CN108969077A - A kind of external fixed support for bone of area of computer aided driving - Google Patents
A kind of external fixed support for bone of area of computer aided driving Download PDFInfo
- Publication number
- CN108969077A CN108969077A CN201810694299.3A CN201810694299A CN108969077A CN 108969077 A CN108969077 A CN 108969077A CN 201810694299 A CN201810694299 A CN 201810694299A CN 108969077 A CN108969077 A CN 108969077A
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- CN
- China
- Prior art keywords
- moving platform
- bone
- stepper motor
- supporting baffle
- fixing seat
- 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.)
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Classifications
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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
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/60—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like for external osteosynthesis, e.g. distractors, contractors
- A61B17/62—Ring frames, i.e. devices extending around the bones to be positioned
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/60—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like for external osteosynthesis, e.g. distractors, contractors
- A61B17/64—Devices extending alongside the bones to be positioned
- A61B17/6408—Devices not permitting mobility, e.g. fixed to bed, with or without means for traction or reduction
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/60—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like for external osteosynthesis, e.g. distractors, contractors
- A61B17/64—Devices extending alongside the bones to be positioned
- A61B17/6416—Devices extending alongside the bones to be positioned with non-continuous, e.g. hinged, pin-clamp connecting element
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Biomedical Technology (AREA)
- Engineering & Computer Science (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
Abstract
The invention discloses a kind of external fixed support for bone of area of computer aided driving, belong to medical rehabilitation field of mechanical technique, it is desirable to provide the fracture fixation bracket that a kind of reseting precision is high, the operating time is short.Its key points of the technical solution are that the internal/external rotations of the accurate axial movement and supporting baffle of moving platform.For the accurate axial movement for realizing moving platform, the structure used is ball wire rod mechanism, motor rotates ball screw in fixed position by shaft coupling, and the nut on ball screw is connected by spacer for bolt and moving platform, can make the accurate axial movement of moving platform when the motor rotates.The internal/external rotations part of supporting baffle, the spur gear transmission mechanism of use.Motor drives small cylinder gear, and small roller gear is made to drive big roller gear, and big roller gear pushes supporting baffle to realize internal/external rotations to achieve the effect that knochenbruch resets.Reset, fixation, orthopaedy and the osteopathy etc. for being mainly used for fracture of the invention.
Description
Technical field
The invention belongs to medical rehabilitation field of mechanical technique, describe fixed branch outside a kind of bone of area of computer aided driving
Frame can be used for the lower limb rehabilitations movement such as fracture of lower limb reset and fixed and orthomorphia.
Background technique
Fracture of lower limb accounts for the nearly one third of fracture sum, with the aging of population trend, annual number ratio of fracturing
Increase to a certain extent, a large amount of fracture of lower limb, is very common at orthopaedic trauma center, is relevant to long bone.Long bone fracture
The treatment of reset is mainly made of two steps.Fracture is reduced first, then (such as with Orthopaedic external fixation system or internal fixation system
Steel plate and intramedullary nail) bone chip is fixed.
Intramedullary nail technology due to its minimal invasive, be many surgeons treat femurs, fracture of shaft of tibia extraordinary one
A scheme.Since the scheme of this reduction of the fracture has very high union rate (90%-99%), relatively low infection rate.This
Kind of repositioning method comes with some shortcomings place, in the actual operation process, the time of the exposure of doctor and patient opposite length,
Duration is in 150-310s range.In addition to this, the arrangement of bone fragment is abnormally frequent leads to malreduction and marrow
A very important problem existing for interior tack operation.Agglutination can be also greatly influenced if the reduction of the fracture is bad, caused
Bone nonunion complication.In addition, soft tissue injury, reset due to huge operating force and repeatedly is attempted, much.It is serious multiple
The undesirable patient in position needs to carry out reduction of the fracture operation again.Since after reduction of the fracture process, doctor will also use hand or logical
Crossing medical machinery maintains fracture to restore one of time, and guide pin can be made to penetrate the ossis of bone.Doctor can be consumed in this way
A large amount of physical strength, these situations are very prominent in fracture of femoral shaft, and traction bed apparatus, which is that one of the reduction of the fracture is relatively good, to be done
Method, but drawing bed apparatus still has some disadvantages, volume is larger, and surgical procedure is inconvenient, and reduction of the fracture precision is less enough.
