CN110623811B - Intelligent noninvasive calcaneus reduction auxiliary robot - Google Patents
Intelligent noninvasive calcaneus reduction auxiliary robot Download PDFInfo
- Publication number
- CN110623811B CN110623811B CN201910987539.3A CN201910987539A CN110623811B CN 110623811 B CN110623811 B CN 110623811B CN 201910987539 A CN201910987539 A CN 201910987539A CN 110623811 B CN110623811 B CN 110623811B
- Authority
- CN
- China
- Prior art keywords
- heel
- electric
- repairing
- pressing block
- arch
- 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.)
- Active
Links
- 210000000459 calcaneus Anatomy 0.000 title claims abstract description 24
- 230000009467 reduction Effects 0.000 title claims abstract description 16
- 210000000474 heel Anatomy 0.000 claims abstract description 91
- 210000002683 foot Anatomy 0.000 claims abstract description 34
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 210000000078 claw Anatomy 0.000 claims description 75
- 230000008439 repair process Effects 0.000 claims description 23
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 239000007779 soft material Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 10
- 230000005855 radiation Effects 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 7
- 230000005802 health problem Effects 0.000 abstract description 2
- 206010016970 Foot fracture Diseases 0.000 description 11
- 230000009471 action Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 210000004027 cell Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 206010028980 Neoplasm Diseases 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 201000011510 cancer Diseases 0.000 description 2
- 206010002091 Anaesthesia Diseases 0.000 description 1
- 208000005623 Carcinogenesis Diseases 0.000 description 1
- 206010017076 Fracture Diseases 0.000 description 1
- 230000037005 anaesthesia Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000036952 cancer formation Effects 0.000 description 1
- 231100000504 carcinogenesis Toxicity 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 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
- 238000002601 radiography Methods 0.000 description 1
- 230000001950 radioprotection Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Radiology & Medical Imaging (AREA)
- Gynecology & Obstetrics (AREA)
- Robotics (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 bracket, a leg fixing structure, a plantar jacking unit, a long electric sliding table, a heel limiting unit, two heel repairing units and an arch limiting unit. According to the foot support device, foot positioning in the repairing operation process is performed through the foot sole propping unit and the heel limiting unit, the heel is pushed and reset through the heel pushing block, and foot stretching repairing is performed through the foot arch limiting unit and the heel limiting unit; the calcaneus reposition of medical staff remote operation is realized, manual operation is replaced by mechanized operation, the labor intensity of the medical staff is greatly reduced, the medical staff can be far away from a harmful radiation source, and the health problem caused by 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 lingual calcaneus fracture, collapsible calcaneus fracture and other calcaneus fracture, and currently, there are generally two modes of non-operative treatment and operative treatment for lingual calcaneus fracture and collapsible calcaneus fracture. During non-operative treatment, a doctor resets the calcaneus by extruding, stretching, bending and forming the arch of the calcaneus of a patient; after the action is approximately completed, on the basis of keeping arch bending, taking a picture through a C-shaped arm X-ray machine, confirming the arch resetting condition, if the resetting condition is not ideal, taking a picture again after resetting is needed to be readjusted, and repeating for a plurality of times, so as to ensure that calcaneus is restored to the ideal condition. In the calcaneus reposition process, at least two or more doctors are required to cooperate, and meanwhile, when the X-ray machine is used for photographing, the calcaneus of a patient needs to be kept in a reposition state, so that the doctors are also in the radiation range of the X-ray machine.
X-rays can penetrate cells, destroy DNA, and even induce certain cancer cells. X-rays also destroy the internal structure of the cell, producing lifelong damage to genetic molecules that are difficult to repair. Also, it has been shown that X-rays destroy erythrocytes and may induce blood diseases such as leukemia. In calcaneus reduction surgery, the doctor is subjected to at least two X-rays, and if the irradiation time is 0.5 seconds each and the received radiation amount is 0.023 millischiff, the doctor is subjected to at least 0.046 millischiff for one surgery. According to the standards set by the international radioprotection agency, the total risk of radiation is 0.0165/schiff, i.e. the risk of carcinogenesis increases by 0.0165 for each dose of radiation for which the body receives schiff (1 schiff=1000 millischiff). The probability of cancer is greatly increased for doctors who engage in calcaneus reposition for a long time, and the body of the doctors is affected very badly. 6
Disclosure of Invention
The invention provides an intelligent noninvasive calcaneus reduction auxiliary robot for avoiding the defects existing in the prior art.
