CN107928956A - A kind of reduction of the fracture grasping device based on operating bed - Google Patents
A kind of reduction of the fracture grasping device based on operating bed Download PDFInfo
- Publication number
- CN107928956A CN107928956A CN201711215873.4A CN201711215873A CN107928956A CN 107928956 A CN107928956 A CN 107928956A CN 201711215873 A CN201711215873 A CN 201711215873A CN 107928956 A CN107928956 A CN 107928956A
- Authority
- CN
- China
- Prior art keywords
- operating bed
- fracture
- reduction
- regulating device
- holding pin
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
-
- 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
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
- A61B17/8866—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices for gripping or pushing bones, e.g. approximators
-
- 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
-
- 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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2210/00—Devices for specific treatment or diagnosis
- A61G2210/10—Devices for specific treatment or diagnosis for orthopedics
Abstract
The invention discloses a kind of reduction of the fracture grasping device based on operating bed, including driving control system, operating bed connection component, regulating device；Driving control system is made of hydraulic control box and floor push；Operating bed connection component is used to connect operating bed and resets robot；Regulating device includes four seven freedom mechanical arms, it can be achieved that flexible modulation.The present invention by can flexible operating the passive mechanical arm of multiple degrees of freedom and operating bed combine, realize fast and stable hold.The resetting apparatus has the characteristics that simple in structure, rigidity is good, compact and flexible, the reset that auxiliary doctor carries out finely can provide larger hold and resist powerful myotility to maintain to reset while operation, effectively overcome the shortcomings of conventional reset method, it can meet clinical practice demand, have good application prospect in reduction of the fracture operation.
Description
Technical field
The present invention relates to surgical medical equipment, more particularly to a kind of reduction of the fracture grasping device based on operating bed.
Background technology
Fracture is a kind of common disease, and the continuity of bone structure is broken completely or partially.Children and the elderly are more common in,
Young people also happens occasionally.For example the portion can be caused to fracture when violence directly acts on a certain position of bone, make injury
Fracture, and often with different degrees of soft tissue injury.Wherein, for multiple fracture, pelvic fracture, femoral fracture, ridge
The spinous process of the seventh cervical vertebra is rolled over and serious open fracture, and the extensive soft tissue injuries of patient Chang Yin, bleed profusely, have an intense pain or concurrent internal organ
Damage etc. and cause shock.It is a kind of usually caused by high-energy injury for example pelvic fracture accounts for the 3%~8% of whole body fracture
Serious wound, disability rate are up to 50%~60%, and lethality is up to more than 13%.Traditional pelvis-repositioning method, by
X-ray is repeatedly shot in art, determines to reset path.The method is positioned by doctor's hand operation and by range estimation.Doctor and trouble
The amount of radiation that person receives is big, and doctor by two dimensional image can not accurate perception fracture condition information, path planning exists certain
Difficulty, so as to influence reduction of the fracture quality, easily leaves the complication such as the deformity of pelvis, leg length discrepancy, low back pain, when serious very
Corrected to progress second operation is needed.In addition, in traditional pelvis-repositioning operation, doctor need single-handedly or using reduction instrument into
Pelvis axial direction and rotation displacement are corrected in the actions such as row sled is dialled, drawing, extruding, require to continue firmly but cannot exert oneself during this
It is too quickly that to prevent new fracture, this often consumes the huge muscle power of doctor, and since the physical endurance of people causes tradition
There are the problems such as stability shortcoming and insufficient reseting precision for repositioning method.
Although current lot of domestic and foreign scientific research institution, engineers and technicians and medical worker carry out reduction of the fracture mechanism
Study and obtain certain achievement, as U.S. Starr et al. develop pelvic fracture reset frame, Chinese PLA General Hospital development
Unstable pelvic fractures reset frame, and a kind of six degree of freedom connection in series-parallel pelvis that BJ University of Aeronautics ＆ Astronautics Zhao Lu et al. is announced
Reduction of the fracture machine people etc., but these are studied or can only be held by doctor auxiliary and complete pelvic fracture reattachment surgery, or
Operating flexibility and larger reset force cannot be had concurrently, can not meet clinical demand.It may be concluded that existing pelvic fracture is answered
Position system respectively has shortcoming, it is impossible to adapts to operating room environment very well, really solves clinical problems faced.
The content of the invention
In view of this, it is an object of the invention to provide a kind of reduction of the fracture grasping device based on operating bed, based on tough
Band traction theory is realized using one-dimensional tractive force to be resetted, which passively combines reset mode using master, doctor can be aided in realize
The high-precision reduction of the fracture.
