CN110623811A - Intelligent noninvasive calcaneus reduction auxiliary robot - Google Patents
Intelligent noninvasive calcaneus reduction auxiliary robot Download PDFInfo
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- CN110623811A CN110623811A CN201910987539.3A CN201910987539A CN110623811A CN 110623811 A CN110623811 A CN 110623811A CN 201910987539 A CN201910987539 A CN 201910987539A CN 110623811 A CN110623811 A CN 110623811A
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- 210000000459 calcaneus Anatomy 0.000 title claims abstract description 28
- 230000009467 reduction Effects 0.000 title claims abstract description 22
- 210000000474 heel Anatomy 0.000 claims abstract description 89
- 230000008439 repair process Effects 0.000 claims abstract description 43
- 210000002683 foot Anatomy 0.000 claims abstract description 33
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 230000006870 function Effects 0.000 claims abstract description 7
- 210000000078 claw Anatomy 0.000 claims description 74
- 239000003638 chemical reducing agent Substances 0.000 claims description 8
- 239000007779 soft material Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 10
- 230000008569 process Effects 0.000 abstract description 7
- 230000005855 radiation Effects 0.000 abstract description 7
- 230000008901 benefit Effects 0.000 abstract description 3
- 230000005802 health problem Effects 0.000 abstract description 2
- 206010016970 Foot fracture Diseases 0.000 description 9
- 230000009471 action Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 208000010392 Bone Fractures Diseases 0.000 description 3
- 210000004027 cell Anatomy 0.000 description 3
- 206010002091 Anaesthesia Diseases 0.000 description 2
- 206010017076 Fracture Diseases 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 2
- 230000037005 anaesthesia Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 201000011510 cancer Diseases 0.000 description 2
- 108010084652 homeobox protein PITX1 Proteins 0.000 description 2
- 108020004414 DNA Proteins 0.000 description 1
- 230000000711 cancerogenic effect Effects 0.000 description 1
- 231100000315 carcinogenic Toxicity 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000003743 erythrocyte Anatomy 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000002068 genetic effect Effects 0.000 description 1
- 208000014951 hematologic disease Diseases 0.000 description 1
- 208000032839 leukemia Diseases 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012148 non-surgical treatment Methods 0.000 description 1
- 230000004224 protection Effects 0.000 description 1
- 238000002601 radiography Methods 0.000 description 1
- 230000001950 radioprotection Effects 0.000 description 1
- 238000011946 reduction process Methods 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
- A61B34/35—Surgical robots for telesurgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/04—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints
-
- 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
- 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
- A61G13/12—Rests specially adapted therefor; Arrangements of patient-supporting surfaces
- A61G13/1205—Rests specially adapted therefor; Arrangements of patient-supporting surfaces for specific parts of the body
- A61G13/1245—Knees, upper or lower legs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
- A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Medical Informatics (AREA)
- Radiology & Medical Imaging (AREA)
- Gynecology & Obstetrics (AREA)
- Robotics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Nursing (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Vascular Medicine (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
The invention discloses an intelligent noninvasive calcaneus reduction auxiliary robot, which relates to the technical field of medical auxiliary equipment and comprises a movable lifting mechanism with moving and lifting functions and a repairing table arranged on the movable lifting mechanism, wherein the repairing table comprises a repairing table support, a leg fixing structure, a sole jacking unit, a long electric sliding table, a heel limiting unit, two heel repairing units and an arch limiting unit. The foot is positioned in the process of a repair operation through the sole jacking unit and the heel limiting unit, the heel is pushed and reset through the heel pushing block, and the foot is stretched and repaired through the arch limiting unit and the heel limiting unit; the calcaneus reduction device has the advantages that the calcaneus reduction of remote operation of medical staff is realized, manual operation is replaced by mechanical operation, the labor intensity of the medical staff is greatly reduced, the medical staff can be far away from harmful radiation sources, and the health problem caused by frequent radiation is avoided.
Description
Technical Field
The invention relates to the technical field of medical auxiliary equipment, in particular to an auxiliary robot for calcaneus fracture reduction.
