CN105726127B - A kind of fractured leg is drawn automatically and rotating restoring device - Google Patents
A kind of fractured leg is drawn automatically and rotating restoring device Download PDFInfo
- Publication number
- CN105726127B CN105726127B CN201610060172.7A CN201610060172A CN105726127B CN 105726127 B CN105726127 B CN 105726127B CN 201610060172 A CN201610060172 A CN 201610060172A CN 105726127 B CN105726127 B CN 105726127B
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- traction
- synchronous pulley
- fixed
- fixed mount
- spinning reduction
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- 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
- A61B2017/564—Methods for bone or joint treatment
Abstract
The invention discloses one kind to be used for fractured leg traction and rotating restoring device automatically, including sucker, base, extension sleeve, haulage gear, spinning reduction mechanism, pulling force sensor, fixed sole；Sucker is fixed on the bottom of base；Main body resetting-mechanism is connected by square telescopic tube with base；For haulage gear to be inverted the screw slide used, end is equipped with motor；Spinning reduction mechanism is connected with motor reducer；The output end of spinning reduction mechanism is traction table general connector；Spinning reduction mechanism is strung by traction table general connector and pulling force sensor and fixed sole.The rotating restoring device, traction and the spinning reduction of fractured leg can be completed, for other ready for operation of operation；The size of traction force can be fed back, prevents from excessively pulling；Traction and reset effect can be kept, and avoid repeating；Traction and rotation quantify, and repositioning method provides reference for fracture traction operation；Suitable for common firm traction table, simplify scrap build.
Description
Technical field
The invention belongs to operating robot field, is related to a kind of automatic traction for fractured leg and spinning reduction dress
Put.
Background technology
With the arrival in biological osteosynthesis BO (Biological Osteosynthesis) periods, closed reduction intramedullary nail
The fixed goldstandard therapeutic modality for having become fracture of femoral shaft, its core is exactly minimally invasive or noninvasive closed reduction.Borrowed during operation
Help traction table to fracture along the fracture site of the overlapping displacement of femur long axis direction fully to draw out, then doctor utilizes gimmick or device
Tool is aided in obtain interim reset, and to insert golden finger or guide pin, intramedullary nail is implanted into after expanding marrow, is finally completed far and near end and is handed over
Lock, whole operation are completed under the monitoring and guiding of C arm machine perspective.The traction table that clinically uses at present, using passing through
Drawing mode that trapezoidal screw manually adjusts wastes time and energy, it is necessary to assistant is constantly adjusted according to the instruction of operating doctor.By
In the feedback for lacking power, patient is in narcosis again, and the phenomenon for transition drawing occur is easy in distraction procedure, and patient is postoperative
Experience small hamstring more and go out pain endlessly, what serious mistake was led, or even cause the irreversible damage of patient vessel and nerve.Existing the whole series
Traction table is expensive, and many second-grade hospitals even tertiary hospitals are all unconditionally equipped with, even if being equipped with the hospital of advanced traction table,
Spinning reduction in surgical procedure is still manually to complete, not quantitative standard, it is difficult to form standard.
The content of the invention
Technical problem：The present invention provides a kind of automatic traction and rotating restoring device for fractured leg, can be applicable
In general surgery bed, or traction operation table；Traction and spinning reduction work can be automatically performed；Can be with Real-time Feedback traction force
Size, avoid due to excessively drawing caused by serious consequence；Reset and complete, reset effect can maintain.
Technical scheme：The automatic traction for fractured leg of the present invention and rotating restoring device, including from bottom to up according to
Sucker, base, extension sleeve, the haulage gear of secondary connection, it is arranged on the spinning reduction mechanism and institute of described haulage gear one end
State pulling force sensor, the fixation sole being connected with the pulling force sensor of spinning reduction mechanism connection；
The screw slide that the haulage gear is used by the first servomotor and inversion is formed, and servomotor is arranged on leading screw
The end of slide unit, the sliding block of screw slide are fixed on the top of extension sleeve；The spinning reduction mechanism includes fixed mount, set
The second servomotor, decelerator on the fixed mount, on synchronous pulley, lower synchronous pulley, on described synchronous pulley and
The timing belt that is connected between lower synchronous pulley, the axle driven by lower synchronous pulley, the sensor being fixedly connected with the axle
Connector, second servomotor drive upper synchronous pulley by decelerator；Described pulling force sensor one end connects with sensor
Connect device to be fixedly connected, the other end is connected installation by pedal connector with fixed sole.