The invention adopts the following technical scheme for solving the technical problems: the intelligent noninvasive calcaneus reduction auxiliary robot comprises an operating table for placing a patient, a C-shaped arm X-ray machine for detecting and feeding back the skeletal status of the foot, a display and control device for displaying the skeletal status of the foot and controlling the robot, a movable lifting mechanism with a movable and lifting function and a repairing table mounted on the movable lifting mechanism, wherein the C-shaped X-ray machine corresponds to the position setting of the foot of the patient, 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 plantar jacking unit positioned above the repairing table cover plate and arranged at the opposite side of the leg fixing structure, and a long electric slipway, a 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 at the longitudinal middle part of the bottom of the repairing table bracket, the output sliding direction of the long electric sliding table is perpendicular to the leg length direction of the patient, the arch limiting unit is arranged at the transverse middle part of the bottom of the repairing table bracket, and the long electric sliding table and the leg fixing structure are positioned at the same side of the long electric sliding table; the heel limiting units are arranged 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 units and fixedly connected with the box-shaped structure and are respectively used for propping up the left heel and the right heel of a patient; a long electric sliding table electric cylinder is arranged on one side of any heel repairing unit, close to the long electric sliding table, 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 a patient;
The electric claw is arranged on the heel repairing slide 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 a patient;
The electric turntable is fixedly connected with the repairing table bracket, the arch electric claw is arranged on the electric turntable, 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 oppositely or reversely so as to clamp or relax the arch of the patient.
Further, the heel pushes away the briquetting and is connected with the heel and repair the jar output through the heel pushes away a piece mounting panel, constitutes the heel repair unit, the heel is repaired the jar and is connected to be fixed in the box-like structure, the heel pushes away the briquetting and stretches out to repair platform apron top.
Further, the short electric sliding table is fixedly installed through a sole tightening support installed on the repairing table support and the repairing table cover plate, the sliding direction of the short electric sliding table is horizontally arranged, the electric cylinder is installed on the short electric sliding table, the driving axis of the electric cylinder is vertical to the sliding direction of the electric cylinder in a horizontal plane, and the output end of the electric cylinder is connected with a tightening head to form the sole tightening unit; the tightening head 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 is arranged inside an area surrounded by the sole tightening support and the sole tightening cover plate.
Further, the 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 slip table slip direction is parallel, and two shank fixed bandages symmetry are located on the shank fixed cushion.
Further, the movable lifting mechanism comprises a sliding bracket and a lifting mechanism, wherein the bottom of the sliding bracket is of a plate-shaped structure, one side of the plate-shaped structure is provided with an upright box body, and the bottom of the plate-shaped structure 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 inner bottom of 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 through two bearing seats fixedly connected to the box body, which are arranged at the two ends of the ball screw, and the rotation axis of the ball screw is vertically arranged; the connecting plate is fixedly connected with a connecting block matched and connected to the ball screw, the back surface of the guide rail sliding block is fixedly connected with the connecting plate, the 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 a boss structure protruding to the outside of the box body from the lifting hole to form the lifting mechanism; the repair table is connected to the boss structure.
Further, the display and control device comprises a display and touch integrated machine for sending out 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 installed on the control device bracket.
Further, the tightening 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 tightening head is detachably connected with the output end of the electric cylinder, the upper electric claw pressing block, the lower electric claw pressing block, the electric claw finger, the heel pushing block mounting plate, the arch bottom pressing block, the arch face pressing block and the arch pressing block mounting plate.
Furthermore, the tightening head, the electric claw upper pressing block, the electric claw lower pressing block, the heel pushing block, the arch bottom pressing block and the part, which is contacted with the foot of a patient, of the arch face pressing block are respectively provided with force sensors.