The setting accuracy that must possess for long bone fracture reset cradle resets maintenance ability and undertakes load capacity.
For connect bracket each support arm movement is connected in a manner of contacting, possess operating space is big, dexterity is high, behaviour
Indulge the advantages that property is good.But series connection bracket will appear following situations in reduction of the fracture operation: 1. too big operating space is easy to lead
There are unsafe conditions in cause, such as bracket and doctor, medical machinery, operating lamp etc. are easy to happen collision, and can also account for significantly
According to the operating space of doctor.2. lower load/weight ratio and static rigidity can reduce the movenent performance of robot.3. due to string
The each support rod meeting cumulative errors for joining bracket, so that positioning accuracy be made to reduce.Comparison series connection bracket, parallel support have static state
The advantages that rigidity is big, large carrying capacity, positioning accuracy are high, load/weight ratio is big, maintenance performance is good.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of external fixed support for bone of area of computer aided driving, bones
Folding reseting precision is high, the operating time is short.When executing osteopathy, reduction of the fracture bracket manipulator driven bone chip is towards correctly
The position for being aligned and retaining them in, while reducing the amount for being exposed to the radiation of operator and patient, operating time
It is short, while the bracket of the reduction of the fracture has multiple freedom degrees.
The invention is realized by the following technical scheme:
A kind of external fixed support for bone of area of computer aided driving, it is characterized in that: include moving platform (1), silent flatform (13) and
Three support frames.
Three support frames are identical, are uniformly placed on silent flatform, each support frame is by moving platform driving mechanism
It is connected in series with supporting baffle internal/external rotations driving mechanism.
The moving platform driving mechanism includes ball screw assembly, guide rail (15), supporting baffle (9), fixing seat A (3), fixes
Seat B (7), shaft coupling (8), stepper motor 1 (16)；The ball screw assembly, includes screw rod (6), ball-screw nut (5), guide rail
(15) and sliding block (14)；Screw rod (6) both ends are separately connected fixing seat A (3) and fixing seat B (7), and screw rod (6) is by fixing seat
It is fixed on supporting baffle (9)；The ball-screw nut (5) can move on screw rod (6) and be connected with sliding block (14), sliding block
(14) it can be slided on guide rail (15), the other end of sliding block (14) is connected by spacer for bolt (4) with moving platform (1)；It is described to lead
Rail (15) is fixed on the fixing seat A (3) on supporting baffle (9), between fixing seat B (7)；The ball screw assembly, is by stepper motor
1 (16) driving, is connect between stepper motor 1 (16) and ball screw assembly, by shaft coupling (8)；When screw rod (6) is fixed, rolling
Screw nut (5) is slided on screw rod (6), and ball-screw nut (5) is connected by spacer for bolt (4) and moving platform (1)
It picks up and, so that moving platform (1) be driven to move axially.
The supporting baffle internal/external rotations driving mechanism includes big roller gear (10), small cylinder gear (11), stepping electricity
Machine 2 (12)；The stepper motor 2 (12) is connected with small cylinder gear (11) and small cylinder gear (11) is driven to rotate, small column
Gear (11) is engaged with big roller gear (10), and small cylinder gear (11) is made to drive big roller gear (10) rotation, big Cylinder Gear
It takes turns (10) and pushes supporting baffle (9) to realize internal/external rotations by connection axis connection supporting baffle (9)；The stepper motor 2
(12), big roller gear (10), small cylinder gear (11) are both secured on silent flatform (13).
The moving platform (1) and silent flatform (13) respectively include two steel needles (2), and silent flatform (1) is placed in the nearly heart bone of fracture
Section, moving platform (13) are placed in the telecentricity bone section of fracture, and steel needle (2) percutaneously wears bone, then is fixed on exposed at extracutaneous needle end
On platform.