Background
Heel calcaneus fracture is divided into tongue calcaneus fracture, collapse type calcaneus fracture and other calcaneus fractures, and at present, two modes of non-operative treatment and operative treatment are generally available for tongue calcaneus fracture and collapse type calcaneus fracture. When in non-surgical treatment, a doctor resets the calcaneus by extruding, stretching and arch bending of the calcaneus of a patient; after the action is approximately finished, on the basis of keeping the bending of the arch of foot, photographing is carried out through a C-shaped arm X-ray machine, the reset condition of the arch of foot is confirmed, if the reset condition is not ideal, photographing is carried out again after reset is required to be adjusted again, and the photographing is confirmed repeatedly for many times, so that the calcaneus is ensured to be restored to the ideal condition. In the calcaneus reduction process, at least two or more doctors are needed to cooperate, and meanwhile, when the X-ray machine takes a picture, the calcaneus of a patient needs to be kept in a reduction state, so that the doctors are within the radiation range of the X-ray machine.
X-rays can penetrate cells, destroy DNA, and even induce certain cancer cells. X-rays can also damage the internal structure of cells, causing lifelong damage to genetic molecules that are difficult to repair. Further, it has been found that X-rays destroy erythrocytes and may induce blood diseases such as leukemia. In the calcaneal reduction operation, the doctor is subjected to at least two X-ray irradiations, and if each irradiation time is 0.5 second and the amount of the received radiation is 0.023 millisievert, the doctor is subjected to at least 0.046 millisievert in one operation. The total risk of radiation is 0.0165/cefetter, according to the standards set by the international commission on radioprotection, i.e. the carcinogenic probability of 0.0165 increases for every cefetter (1 cefetter-1000 millisimetter) dose received by the body. Doctors engaged in calcaneus reduction for a long time have greatly increased cancer probability and have very bad influence on the bodies of the doctors.
Disclosure of Invention
The invention provides an intelligent noninvasive calcaneus reduction auxiliary robot to avoid the defects of the prior art.
The invention adopts the following technical scheme for solving the technical problems: an intelligent non-invasive calcaneus reduction auxiliary robot comprises an operating bed for arranging a patient, a C-shaped arm X-ray machine for detecting and feeding back foot skeleton conditions and a display and control device for displaying the foot skeleton conditions and controlling the robot, the C-shaped X-ray machine is arranged corresponding to the position of the foot of the patient, and also comprises a movable lifting mechanism with the functions of moving and lifting and a repairing table arranged on the movable lifting mechanism, the repairing table comprises a repairing table support with a box-shaped structure with an opening at the top, a repairing table cover plate arranged at the top of the repairing table support, a leg fixing structure arranged on the repairing table cover plate, a sole jacking unit which is positioned above the repairing table cover plate and is arranged at the opposite side of the leg fixing structure, and a long electric sliding table, a heel limiting unit, two heel repairing units and an arch limiting unit which are arranged in the box-shaped structure of the repairing table support;
the long electric sliding table is arranged in the longitudinal middle of the bottom of the repair table bracket, the output sliding direction of the long electric sliding table is vertical to the length direction of the legs of the patient, and the arch limiting unit is arranged in the transverse middle of the bottom of the repair table bracket and is positioned on the same side of the long electric sliding table with the leg fixing structure; the heel limiting units are mounted on the long electric sliding table through heel repairing sliding blocks, and the two heel repairing units are symmetrically arranged on two sides of the arch limiting unit, are fixedly connected with the box body and are respectively used for tightly supporting the left heel and the right heel of the patient; one side, close to the long electric sliding table, of any one heel repair unit is provided with a long electric sliding table electric cylinder, and the output end of the long electric sliding table electric cylinder is connected with the outer side wall of the long electric sliding table and used for driving the long electric sliding table to slide along the length direction of the leg of the patient;
the electric claw is arranged on the heel repairing sliding block, and the electric claw upper pressing block and the electric claw lower pressing block are respectively arranged on the electric claw through an electric claw finger to form the heel limiting unit; the electric claw is used for driving the electric claw upper pressing block and the electric claw lower pressing block to move towards or away from each other so as to clamp or relax the heel of the patient;
the electric rotating table is fixedly connected with the repairing table support, the arch electric claw is arranged on the electric rotating table, and the arch bottom pressing block and the arch face pressing block are respectively arranged on the arch electric claw through an arch pressing block mounting plate to form the arch limiting unit; the arch electric claw is used for driving the arch bottom pressing block and the arch face pressing block to move towards or away from each other so as to clamp or release the arch of the foot of a patient.