The present invention provides a kind of reduction of the fracture grasping device based on operating bed, using following technical scheme：
A kind of reduction of the fracture grasping device based on operating bed, including operating bed attachment device and regulating device, wherein, institute
State regulating device one end to be fixed on operating bed by the operating bed attachment device, the regulating device other end is provided with handle
Pin is held, the regulating device can drive the holding pin to be moved in different directions.
Further, the regulating device is provided with turning joint.
Further, the movement includes translating and rotates.
Further, driving control system is further included, the driving control system is connected with the regulating device.
Further, the driving control system includes hydraulic pump, hydraulic motor, fuel tank, floor push, hydraulic valve and liquid
Pressure pipe road.
Further, the attachment device includes adjusting deck, base and clamping screw.
Further, further include and hold pin erecting device, the holding pin is installed on the holding pin erecting device, institute
Holding pin erecting device is stated to be connected with the regulating device.
The present invention by can flexible operating the passive mechanical arm of multiple degrees of freedom and operating bed combine, there is compact and flexible, rigidity
The characteristics of good, can take into account the demand for operating flexibly and maintaining larger reset force in reduction of the fracture operation, realize and fracture instead of doctor
Reattachment surgery, reduces working doctor intensity, improves operation precision.
Brief description of the drawings
By the description to the embodiment of the present invention referring to the drawings, above-mentioned and other purpose of the invention, feature and
Advantage will be apparent from, in the accompanying drawings：
Fig. 1 is cooperating type reduction of the fracture machine people's overall schematic based on operating bed exploitation；
Fig. 2 is operating bed connecting component structure schematic diagram；
Fig. 3 is the passive mechanical arm structure diagram of seven freedom；
In figure：1- HYDRAULIC CONTROL SYSTEM casees；2- drive motors；3- fluid pressure lines；4- operating beds；5- operating beds connection dress
Put；6- holds pin；7- regulating devices；8- floor push；9- clamping screws；10- bases；11- adjusts deck；12- mechanical arms end
Hold ball-joint；13- mechanical arm forearms；14- mechanical arm rotary joints；15- hydraulic interfaces；16- mechanical arm large arm；17- mechanical arms
Bottom ball-joint；18- holds pin erecting device；19- driving control systems.
Embodiment
Below based on embodiment, present invention is described, but the present invention is not restricted to these embodiments.
The present invention provides a kind of reduction of the fracture grasping device based on operating bed, which is used for bone surgery midpelvis
The traction reduction of fracture, including operating bed attachment device 5, holding pin erecting device 18 and holding pin 6, the holding pin 6 are installed
On the holding pin erecting device 18, which further includes regulating device 7 and driving control system 19, the holding pin installation
Device 18 is connected with the regulating device 7, and the regulating device 7 is connected with the operating bed 4 by the operating bed attachment device 5
Connect, the driving control system 19 is used for the movement for controlling the regulating device 7.The regulating device 7 can drive described
Hold pin 6 to move in different directions, so that the holding pin 6 is maintained at different spatial.
Preferably, the regulating device 7 drives the holding pin 6 to be translated and rotated etc. movement in different directions, this
Sample, the holding pin 6 can be maintained at any locus, easy to being smoothed out for operation.
The regulating device 7 is mechanical arm, it is preferable that the free degree of the mechanical arm is multiple, such as the free degree >=6.
It is highly preferred that regulating device of the embodiment of the present invention 7 uses seven freedom mechanical arm, the mechanical arm includes two mechanical arm balls and closes
Section, is respectively mechanical arm tail end ball-joint 12 and mechanical arm bottom ball-joint 17, further includes mechanical arm forearm 13, mechanical arm large arm
16 and mechanical arm rotary joint 14.Mechanical arm bottom ball-joint 17, the mechanical arm large arm 16, mechanical arm rotation are closed
Section 14, the mechanical arm forearm 13 and the mechanical arm tail end ball section 12 are sequentially connected, and mechanical arm exists described in the present embodiment
Ensure that mechanical arm there are enough frees degree to realize while being adjusted flexibly of pose, it may have preferable rigidity provides larger reset
Hold.