Further, in apparatus of the present invention, base is formed by vertical square tube and the horizontal square tubes soldering that right-angled intersection is distributed,
Diagonal brace is welded between the horizontal square tube end and vertical square tube；The sucker is fixed on the downside of horizontal square tube end, to
It is fixed with ground.
Further, in apparatus of the present invention, fit connects between described extension sleeve and vertical square tube, and can lock
It is fixed.
Further, in apparatus of the present invention, in spinning reduction mechanism, the rear fixed mount that fixed mount includes being connected as a single entity is with before
Fixed mount, second servomotor, decelerator, upper synchronous pulley are arranged on rear fixed mount, after lower synchronous pulley is arranged on
Between fixed mount and preceding fixed mount, the upper synchronous pulley is arranged in parallel with lower synchronous pulley, passes through toothed belt transmission, axle both ends
Rear fixed mount is supported in, on preceding fixed mount by fore bearing and rear bearing respectively；Lower synchronous pulley is arranged on axle by key connection
On, axle output end is connected by holding screw and shaft hole matching with sensor connector.
Further, in apparatus of the present invention, 4 long stripes through holes is arranged on fixed sole, can be interspersed in bandage logical
Patient feet and fixed sole are fixed in hole.
The shaft system arrangement of spinning reduction mechanism of the present invention is：Upper synchronous pulley is arranged in parallel with lower synchronous pulley, by same
V belt translation is walked, axle both ends are arranged on by bearings in rear fixed mount, preceding fixed mount, lower synchronous pulley by key connection respectively
On axle, axle output end is connected by holding screw and shaft hole matching with connector.
Beneficial effect：The present invention compared with prior art, has advantages below：
(1) traction is automatically performed, compared to the manual labor intensity for adjusting, reducing health care workers.Can Real-time Feedback
The size of traction force, serious consequence caused by avoiding excessive drawing possible.After drawing force data in distraction procedure can be used as
The reference of continuous similar procedures, can form standard；
(2) spinning reduction function is increased.Traditional traction table is not provided with the function of spinning reduction, spinning reduction substantially by
Health care workers manually complete, and reset and be easily lost in surgical procedure, cause to repeat.Increase spinning reduction simultaneously locks,
Can prevent it is unnecessary repeat, mitigate health care workers' labor intensity.
(3) spinning reduction is automatically performed, and can reflect the angular displacement of rotation in real time, and data can be as follow-up similar procedures
With reference to standard can be formed；
(4) it is fixed reliable, easy disassembling.The automatic traction and rotating restoring device of the present invention uses floor sucker, with biography
The traction table of system is compared using the metal base of both bulk, reliablely and stablely can not only be fixed with floor of operating room, there is provided foot
Enough stable base produces compared with large traction and significantly reduces the weight of device, and postoperative need to unclamp sucker, convenient to remove,
Professional training is needed not move through, a large amount of operation preparation times can be saved.
(5) it is simple in construction, it is easy to manufacture.Traditional medical operating traction table, which employs, largely customizes nonstandard parts, mutually
Transsexual difference, maintenance difficult, price is high, automatic traction of the invention and rotating restoring device using ready-made screw slide and other
Standarized component, easy to manufacture, cost is cheap, is easy to promote.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the schematic diagram of haulage gear in the present invention.
Fig. 3 is the schematic diagram of spinning reduction mechanism in the present invention.
Fig. 4 is the profile of spinning reduction mechanism shafting in the present invention.
Fig. 5 is the working state schematic representation of the present invention.