Further, the heel bulldoze piece through the heel bulldoze piece mounting panel with the electric jar output is restoreed to the heel is connected, constitutes the unit is restoreed to the heel, the tight electric jar in top is connected and is fixed in the box, the heel bulldoze piece stretch out extremely restore a table apron top.
Furthermore, the short electric sliding table is fixedly installed through a sole jacking support arranged on the repair table support and the repair table cover plate, the sliding direction of the short electric sliding table is horizontally arranged, the electric cylinder is arranged on the short electric sliding table, the driving axis of the electric cylinder is vertical to the sliding direction of the electric cylinder in the horizontal plane, and the output end of the electric cylinder is connected with a jacking head to form the sole jacking unit; the pressing head is arranged towards the foot direction of a patient, the top of the sole pressing support is sealed by the sole pressing cover plate, and the sole pressing unit is arranged in an area surrounded by the sole pressing support and the sole pressing cover plate.
Furthermore, shank fixed knot constructs including shank fixed cushion and two shank fixed bandages, shank fixed cushion is rectangle platform column structure, its length direction with long electric sliding table sliding direction is parallel, and two shank fixed bandages are located symmetrically on the shank fixed cushion.
Furthermore, the movable lifting mechanism comprises a sliding support and a lifting mechanism, the bottom of the sliding support is of a plate-shaped structure, one side of the plate-shaped mechanism is provided with an upright box body, and the bottom of the plate-shaped mechanism is provided with pulleys with locking functions; the inner side wall of the box body is provided with a strip-shaped lifting hole, and the lifting mechanism is arranged in the box body;
the servo motor is fixed at the bottom in the box body, the output end of the servo motor is connected with the input end of the speed reducer, the output end of the speed reducer is connected with the ball screw through the coupler, the ball screw is limited by two bearing seats which are fixedly connected to the box body and are arranged at two ends of the ball screw, and the rotating axis of the ball screw is vertically arranged; the connecting plate is fixedly connected with a connecting block which is connected to the ball screw in a matching way, the back surface of the guide rail sliding block is fixedly connected with the connecting plate, two sides of the front surface of the guide rail sliding block are respectively in sliding fit with two lifting slide rails fixedly connected to the box body, and the middle part of the guide rail sliding block is of a boss structure which is protruded from the lifting hole to the outside of the box body, so that the lifting mechanism is formed; the repair station is connected to the boss structure.
Furthermore, the display and control device comprises a display and touch integrated machine for sending instructions and displaying information, a controller for controlling the robot and a control device bracket, wherein the display and touch integrated machine and the controller are arranged on the control device bracket.
Further, the jacking head, the electric claw upper pressing block, the electric claw lower pressing block, the heel pushing block, the arch bottom pressing block and the arch face pressing block are all coated with soft materials; the jacking head and the output end of the electric cylinder, the upper pressing block of the electric claw and the lower pressing block of the electric claw are detachably connected with the fingers of the electric claw, the heel pushing block mounting plate, the foot arch bottom pressing block, the foot arch face pressing block and the foot arch pressing block mounting plate.
Furthermore, force sensors are respectively arranged on the parts of the jacking head, the electric claw upper pressing block, the electric claw lower pressing block, the heel pushing block, the arch bottom pressing block and the arch face pressing block, which are in contact with the feet of the patient.