Three support frames are structure parallel with one another, to increase its bearing capacity and static rigidity.
The stepper motor 1 (16) and stepper motor 2 (12) are controlled by computer to be driven, to ensure positioning accuracy.
Invention working principle are as follows: after patients with fractures, underwent operative is percutaneously worn by the nearly heart and telecentricity bone section of fracture puts steel needle,
Be fixed on platform exposed at extracutaneous needle end again, by the internal/external rotations of baffle drive moving platform flip-flop movement and
The axial movement of moving platform resets the knochenbruch of dislocation accurately, and keeps lasting and consolidate, and the axial inching for passing through moving platform pierces
Swash the growth and healing of bone.
The invention has the benefit that
Using the structure of three bracket parallel connections, three supporting structures are simple, effectively save space, given doctor more
Operating space, the time of operation is greatly saved, while parallel-connection structure static rigidity is big, stability is high, there is better carrying
Ability.By the internal/external rotations of computer-controlled stepper motor driving baffle and the axial inching of moving platform, there is higher reset
Precision, and in rehabilitation course, accurate axial inching helps speed up the healing of fracture.
Detailed description of the invention
Fig. 1 is the external fixed support for bone Facad structure figure of area of computer aided driving.
Fig. 2 is the external fixed support for bone construction profile of area of computer aided driving.
Fig. 3 is supporting baffle structure chart.
Fig. 4 is silent flatform structure chart.
In figure, 1, moving platform；2, steel needle；3, fixing seat A；4, spacer for bolt；5, ball-screw nut；6, screw rod；7, Gu
Reservation B；8, shaft coupling；9, supporting baffle；10, big roller gear；11, small cylinder gear；12, stepper motor 2；13, silent flatform；
14, sliding block；15, guide rail；16, stepper motor 1.
Specific embodiment
The present invention provides a kind of external fixed support for bone of area of computer aided driving, with reference to the accompanying drawing and specific embodiment party
The present invention will be further described for formula.
Structure of the invention is as depicted in figs. 1 and 2, is made of moving platform (1), silent flatform (13) and three support frames, it
The multifreedom motion of moving platform (1) may be implemented, three brackets are identical, and each bracket is by moving platform driving mechanism and interior
Rotation/outward turning driving mechanism is connected in series.
The moving platform driving mechanism includes ball screw assembly, guide rail (15), supporting baffle (9), fixing seat A (3), fixes
Seat B (7), shaft coupling (8), stepper motor 1 (16)；Supporting baffle (9) is as shown in figure 3, ball screw assembly, is fixed on supporting baffle
(9) it on, is driven by stepper motor 1 (16)；The ball screw assembly, includes screw rod (6), ball-screw nut (5), guide rail (15)
And sliding block (14)；Screw rod (6) both ends are separately connected fixing seat A (3) and fixing seat B (7), and screw rod (6) is fixed by fixing seat
On supporting baffle (9)；The ball-screw nut (5) can move on screw rod (6) and be connected with sliding block (14), sliding block (14)
It can be slided on guide rail (15), the other end of sliding block (14) is connected by spacer for bolt (4) with moving platform (1)；The guide rail
(15) it is fixed on the fixing seat A (3) on supporting baffle (9), between fixing seat B (7)；The ball screw assembly, is by stepper motor 1
(16) it drives, is connect between stepper motor 1 (16) and ball screw assembly, by shaft coupling (8)；When screw rod (6) is fixed, rolling
Screw nut (5) is slided on screw rod (6), and ball-screw nut (5) is connected by spacer for bolt (4) and moving platform (1)
It picks up and, so that moving platform (1) be driven to move axially.