The driving control system 19 is mainly used for controlling the movement of the mechanical arm, and the driving control system 19 can be with
It is motor control or hydraulic control.For the present embodiment by taking hydraulic control as an example, the driving control system 19 includes hydraulic pressure
System control box 1, the HYDRAULIC CONTROL SYSTEM case include hydraulic pump, drive motor 2, fuel tank, floor push 8 and hydraulic valve,
The grade Hydraulic Elements of fluid pressure line 3, are equipped with hydraulic interface 15 at the mechanical arm rotary joint 14, by the fluid pressure line 3 with
The HYDRAULIC CONTROL SYSTEM case 1 connects, and the floor push 8 is used for controlling the mechanical arm to be in free state or locked shape
State, larger coupling mechanism force is realized with less structure.The embodiment of the present invention is illustrative by taking hydraulic-driven as an example, but this
Field technology personnel it should be appreciated that without departing from the present invention basic inventive concept in the case of, motor driving etc. all energy
Enough realize that the present invention can be achieved in the manipulator motion and locked component, mechanism, device etc., these belong to the present invention's
In protection domain.
It is highly preferred that in actual use, the regulating device can be used alone, or multiple regulating devices are at the same time
It is used cooperatively, for example two, four regulating devices can be configured.When the regulating device is used cooperatively, to each of which institute
It is independent control driving to state regulating device, cooperates with, is used cooperatively.What is provided as shown in Figure 1 in the present invention is four tune
The structure diagram of regulating device synergistic effect.The embodiment of the present invention is illustrative by taking four regulating devices as an example,
It is but used aloned, multiple it should be recognized by those skilled in the art that in the case of the basic inventive concept without departing from the present invention
With the use of the regulating device, these are belonged in protection scope of the present invention.
The operating bed attachment device is mainly used for realizing that the regulating device 7 and 4 relative position of operating bed are adjustable.
The present invention introduces a kind of preferred embodiment, and the operating bed attachment device 5 includes adjusting deck 11, base 10 and clamping screw
9, the adjusting deck is installed on 4 side of operating bed, facilitates doctor to operate.The clamping screw can be passed through using two a pair
Wear operating bed and realize locking, can also be locked respectively from upper and lower both sides using four two groups.Preferably, adopted in attached drawing of the present invention
With four two groups respectively from top and bottom fixed form, it is suitable for different operating beds and does not destroy operating bed original structure.The tune
Section deck 11 is the C-shaped channel structure with two tapped through holes, is installed on operating bed side, can be slided relative to the operating bed 4
Move to adjust the regulating device 7 and 4 relative position of operating bed；The base 10 is the tabular knot with three threaded holes
Structure, centre position threaded hole are used to fix the regulating device 7, and both sides threaded hole is used to connect the base 10 and the adjusting
Deck 11；The clamping screw 9 connects the adjusting deck 11 and the operating bed 4, by tightening or unscrewing the locking screw
Bolt 9 makes the adjusting deck 11 and the operating bed 4 be in locked or opposite sliding mode.The embodiment of the present invention is with screw-threaded coupling
It is illustrative exemplified by connection mode, but it should be recognized by those skilled in the art that in the basic hair without departing from the present invention
In the case of bright design, magnetic-adsorption etc. is all can realize the component for connecting the regulating device and the operating bed, mechanism,
The present invention can be achieved in device etc., these are belonged in protection scope of the present invention.
The operating bed attachment device 5 is connected with the regulating device 7, using being threadedly coupled in the embodiment of the present invention, i.e.,
One end of mechanical arm bottom ball-joint 17 is provided with screw thread, for connecting with the threaded hole in the operating bed attachment device 5
Connect.The embodiment of the present invention is illustrative by taking the movable connection mode of screw thread as an example, but those skilled in the art should recognize
Know, in the case of the basic inventive concept without departing from the present invention, all can realize such as non-dismountable, detachable connects institute
State the component of regulating device and the operating bed, mechanism, device etc. and the present invention can be achieved, these belong to the protection of the present invention
In the range of.In a state of use, step is as follows by the present invention：
The threaded portion of 17 one end of mechanical arm bottom ball-joint is screwed in into the base 10 by the mechanical arm first first
Middle threaded hole, the regulating device 7 is fixed on the base 10；Then adjust in the operating bed attachment device 5
The position for adjusting deck 11, makes four regulating devices 7 be located at the suitable position of opposite patient, with the clamping screw
9 fix, and each regulating device is relatively fixed with 4 position of operating bed；Subsequently, the floor push 8 is stepped on, is made described
Regulating device 7 is in flexible motion state, and doctor holds the regulating device and adjusted to suitable pose, is closed in patient's pelvis
Right position, which is put, pierces the holding pin 6, unclamps the floor push 8, the regulating device 7 is in locking state, i.e. described device
In gripping state, facilitate operation of the doctor subsequently to fracture site.