The invention provides an intelligent noninvasive calcaneus reduction auxiliary robot which has the following beneficial effects:
1. the foot is positioned in the process of the repair operation through the sole jacking unit and the heel limiting unit, the heel is pushed and reset through the heel pushing block, and the foot is stretched and repaired through the arch limiting unit and the heel limiting unit together, so that the calcaneus fracture repair operation is mechanically performed;
2. compared with manual operation, the mechanical action has higher precision and more stable force application, is beneficial to the high precision of the calcaneus fracture reduction operation, and improves the effect of operation treatment;
3. the calcaneus reduction device has the advantages that the calcaneus reduction of remote operation of medical staff is realized, manual operation is replaced by mechanical operation, the labor intensity of the medical staff is greatly reduced, the medical staff can be far away from harmful radiation sources, and the health problem caused by frequent radiation is avoided.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the mobile lifting mechanism and the repair station of the present invention;
FIG. 3 is a schematic view of the structure of the repair station of the present invention;
FIG. 4 is a schematic view of the internal structure of the lifting mechanism of the present invention;
FIG. 5 is a schematic view of the internal structure of the repair station in a first operating state according to the present invention;
FIG. 6 is a schematic view of the internal structure of the repair station of the present invention in a second operating state;
FIG. 7 is a schematic structural diagram of a display and control device according to the present invention.
In the figure:
1. the device comprises a movable lifting mechanism 101, a sliding support 102, a servo motor 103, a speed reducer 104, a coupling 105, a bearing seat 106, a ball screw 107, a connecting block 108, a connecting plate 109 and a guide rail slider; 2. the device comprises a repairing table 21, a sole tightening unit 211, a short electric sliding table 212, an electric cylinder 213 and a tightening head; 22. the long electric sliding table 221 is provided with an electric cylinder; 23. a heel limiting unit 231, a heel repairing slide block 232, an electric claw 233, an electric claw finger 234, an electric claw upper pressing block 235 and an electric claw lower pressing block; 24. a heel repair unit 241, a heel repair electric cylinder 242, a heel push block mounting plate 243 and a heel push block; 25. the arch limiting unit 251, the electric rotary table 252, the arch electric claw 253, the arch pressing block mounting plate 254, the arch bottom pressing block 255 and the arch face pressing block; 261. a repair table bracket 262, a repair table cover plate 263, a shank fixing cushion block 264 and a shank fixing bandage; 3. the display and control device 31, the display and touch integrated machine 32, the control device bracket 33 and the controller; 4. an operating bed; 5. a C-arm X-ray machine; 6. and (4) a leg part.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 7, the structural relationship is as follows: the medical robot comprises an operating bed 4 for placing a patient, a C-shaped arm X-ray machine 5 for detecting and feeding back foot skeleton conditions and a display and control device 3 for displaying the foot skeleton conditions and performing robot control, wherein the C-shaped arm X-ray machine 5 is arranged corresponding to the position of the foot of the patient, and the operating bed is an existing electric hydraulic operating bed, can support the patient in the operating process, can adjust the body position according to the operating operation requirement and provides a convenient operating environment for a doctor; the C-shaped arm X-ray machine is an existing X-ray machine and is used for collecting skeleton images, performing operation radiography and shooting, feeding collected information back to the display and control device 3 and displaying the information in the display and control device 3;
the device also comprises a movable lifting mechanism 1 with moving and lifting functions and a repair platform 2 arranged on the movable lifting mechanism 1, wherein the repair platform 2 comprises a repair platform support 261 which is of a box-shaped structure with an opening at the top, a repair platform cover plate 262 arranged at the top of the repair platform support 261, a leg fixing structure arranged on the repair platform cover plate 262, a sole jacking unit 21 which is positioned above the repair platform cover plate 262 and is arranged at the opposite side of the leg fixing structure, and a long electric sliding table 22, a heel limiting unit 23, two heel repair units 24 and an arch limiting unit 25 which are arranged in the box-shaped structure of the repair platform support 261;