The supporting baffle internal/external rotations driving mechanism includes big roller gear (10), small cylinder gear (11), stepping electricity
Machine 2 (12)；The stepper motor 2 (12) is connected with small cylinder gear (11) and small cylinder gear (11) is driven to rotate, small column
Gear (11) is engaged with big roller gear (10), and small cylinder gear (11) is made to drive big roller gear (10) rotation, big Cylinder Gear
It takes turns (10) and pushes supporting baffle (9) to realize internal/external rotations by connection axis connection supporting baffle (9)；The stepper motor 2
(12), big roller gear (10), small cylinder gear (11) are both secured on silent flatform (13).
The moving platform (1) and silent flatform (13) respectively include two steel needles (2), and silent flatform (13) is placed in the nearly heart bone of fracture
Section, moving platform (1) are placed in the telecentricity bone section of fracture, and steel needle (2) percutaneously wears bone, then it is exposed be fixed at extracutaneous needle end it is flat
On platform.
Moving platform driving mechanism can make moving platform (1) axially move, and supporting baffle driving mechanism can make moving platform (1) real
The overturning of existing various angles, after operation is threaded a needle, silent flatform (13) heart bone section close with fracture site is connected, moving platform (1) and bone
The telecentricity bone section of folding part position is connected, and the movement of moving platform (1) may be implemented the accurate reset of knochenbruch and in subsequent rehabilitation course
In play fixed effect.
The external fixed support for bone of area of computer aided driving described in the present invention is suitable for a variety of different patients, can use
It resets and fixes in the knochenbruch of the patients such as the reduction of the fracture, orthopaedy, osteopathy, and the rehabilitation front and back phase is all suitable for, early period can make
Knochenbruch accurately resets, and the later period can keep lasting fixation, and the mechanical stimulus being applied with conducive to knitting.
Claims (3)
1. a kind of external fixed support for bone of area of computer aided driving, it is characterized in that: including moving platform (1), silent flatform (13) and three
A support frame；
Three support frames are identical, are uniformly placed on silent flatform, each support frame is by moving platform driving mechanism and branch
Spacer plate internal/external rotations driving mechanism is connected in series；
The moving platform driving mechanism includes ball screw assembly, guide rail (15), supporting baffle (9), fixing seat A (3), fixing seat B
(7), shaft coupling (8), stepper motor 1 (16)；The ball screw assembly, includes screw rod (6), ball-screw nut (5), guide rail
(15) and sliding block (14)；Screw rod (6) both ends are separately connected fixing seat A (3) and fixing seat B (7), and screw rod (6) is by fixing seat
It is fixed on supporting baffle (9)；The ball-screw nut (5) can move on screw rod (6) and be connected with sliding block (14), sliding block
(14) it can be slided on guide rail (15), the other end of sliding block (14) is connected by spacer for bolt (4) with moving platform (1)；It is described to lead
Rail (15) is fixed on the fixing seat A (3) on supporting baffle (9), between fixing seat B (7)；The ball screw assembly, is by stepper motor
1 (16) driving, is connect between stepper motor 1 (16) and ball screw assembly, by shaft coupling (8)；When screw rod (6) is fixed, rolling
Screw nut (5) is slided on screw rod (6), and ball-screw nut (5) is connected by spacer for bolt (4) and moving platform (1)
It picks up and, so that moving platform (1) be driven to move axially；
The supporting baffle internal/external rotations driving mechanism includes big roller gear (10), small cylinder gear (11), stepper motor 2
(12)；The stepper motor 2 (12) is connected with small cylinder gear (11) and small cylinder gear (11) is driven to rotate, small cylinder gear
(11) it is engaged with big roller gear (10), small cylinder gear (11) is made to drive big roller gear (10) rotation, big roller gear
(10) supporting baffle (9) are pushed to realize internal/external rotations by connection axis connection supporting baffle (9)；The stepper motor 2 (12),
Big roller gear (10), small cylinder gear (11) are both secured on silent flatform (13)；
The moving platform (1) and silent flatform (13) respectively include two steel needles (2), and silent flatform (1) is placed in the nearly heart bone section of fracture, are moved
Platform (13) is placed in the telecentricity bone section of fracture, and steel needle (2) percutaneously wears bone, then is fixed on platform at extracutaneous needle end exposed
On.