Have in figure：Sucker 1, base 2, vertical square tube 201, horizontal square tube 202, diagonal brace 203, extension sleeve 3, haulage gear
4th, the first servomotor 401, screw slide 402, spinning reduction mechanism 5, the second servomotor 501, decelerator 503, rear fixation
Frame 502, preceding fixed mount 504, upper synchronous pulley 505, timing belt 506, lower synchronous pulley 507, axle 508, sensor connector
509th, fore bearing 510, the pulling force sensor 6 of rear bearing 511, fixed sole 8, sensor 6, pedal connector 7, knob 9.
Embodiment
With reference to embodiment and Figure of description, the present invention is further illustrated.
As shown in Figures 1 to 4, a kind of device drawn automatically for fractured leg with spinning reduction of the invention, including
Sucker 1, base 2, extension sleeve 3, haulage gear 4, spinning reduction mechanism 5, pulling force sensor 6, fixed sole 8, sensor 6,
Pedal connector 7, knob 9.Haulage gear 4 is inverted the screw slide 402 used by the first servomotor 401 and formed, and first watches
Take the afterbody that motor 401 is arranged on screw slide 402 by screw；The sliding block of screw slide 402 passes through screw with extension sleeve 3
It is fixed.Spinning reduction mechanism 5 is by the second servomotor 501, decelerator 503, rear fixed mount 502, preceding fixed mount 504, upper synchronization
Belt wheel 505, timing belt 506, lower synchronous pulley 507, axle 508, sensor connector 509, fore bearing 510, the structure of rear bearing 511
Into.The one end of sensor 6 is fixed with sensor connector 509 by screw, and the other end passes through fixing hole and screw with Fixed latches 7
It is fixed；Fixed sole 8 is connected by pedal connector 7 with sensor 6.
Base 2 is welded by vertical square tube 201, and the horizontal square tube 202 of cross distribution, horizontal square tube 202 with it is vertical
Square tube 201 is welded with 45 degree of diagonal brace 203；
Sucker 1 is fixed on the bottom of base 2, and sucker 2 can be fixed base and ground by atmospheric pressure, it is possible to provide enough
Stable support and reaction force.
Fit connects between extension sleeve 3 and vertical square tube 201, and can be locked by tightening knob 9.
Spinning reduction mechanism 5 is linked to be by the general pedal connector 7 of traction table and pulling force sensor 6 and fixed sole 8
A string, to the traction force in measurement reseting procedure in real time.
Upper synchronous pulley 505 is arranged in parallel with lower synchronous pulley 507, is driven by timing belt 506, the both ends of axle 508 difference
Rear fixed mount 502, preceding fixed mount 504 are supported in by fore bearing 510, rear bearing 511, lower synchronous pulley 507 passes through key connection
It is mounted on an axle, axle output end is connected by holding screw and shaft hole matching with sensor connector 509.
4 long stripes through holes are arranged on fixed sole 8, through hole can be interspersed in bandage by patient feet and fixed sole
8 fix.
Before the traction of said structure and resetting means work, first according to the position of patient, it is multiple to place automatic traction and rotation
Position device, it is after determining position, the lock on sucker 2 is locked so that ground is only connected with sucker, and providing stabilization for mechanism can
The support leaned on.
When the traction of said structure and resetting means work, control system sends pulse command so that the first servomotor
401 slowly rotate, and drive screw slide 402 to be drawn to suffering limb axis direction, and monitor the big of traction force in real time by sensor 6
It is small, feed back to patient.When traction force is more than the higher limit of setting, the first servomotor 401 stops operating, it is ensured that the peace of patient
Entirely, and notify patient that traction force transfinites.Patient it was observed that knochenbruch traction is in place, that is, stops drawing with the help of C arm X-ray machines,
And drawing position is maintained by the statical moment of the first servomotor 401.Control system sends command pulse so that the second servo electricity
Machine 501 is slowed down by decelerator 503, and swing offset is sent into output end by timing belt 506, drives pin to produce rotation position
Move, and record current displacement in real time, feed back to patient.Patient observes that spinning reduction is complete with the help of C arm X-ray machines
Into then the second servomotor 501 is stopped the rotation, and the effect of spinning reduction is maintained by statical moment.Patient can enter traveling one
The operation of step.