the long electric sliding table 22 is arranged in the longitudinal middle of the bottom of the repairing table bracket 261, the output sliding direction of the long electric sliding table is vertical to the length direction of the patient leg, and the arch limiting unit 25 is arranged in the transverse middle of the bottom of the repairing table bracket 261 and is positioned at the same side of the long electric sliding table 22 with the leg fixing structure; the heel limiting unit 23 is mounted on the long electric sliding table 22 through a heel repair slider 231, and the two heel repair units 24 are symmetrically arranged on two sides of the arch limiting unit 25 and fixedly connected with the box body, and are respectively used for tightly supporting the left heel and the right heel of the patient; one side of any one heel repairing unit 24 close to the long electric sliding table 22 is provided with a long electric sliding table electric cylinder 221, and the output end of the long electric sliding table electric cylinder 221 is connected with the outer side wall of the long electric sliding table 22 and used for driving the long electric sliding table 22 to slide along the length direction of the leg of the patient;
the electric claw 232 is arranged on the heel repair slide block 231, and the electric claw upper pressing block 234 and the electric claw lower pressing block 235 are respectively arranged on the electric claw 232 through an electric claw finger 233 to form a heel limit unit 23; the electric claw 232 is used for driving the electric claw upper pressing block 234 and the electric claw lower pressing block 235 to move towards or away from each other so as to clamp or relax the heel of the patient;
the electric rotary table 251 is fixedly connected with a repairing table support 261, the arch electric claw 252 is arranged on the electric rotary table 251, and the arch bottom pressing block 254 and the arch face pressing block 255 are respectively arranged on the arch electric claw 252 through an arch pressing block mounting plate 253 to form an arch limiting unit 25; arch electrical prongs 252 are used to drive arch bottom press 254 and arch face press 255 toward and away from each other to grip or release the arch of the patient.
Preferably, the heel pushing block 243 is connected with the output end of the heel repairing electric cylinder 241 through the heel pushing block mounting plate 242 to form the heel repairing unit 24, the top-tightening electric cylinder 241 is connected and fixed in the box body, and the heel pushing block 243 extends out to the position above the repairing platform cover plate 262.
Preferably, the short electric sliding table 211 is fixedly installed through a sole tightening support installed on the repair table support 261 and the repair table cover plate 262, the sliding direction of the short electric sliding table is horizontally arranged, the electric cylinder 212 is installed on the short electric sliding table 211, the driving axis of the electric cylinder is vertical to the sliding direction of the electric cylinder in the horizontal plane, and the output end of the electric cylinder is connected with the tightening head 213 to form the sole tightening unit 21; the tightening head 213 is arranged towards the foot direction of the patient, the top of the sole tightening support is sealed by the sole tightening cover plate, and the sole tightening unit 21 is arranged in the region surrounded by the sole tightening support and the sole tightening cover plate.
Preferably, the leg fixing structure includes a lower leg fixing cushion 263 and two lower leg fixing bandages 264, the lower leg fixing cushion 263 is a rectangular table-shaped structure, the length direction of the lower leg fixing cushion 263 is parallel to the sliding direction of the long electric sliding table 22, and the two lower leg fixing bandages 264 are symmetrically arranged on the lower leg fixing cushion 263 and are respectively used for fixing the lower legs of the two legs 6 of the patient.
Preferably, the movable lifting mechanism 1 comprises a sliding support 101 and a lifting mechanism, the bottom of the sliding support 101 is of a plate-shaped structure, one side of the plate-shaped mechanism is provided with an upright box body, and the bottom of the plate-shaped mechanism is provided with pulleys with locking functions; the inner side wall of the box body is provided with a strip-shaped lifting hole, and the lifting mechanism is arranged in the box body;
the servo motor 102 is fixed at the bottom in the box body, the output end of the servo motor is connected with the input end of the speed reducer 103, the output end of the speed reducer 103 is connected with the ball screw 106 through the coupler 104, the ball screw 106 is limited by two bearing seats 105 which are fixedly connected to the box body and are arranged at two ends of the ball screw, and the rotating axis of the ball screw is vertically arranged; the connecting plate 108 is fixedly connected with a connecting block 107 which is connected with the ball screw 106 in a matching way, the back surface of the guide rail sliding block 109 is fixedly connected with the connecting plate, two sides of the front surface of the guide rail sliding block are respectively in sliding fit with two lifting slide rails fixedly connected with the box body, and the middle part of the guide rail sliding block is of a boss structure which is protruded out of the box body from a lifting hole to form a lifting mechanism; the repair station 2 is attached to the boss structure.
