate (2), 4 squares (3), 4 slide bars (4), multiple curved rod assembly, multiple curved rod (5), many cover snap closes and multiple draw points (6); Square (3) is fixed on base plate (2), slide bar (4) is fixed on square (3), 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, end with thin flight, side with screwed hole, for fixing fixed cell other structure and to be connected with resetting-mechanism by plain bolt or to split; 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 the common round bar of a kind of one end bending, for connecting bending link assembly and snap close; This draw point (6) is the screwed draw point in a kind of one 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) is a kind of top with a circular hole, side with two circular holes, another side with the block structure of two semicircle grooves, for connecting bending connecting rod (5) and slide bar (4); This catch (8) is a kind of side with two screwed holes, another side with the block structure of two semicircle grooves, 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 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), connects draw point terminal (9) by screwed hole and plain bolt;
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 base plate (2) and universal hinge (13), 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) for one end is with the circulus of T-shaped plate, for by the Motion Transmission of resetting-mechanism to fixed mechanism; This large annular platform (12) for one end is with the circulus of T-shaped plate, for by the Motion Transmission of resetting-mechanism to fixed mechanism; This universal hinge (13) is for connecting little annular platform (11), large annular platform (12) provide the rotation of both direction; This drive rod (14) is retractable connecting rod, moves for driven Parallel Kinematic Manipulator.
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 |
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| Publication Number | Publication Date |
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| CN103462674A CN103462674A (en) | 2013-12-25 |
| CN103462674B true 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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Families Citing this family (13)
| 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 |
| CN104758035B (en) * | 2015-03-30 | 2017-03-08 | 北京航空航天大学 | A kind of six degree of freedom connection in series-parallel fracture of pelvis reset robot |
| EP3471635A4 (en) | 2016-06-19 | 2020-03-18 | Orthospin Ltd. | User interface for strut device |
| CN106308900B (en) * | 2016-08-25 | 2018-08-03 | 赵滨 | Lower limb multi-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 |
| 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 |
| CN111685880B (en) | 2020-05-18 | 2021-08-31 | 天津大学 | Wearable fracture reduction and rehabilitation integrated robot |
| 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 |
| CN112716603B (en) * | 2021-01-19 | 2021-11-26 | 威海威高骨科手术机器人有限公司 | Orthopedics positioning robot that resets |
| CN113208794B (en) * | 2021-04-20 | 2022-10-25 | 哈尔滨工业大学 | Lower limb fracture reduction parallel robot |
| 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 |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2357699C2 (en) * | 2005-12-29 | 2009-06-10 | ООО "Ортофикс" | Compression-destractive apparatus |
| GB201115586D0 (en) * | 2011-09-09 | 2011-10-26 | Univ Bristol | A system for anatomical reduction of bone fractures |
-
2013
- 2013-09-17 CN CN201310424534.2A patent/CN103462674B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
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| Publication number | Publication date |
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| CN103462674A (en) | 2013-12-25 |
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