2. external fixed support for bone according to claim 1, which is characterized in that three support frames are structure parallel with one another.
3. external fixed support for bone according to claim 1, which is characterized in that the stepper motor 1 (16) and stepper motor 2
(12) it is controlled and is driven by computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810694299.3A CN108969077A (en) | 2018-06-29 | 2018-06-29 | A kind of external fixed support for bone of area of computer aided driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810694299.3A CN108969077A (en) | 2018-06-29 | 2018-06-29 | A kind of external fixed support for bone of area of computer aided driving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108969077A true CN108969077A (en) | 2018-12-11 |
Family
ID=64538962
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810694299.3A Pending CN108969077A (en) | 2018-06-29 | 2018-06-29 | A kind of external fixed support for bone of area of computer aided driving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108969077A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113317856A (en) * | 2021-06-21 | 2021-08-31 | 哈尔滨理工大学 | Fracture reduction fixator based on mixed structure |
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| CN102247198A (en) * | 2011-06-29 | 2011-11-23 | 温建民 | Combined three-dimensional traction mounting bracket for wrist joint |
| CN202365897U (en) * | 2011-10-27 | 2012-08-08 | 天津市新中医疗器械有限公司 | Three-dimensional space external fixation frame |
| CN103006301A (en) * | 2012-10-22 | 2013-04-03 | 夏和桃 | Self-locking joint for external bone fixator and regulating type bionic external bone fixator |
| CN103462674A (en) * | 2013-09-17 | 2013-12-25 | 北京航空航天大学 | Detachable long bone reduction robot |
| CN204394655U (en) * | 2015-01-14 | 2015-06-17 | 张韦 | Ring-like exterior fixation bracket |
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| CN105919670A (en) * | 2016-07-11 | 2016-09-07 | 哈尔滨理工大学 | Minimally-invasive surgery assistant robot |
| CN106264690A (en) * | 2016-08-24 | 2017-01-04 | 义乌敦仁智能科技有限公司 | A kind of electronic Taylor space external fixed support for bone |
| CN206381227U (en) * | 2016-08-24 | 2017-08-08 | 义乌敦仁智能科技有限公司 | A kind of electronic Taylor space external fixed support for bone |
| CN107802332A (en) * | 2017-11-21 | 2018-03-16 | 杭州三坛医疗科技有限公司 | Bone reduction device |
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| CN1186421A (en) * | 1995-03-01 | 1998-07-01 | 史密夫和内修有限公司 | Spatial frame |
| CN101234036A (en) * | 2008-01-10 | 2008-08-06 | 中国人民解放军第三军医大学第一附属医院 | Self-adjusting orthopaedics external fixing device |
| CN102247198A (en) * | 2011-06-29 | 2011-11-23 | 温建民 | Combined three-dimensional traction mounting bracket for wrist joint |
| CN202365897U (en) * | 2011-10-27 | 2012-08-08 | 天津市新中医疗器械有限公司 | Three-dimensional space external fixation frame |
| CN103006301A (en) * | 2012-10-22 | 2013-04-03 | 夏和桃 | Self-locking joint for external bone fixator and regulating type bionic external bone fixator |
| CN105050517A (en) * | 2013-03-13 | 2015-11-11 | 德普伊新特斯产品公司 | External bone fixation device |
| CN103462674A (en) * | 2013-09-17 | 2013-12-25 | 北京航空航天大学 | Detachable long bone reduction robot |
| CN204394655U (en) * | 2015-01-14 | 2015-06-17 | 张韦 | Ring-like exterior fixation bracket |
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| CN106264690A (en) * | 2016-08-24 | 2017-01-04 | 义乌敦仁智能科技有限公司 | A kind of electronic Taylor space external fixed support for bone |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113317856A (en) * | 2021-06-21 | 2021-08-31 | 哈尔滨理工大学 | Fracture reduction fixator based on mixed structure |
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Application publication date: 20181211 |
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