The automatic traction of the present invention and rotating restoring device, are with traditional traction device difference, are independently of leading
Draw bed and work, traction and spinning reduction operation can be automatically performed.Tractive force and spinning reduction displacement can monitor in real time, can prevent
Due to leading and serious consequence caused by possibility excessively.
Further, the present apparatus can both coordinate traction table work to be also fully applicable for general surgery bed, selected to draw materials all
It is standard component or simple workpiece, cost is cheap, conveniently popularizes.
Further, the sucker of selection easily can be sucked and released, fixed between ground more compared with traditional device
Lean on, be easy to dismount, be operable without special training.
Further, by timing belt 506, by rotating restoring device output end, (the second servomotor 501, subtracts with drive part
Fast device 503) separation, the ingenious motor reducer that avoids bears axial load, and only transmits moment of torsion.
Further, it is inverted and is used by screw slide 402, largely reduces the complexity of draw-gear, knot
Structure is simple, reliable in action.
Further, extension sleeve can adjust the height of traction and spinning reduction mechanism according to the height of sick bed, and pass through rotation
Button tightening, adjustment is flexible, simple to operate.
Above-described embodiment is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill of the art
For personnel, under the premise without departing from the principles of the invention, some improvement and equivalent substitution can also be made, these are to the present invention
Claim be improved with the technical scheme after equivalent substitution, each fall within protection scope of the present invention.
Claims (5)
1. a kind of automatic traction and rotating restoring device for fractured leg, it is characterised in that the device is included from bottom to up
Sucker (1), base (2), extension sleeve (3), the haulage gear (4) being sequentially connected, are arranged on the haulage gear (4) one end
Spinning reduction mechanism (5), the pulling force sensor (6) being connected with the spinning reduction mechanism (5) and the pulling force sensor (6)
The fixation sole (8) of connection；
The screw slide (402) that the haulage gear (4) is used by the first servomotor (401) and inversion is formed, servomotor
(401) end of screw slide (402) is arranged on, the sliding block (403) of screw slide (402) is fixed on the top of extension sleeve (3)
End；The spinning reduction mechanism (5) includes fixed mount, the second servomotor (501), the decelerator being arranged on the fixed mount
(503), upper synchronous pulley (505), lower synchronous pulley (507), synchronous pulley (505) and lower synchronous pulley (507) on described
Between be connected timing belt (506), by lower synchronous pulley (507) driving axle (508), with the axle (508) is fixed connects
The sensor connector (509) connect, second servomotor (501) pass through synchronous pulley in decelerator (503) driving
(505)；Described pulling force sensor (6) one end is fixedly connected with sensor connector (509), and the other end passes through pedal connector
(7) it is connected installation with fixed sole (8).
2. according to the automatic traction described in claim 1 for fractured leg and rotating restoring device, it is characterised in that described
The horizontal square tube (202) that base (2) is distributed by vertical square tube (201) with right-angled intersection is welded, the horizontal square tube (202)
Diagonal brace (203) is welded between end and vertical square tube (201)；The sucker (1) is fixed under horizontal square tube (202) end
Side, to be fixed with ground.
3. according to the automatic traction described in claim 2 for fractured leg and rotating restoring device, it is characterised in that described
Extension sleeve (3) and vertical square tube (201) between fit be connected, and can lock.
4. according to the automatic traction described in claim 1 for fractured leg and rotating restoring device, it is characterised in that described
In spinning reduction mechanism (5), fixed mount includes the rear fixed mount (502) and preceding fixed mount (504) being connected as a single entity, and described second watches
Take motor (501), decelerator (503), upper synchronous pulley (505) to be arranged on rear fixed mount (502), lower synchronous pulley (507)
It is arranged between rear fixed mount (502) and preceding fixed mount (504), the upper synchronous pulley (505) is flat with lower synchronous pulley (507)
Row arrangement, is driven, axle (508) both ends are supported in by fore bearing (510) and rear bearing (511) respectively by timing belt (506)
Afterwards fixed mount (502), on preceding fixed mount (504)；Lower synchronous pulley (507) is arranged on axle (508) by key connection, axle
(508) output end is connected by holding screw and shaft hole matching with sensor connector (509).