Preferably, the display and control device comprises a display and touch integrated machine 31 for sending instructions and displaying information, a controller 33 for controlling the robot and a control device bracket 32, wherein the display and touch integrated machine 31 and the controller 33 are arranged on the control device bracket 32; the controller 33 may employ the Siemens PCL-S7-1200.
Preferably, the tightening head 213, the electric claw upper pressing block 234, the electric claw lower pressing block 235, the heel pushing block 245, the arch bottom pressing block 254 and the arch face pressing block 255 are all coated with soft materials, so that the skin of a patient is prevented from being damaged; the tightening head 213 and the output end of the electric cylinder 212, the electric claw upper pressing block 234 and the electric claw lower pressing block 235 and the electric claw finger 233, the heel pushing block 245 and the heel pushing block mounting plate 244, and the arch bottom pressing block 254 and the arch face pressing block 255 and the arch pressing block mounting plate 253 are detachably connected, so that the replacement and the disinfection of the parts which are directly contacted with the foot of the patient are facilitated.
Preferably, force sensors are respectively arranged on the parts of the tightening head 213, the electric claw upper pressing block 234, the electric claw lower pressing block 235, the heel pushing block 245, the arch bottom pressing block 254 and the arch face pressing block 255, which are in contact with the foot of the patient, so as to feed back the acting force between each part and the foot of the patient in real time.
When the electric foot repairing device is used specifically, taking the fracture of the right heel bone of a patient as an example, the display and touch integrated machine 31 is used for selecting a right foot repairing mode, the heel repairing slide block 231 moves to the left side along the long electric sliding table 22, and medical staff replace the electric claw upper press block 234, the electric claw lower press block 235, the arch bottom press block 254 and the arch face press block 255 with the right foot press block. Then, medical staff lays a sterile cloth on the rehabilitation table 2, and the patient performs anesthesia on the operation table 4.
After anesthesia is completed, medical staff integrally push the movable lifting mechanism 1 and the repair table 2 connected to the movable lifting mechanism to the front end of the operating bed 3, and adjust the height of the repair table 2 to be consistent with that of the operating bed 3, in the specific process, the servo motor 102 is started, the servo motor 102 rotates forwards or reversely, the output rotating speed is reduced by the speed reducer 103 and then is transmitted to the ball screw 106, the ball screw 106 rotates forwards or reversely correspondingly, the connecting block 107 is driven to drive the connecting plate 108 connected with the connecting block to move upwards or downwards along the guide rail sliding block 109 until the height of the repair table 2 connected to the connecting plate 108 is consistent with that of the operating bed 3.
The medical staff places the right leg of the patient on the lower leg fixing cushion block 263 and fixes the right leg with the lower leg fixing bandage 264, places the heel of the right foot of the patient between the upper electric claw pressing block 234 and the lower electric claw pressing block 235, places the arch of the foot between the bottom arch pressing block 254 and the face arch pressing block 255, and then controls the electric cylinder 212 to drive the tightening head 213 to extend out to contact with the sole of the right foot of the patient; then the medical staff adjusts the position of the C-arm X-ray machine 5 to be aligned with the heel of the right foot of the patient and then exits the operating room, so that the display and control device 3 continues the operation.