The foregoing is merely the preferred embodiment of the present invention, is not intended to limit the invention, for those skilled in the art
For, the present invention can have various modifications and changes.All any modifications made within spirit and principles of the present invention, be equal
Replace, improve etc., it should all be included in the protection scope of the present invention.
Claims (8)
- A kind of 1. reduction of the fracture grasping device based on operating bed, it is characterised in that：Including operating bed attachment device and adjust dress Put, wherein, described regulating device one end is fixed on operating bed by the operating bed attachment device, and the regulating device is another End is provided with holding pin, and the regulating device can drive the holding pin to be moved in different directions.
- 2. the reduction of the fracture grasping device according to claim 1 based on operating bed, it is characterised in that：The regulating device It is provided with turning joint.
- 3. the reduction of the fracture grasping device according to claim 1 based on operating bed, it is characterised in that：The movement includes Translation and rotation.
- 4. the reduction of the fracture grasping device according to claim 1 based on operating bed, it is characterised in that：Further include driving control System processed, the driving control system are connected with the regulating device.
- 5. the reduction of the fracture grasping device according to claim 4 based on operating bed, it is characterised in that：The drive control System includes hydraulic pump, hydraulic motor, fuel tank, floor push, hydraulic valve and fluid pressure line.
- 6. the reduction of the fracture grasping device according to claim 1 based on operating bed, it is characterised in that：The operating bed connects Connection device includes adjusting deck, base and clamping screw.
- 7. the reduction of the fracture grasping device according to claim 1 based on operating bed, it is characterised in that：The regulating device With the movable connection of operating bed attachment device.
- 8. the reduction of the fracture grasping device according to claim 1 based on operating bed, it is characterised in that：Further include holding pin Erecting device, the holding pin are installed on the holding pin erecting device, and the holding pin erecting device is filled with described adjust Put connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711215873.4A CN107928956A (en) | 2017-11-28 | 2017-11-28 | A kind of reduction of the fracture grasping device based on operating bed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711215873.4A CN107928956A (en) | 2017-11-28 | 2017-11-28 | A kind of reduction of the fracture grasping device based on operating bed |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107928956A true CN107928956A (en) | 2018-04-20 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711215873.4A Pending CN107928956A (en) | 2017-11-28 | 2017-11-28 | A kind of reduction of the fracture grasping device based on operating bed |
Country Status (1)
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020088430A1 (en) * | 2018-11-01 | 2020-05-07 | 内蒙古医科大学 | Training apparatus and method for fracture reduction |
| CN112370170A (en) * | 2020-11-13 | 2021-02-19 | 毕建平 | Robot combined traction and bone fracture reduction cooperation system and control method thereof |
| WO2022193563A1 (en) * | 2021-03-16 | 2022-09-22 | 张立海 | Active-passive parallel-connected reduction robot |
| WO2023020237A1 (en) * | 2021-08-20 | 2023-02-23 | 苏州大学 | Multiple-degree-of-freedom series-parallel pelvic fracture reduction robot and pelvic fracture reduction system |
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| CN208464553U (en) * | 2017-11-28 | 2019-02-05 | 北京积水潭医院 | A kind of reduction of the fracture grasping device based on operating bed |
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| US5300071A (en) * | 1992-11-17 | 1994-04-05 | Ace Medical Company | Pelvic stabilizer |
| US5350378A (en) * | 1993-05-19 | 1994-09-27 | Cole J Dean | Posterior external pelvic fixator |
| US6162222A (en) * | 1998-11-11 | 2000-12-19 | Electro Biology, Inc. | Method and apparatus for external fixation of the pelvis |
| US20060056908A1 (en) * | 2002-12-09 | 2006-03-16 | Ronald Schwyn | Joint for movably connecting two stabilizing elements |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020088430A1 (en) * | 2018-11-01 | 2020-05-07 | 内蒙古医科大学 | Training apparatus and method for fracture reduction |
| CN112370170A (en) * | 2020-11-13 | 2021-02-19 | 毕建平 | Robot combined traction and bone fracture reduction cooperation system and control method thereof |
| WO2022193563A1 (en) * | 2021-03-16 | 2022-09-22 | 张立海 | Active-passive parallel-connected reduction robot |
| US11911124B2 (en) | 2021-03-16 | 2024-02-27 | The First Medical Center Of People's Liberation Army General Hospital | Active-passive parallel-connected reduction robot |
| WO2023020237A1 (en) * | 2021-08-20 | 2023-02-23 | 苏州大学 | Multiple-degree-of-freedom series-parallel pelvic fracture reduction robot and pelvic fracture reduction system |
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