5. according to the automatic traction described in claim 1 for fractured leg and rotating restoring device, it is characterised in that described
4 long stripes through holes are arranged on fixed sole (8), through hole can be interspersed in bandage patient feet and fixed sole (8) is solid
It is fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610060172.7A CN105726127B (en) | 2016-01-28 | 2016-01-28 | A kind of fractured leg is drawn automatically and rotating restoring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610060172.7A CN105726127B (en) | 2016-01-28 | 2016-01-28 | A kind of fractured leg is drawn automatically and rotating restoring device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105726127A CN105726127A (en) | 2016-07-06 |
| CN105726127B true CN105726127B (en) | 2018-04-06 |
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ID=56246958
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610060172.7A Active CN105726127B (en) | 2016-01-28 | 2016-01-28 | A kind of fractured leg is drawn automatically and rotating restoring device |
Country Status (1)
| Country | Link |
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| CN (1) | CN105726127B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108095811B (en) * | 2018-01-23 | 2020-10-16 | 上海大学 | Long bone fracture restoring force testing arrangement |
| CN110575300A (en) * | 2019-08-09 | 2019-12-17 | 江西理工大学 | Upper arm fracture traction reduction system based on numerical control technology |
| CN113907882A (en) * | 2021-08-26 | 2022-01-11 | 四川大学华西医院 | A location robot resets for fracture operation |
| CN114569228B (en) * | 2022-03-04 | 2024-01-19 | 班红梅 | Leg fracture reposition machine |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2032458U (en) * | 1988-04-11 | 1989-02-15 | 上海市长海医院 | Multifunctional traction frame for reducing fractured limbs |
| DE102008022952A1 (en) * | 2008-05-09 | 2009-11-12 | Ludwig-Maximilians-Universität München | Non-invasive extension-, reposition and/or retention device for e.g. retention of e.g. ankle joint, has alignment device provided with two rotary degrees of freedom and/or transverse degrees of freedom |
| CN102283731A (en) * | 2011-07-06 | 2011-12-21 | 于志国 | Portable combination type bone setting machine |
| CN104274266A (en) * | 2013-09-28 | 2015-01-14 | 沈阳新松机器人自动化股份有限公司 | Full-automatic orthopaedic traction robot |
| CN105193537A (en) * | 2015-10-28 | 2015-12-30 | 李昭中 | Digitalized automatic fracture alignment traction operating table |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001258920A (en) * | 2000-03-17 | 2001-09-25 | Japan Medical Dynamic Marketing Inc | Traction apparatus for medical treatment |
| US9636248B2 (en) * | 2011-03-11 | 2017-05-02 | Innovative Orthopedic Technologies, Llc | Devices and methods for supporting a patient's legs |
-
2016
- 2016-01-28 CN CN201610060172.7A patent/CN105726127B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2032458U (en) * | 1988-04-11 | 1989-02-15 | 上海市长海医院 | Multifunctional traction frame for reducing fractured limbs |
| DE102008022952A1 (en) * | 2008-05-09 | 2009-11-12 | Ludwig-Maximilians-Universität München | Non-invasive extension-, reposition and/or retention device for e.g. retention of e.g. ankle joint, has alignment device provided with two rotary degrees of freedom and/or transverse degrees of freedom |
| CN102283731A (en) * | 2011-07-06 | 2011-12-21 | 于志国 | Portable combination type bone setting machine |
| CN104274266A (en) * | 2013-09-28 | 2015-01-14 | 沈阳新松机器人自动化股份有限公司 | Full-automatic orthopaedic traction robot |
| CN105193537A (en) * | 2015-10-28 | 2015-12-30 | 李昭中 | Digitalized automatic fracture alignment traction operating table |
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| Publication number | Publication date |
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| CN105726127A (en) | 2016-07-06 |
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Inventor after: Wang Xingsong Inventor after: Zhu Qing Inventor after: Sun Xiaogang Inventor before: Wang Xingsong Inventor before: Sun Xiaogang |
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