The heel bone fracture operation repair process is that electric claw 232 drives briquetting 234 and electric claw lower briquetting 235 through electric claw finger 233 and presss from both sides tightly repeatedly, relaxs, when briquetting 234 and electric claw lower briquetting 235 press from both sides tightly on the electric claw, electric jar 241 is restoreed to the heel through heel bulldozing piece mounting panel 242 drive heel bulldozing piece 243 extrudes the heel portion, when briquetting 234 and electric claw lower briquetting 235 relax on the electric claw, electric jar 241 is restoreed to the heel through heel bulldozing piece mounting panel 242 drive heel bulldozing piece 243 and resets and withdraws. After a plurality of times, the thickness of the calcaneus is restored to a normal value, the electric claw upper pressing block 234 and the electric claw lower pressing block 235 are kept in a clamping state, the heel pushing block 243 is retracted, and the electric cylinder 212 drives the tightening head 213 to continuously extend out to reach a preset value and keep tightening. Then the arch electric claw 252 drives an arch bottom pressing block 254 and an arch face pressing block 255 to clamp the arch through an arch pressing block mounting plate 253, the heel repairing sliding block 231 drives the electric claw 232 to slide and stretch leftwards, and meanwhile, the arch electric claw 252 rotates clockwise to a preset value under the driving of the point rotating table 251 and keeps the preset value. After the action is finished, the C-shaped arm X-ray machine 5 takes pictures of the heel of the right foot of the patient longitudinally and transversely, the image is displayed in the display and touch integrated machine, and if an ideal effect is achieved, a doctor fixes the fracture part of the calcaneus by using a compression screw. If the ideal effect is not achieved, the doctor controls the corresponding module to conduct fine adjustment, the doctor shoots again after adjustment, and the repair situation is confirmed until the ideal repair effect is achieved.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. The utility model provides an intelligence does not have auxiliary robot that reduces of wound calcaneus, includes that the operation table (4) that is used for settling the patient, the C type arm X-ray machine (5) that are used for detecting and feedback foot skeleton condition and be used for showing foot skeleton condition and be used for carrying out robot control's demonstration and controlling means (3), the position setting of C type X-ray machine (5) corresponding patient foot, its characterized in that: the device is characterized by further comprising a movable lifting mechanism (1) with a movable and lifting function and a repairing table (2) installed on the movable lifting mechanism (1), wherein the repairing table (2) comprises a repairing table support (261) which is of a box-shaped structure with an open top, a repairing table cover plate (262) arranged at the top of the repairing table support (261), a leg fixing structure arranged on the repairing table cover plate (262), a sole jacking unit (21) which is positioned above the repairing table cover plate (262) and is arranged at the opposite side of the leg fixing structure, and a long electric sliding table (22), a heel limiting unit (23), two heel repairing units (24) and an arch limiting unit (25) which are arranged in the box-shaped structure of the repairing table support (261);
the long electric sliding table (22) is arranged in the longitudinal middle of the bottom of the repairing table bracket (261), the output sliding direction of the long electric sliding table is vertical to the length direction of the legs of the patient, and the arch limiting unit (25) is arranged in the transverse middle of the bottom of the repairing table bracket (261) and is positioned on the same side of the long electric sliding table (22) with the leg fixing structure; the heel limiting units (23) are mounted on the long electric sliding table (22) through heel repairing sliding blocks (231), and the two heel repairing units (24) are symmetrically arranged on two sides of the arch limiting unit (25), are fixedly connected with the box body and are respectively used for tightly supporting the left heel and the right heel of the patient; one side, close to the long electric sliding table (22), of any one heel repairing unit (24) is provided with a long electric sliding table electric cylinder (221), and the output end of the long electric sliding table electric cylinder (221) is connected with the outer side wall of the long electric sliding table (22) and used for driving the long electric sliding table (22) to slide along the length direction of the legs of the patient;
an electric claw (232) is arranged on the heel repair sliding block (231), and an electric claw upper pressing block (234) and an electric claw lower pressing block (235) are respectively arranged on the electric claw (232) through an electric claw finger (233) to form the heel limiting unit (23); the electric claw (232) is used for driving the electric claw upper pressing block (234) and the electric claw lower pressing block (235) to move towards or away from each other so as to clamp or relax the heel of the patient;
an electric rotating table (251) is fixedly connected with the repairing table bracket (261), an arch electric claw (252) is installed on the electric rotating table (251), an arch bottom pressing block (254) and an arch face pressing block (255) are respectively installed on the arch electric claw (252) through an arch pressing block installation plate (253) to form the arch limiting unit (25); the arch electric claw (252) is used for driving the arch bottom pressing block (254) and the arch face pressing block (255) to move towards or away from each other so as to clamp or release the arch of the patient.
2. The intelligent noninvasive calcaneus reduction auxiliary robot of claim 1, wherein: heel bulldozing block (243) through heel bulldozing block mounting panel (242) with the electric jar (241) output is restoreed to the heel is connected, constitutes unit (24) is restoreed to the heel, the tight electric jar (241) in top is connected and is fixed in the box, heel bulldozing block (243) stretch out extremely restore bench cover board (262) top.
3. The intelligent noninvasive calcaneus reduction auxiliary robot of claim 2, wherein: the short electric sliding table (211) is fixedly installed through a sole tightening support arranged on the repair table support (261) and the repair table cover plate (262), the sliding direction of the short electric sliding table is horizontally arranged, the electric cylinder (212) is arranged on the short electric sliding table (211), the driving axis of the electric cylinder is vertical to the sliding direction of the electric cylinder in the horizontal plane, and the output end of the electric cylinder is connected with a tightening head (213) to form the sole tightening unit (21); the tightening head (213) is arranged towards the foot direction of a patient, the top of the sole tightening support is sealed by a sole tightening cover plate, and the sole tightening unit (21) is arranged in an area surrounded by the sole tightening support and the sole tightening cover plate.
4. The intelligent noninvasive calcaneus reduction auxiliary robot of claim 1, wherein: the leg fixing structure comprises a lower leg fixing cushion block (263) and two lower leg fixing bandages (264), the lower leg fixing cushion block (263) is of a rectangular table-shaped structure, the length direction of the lower leg fixing cushion block is parallel to the sliding direction of the long electric sliding table (22), and the two lower leg fixing bandages (264) are symmetrically arranged on the lower leg fixing cushion block (263).
5. The intelligent noninvasive calcaneus reduction auxiliary robot of claim 1, wherein: the mobile lifting mechanism (1) comprises a sliding support (101) and a lifting mechanism, the bottom of the sliding support (101) is of a plate-shaped structure, an upright box body is arranged on one side of the plate-shaped mechanism, and pulleys with locking functions are arranged at the bottom of the plate-shaped mechanism; the inner side wall of the box body is provided with a strip-shaped lifting hole, and the lifting mechanism is arranged in the box body;
the servo motor (102) is fixed at the bottom in the box body, the output end of the servo motor is connected with the input end of the speed reducer (103), the output end of the speed reducer (103) is connected with the ball screw (106) through the coupler (104), the ball screw (106) is limited through two bearing seats (105) which are arranged at two ends of the ball screw and fixedly connected to the box body, and the rotating axis of the ball screw is vertically arranged; the connecting plate (108) is fixedly connected with a connecting block (107) which is connected to the ball screw (106) in a matching way, the back surface of the guide rail sliding block (109) is fixedly connected with the connecting plate, two sides of the front surface of the guide rail sliding block are respectively in sliding fit with two lifting sliding rails fixedly connected to the box body, and the middle part of the guide rail sliding block is of a boss structure which is protruded out of the box body from the lifting hole to form the lifting mechanism; the repair table (2) is connected to the boss structure.
6. The intelligent noninvasive calcaneus reduction auxiliary robot of claim 1, wherein: the display and control device comprises a display touch all-in-one machine (31) used for sending instructions and displaying information, a controller (33) used for controlling the robot and a control device support (32), wherein the display touch all-in-one machine (31) and the controller (33) are installed on the control device support (32).
7. The intelligent noninvasive calcaneus reduction auxiliary robot of claim 3, wherein: the tightening head (213), the electric claw upper pressing block (234), the electric claw lower pressing block (235), the heel pushing block (245), the arch bottom pressing block (254) and the arch face pressing block (255) are all coated with soft materials; the tightening head (213) is detachably connected with the output end of the electric cylinder (212), the electric claw upper pressing block (234), the electric claw lower pressing block (235), the electric claw finger (233), the heel pushing block (245), the heel pushing block mounting plate (244), the arch bottom pressing block (254), the arch face pressing block (255) and the arch pressing block mounting plate (253).
8. The intelligent noninvasive calcaneus reduction auxiliary robot of claim 3, wherein: force sensors are respectively arranged on the parts of the jacking head (213), the electric claw upper pressing block (234), the electric claw lower pressing block (235), the heel pushing block (245), the arch bottom pressing block (254) and the arch face pressing block (255) which are in contact with the feet of the patient.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113456235A (en) * | 2021-05-09 | 2021-10-01 | 青岛大学附属医院 | Slave end operation device for telerobotic surgical operating system |
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