The invention provides an intelligent noninvasive calcaneus reduction auxiliary robot, which has the following beneficial effects:
1. the foot is positioned in the repairing operation process through the plantar jacking unit and the heel limiting unit, the heel is pushed and reset through the heel pushing block, and then the foot is stretched and repaired through the foot arch limiting unit and the heel limiting unit, so that the mechanized performance of calcaneus fracture repairing operation is realized;
2. compared with manual operation, the precision of mechanical action is higher, the force application is more stable, the high precision of calcaneus fracture reduction operation is facilitated, and the effect of operation treatment is improved;
3. The calcaneus reposition of medical staff remote operation is realized, manual operation is replaced by mechanized operation, the labor intensity of the medical staff is greatly reduced, the medical staff can be far away from a harmful radiation source, and the health problem caused by radiation is avoided.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of the structure of the mobile lift mechanism and repair station of the present invention;
FIG. 3 is a schematic structural view of a repair station according to 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 according to the first working state of the present invention;
FIG. 6 is a schematic view of the internal structure of the repair station according to the second working condition of the present invention;
fig. 7 is a schematic structural diagram of the display and control device of 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 coupler, 105, a bearing seat, 106, a ball screw, 107, a connecting block, 108, a connecting plate, 109 and a guide rail slide block; 2. a repairing table 21, a sole tightening unit 211, a short electric sliding table 212, an electric cylinder 213 and a tightening head; 22. a long electric slipway, 221, a long electric slipway 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 repairing unit 241, a heel repairing cylinder 242, a heel pushing block mounting plate 243, a heel pushing block; 25. an arch limiting unit 251, an electric turntable 252, an arch electric claw 253, an arch press block mounting plate 254, an arch bottom press block 255 and an arch face press block; 261. a prosthetic table support 262, a prosthetic table cover 263, a shank fixation pad 264, a shank fixation bandage; 3. the display and control device 31, the display touch integrated machine 32, the control device bracket 33 and the controller; 4. an operating bed; 5. c-arm X-ray machine; 6. a leg.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described in the following in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 7, the structural relationship is as follows: the device comprises an operating table 4 for placing a patient, a C-arm X-ray machine 5 for detecting and feeding back the skeletal conditions of the foot, and a display and control device 3 for displaying the skeletal conditions of the foot and controlling a robot, wherein the C-arm X-ray machine 5 is arranged corresponding to the position of the foot of the patient, the operating table is an existing electro-hydraulic operating table, can support the patient in the operating process, and can adjust the whole position according to the operation requirement, so that a convenient operating environment is provided for doctors; the C-arm X-ray machine is an existing X-ray machine and is used for collecting skeleton images, performing operation radiography and shooting, feeding back collected information to the display and control device 3 and displaying the collected information in the display and control device 3;
The foot sole lifting device further comprises a movable lifting mechanism 1 with moving and lifting functions and a repairing table 2 arranged on the movable lifting mechanism 1, wherein the repairing table 2 comprises a repairing table support 261 with a box-shaped structure with an opening at the 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 positioned above the repairing table cover plate 262 and 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 at the longitudinal middle part of the bottom of the repairing table bracket 261, the output sliding direction of the long electric sliding table is vertical to the leg length direction of the patient, the arch limiting unit 25 is arranged at the transverse middle part of the bottom of the repairing table bracket 261, and the long electric sliding table 22 and the leg fixing structure are positioned at the same side; the heel limiting unit 23 is mounted on the long electric sliding table 22 through a heel repairing sliding block 231, and two heel repairing units 24 are symmetrically arranged on two sides of the arch limiting unit 25 and fixedly connected with the box-shaped structure and are respectively used for propping up the left heel and the right heel of a patient; a long electric sliding table electric cylinder 221 is arranged on one side of any heel repairing unit 24, which is close to the long electric sliding table 22, 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 is 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 repairing 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 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;
The electric turntable 251 is fixedly connected with the repairing table bracket 261, the arch electric claw 252 is arranged on the electric turntable 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; the arch electric pawl 252 is used to drive the arch bottom weight 254 and the arch face weight 255 toward or away from each other to clamp or release the patient's arch.
Preferably, the heel push block 243 is connected to the output end of the heel repair cylinder 241 through the heel push block mounting plate 242 to form the heel repair unit 24, the heel repair cylinder 241 is fixedly connected within the box-like structure, and the heel push block 243 extends above the repair platform cover 262.
Preferably, the short electric sliding table 211 is fixed by a sole tightening support arranged on the repairing table support 261 and the repairing table cover plate 262, the sliding direction of the short electric sliding table 211 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 the tightening head 213 to form a sole tightening unit 21; the tightening head 213 is disposed toward the foot of the patient, the top of the plantar tightening support is closed by a plantar tightening cover plate, and the plantar tightening unit 21 is disposed inside the area surrounded by the plantar tightening support and the plantar tightening cover plate.
Preferably, the leg fixing structure comprises a shank fixing cushion 263 and two shank fixing bandages 264, the shank fixing cushion 263 is a rectangular table-shaped structure, the length direction of the shank fixing cushion 263 is parallel to the sliding direction of the long electric sliding table 22, and the two shank fixing bandages 264 are symmetrically arranged on the shank fixing cushion 263 and are respectively used for fixing the shanks of the two legs 6 of the patient.
Preferably, the movable lifting mechanism 1 comprises a sliding bracket 101 and a lifting mechanism, wherein the bottom of the sliding bracket 101 is of a plate-shaped structure, one side of the plate-shaped structure is provided with an upright box body, and the bottom 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 of 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 fixedly connected to the box body and arranged at the two ends of the ball screw 106, and the rotation axis of the ball screw is vertically arranged; the connecting plate 108 is fixedly connected with the connecting block 107 which is cooperatively connected with the ball screw 106, the back surface of the guide rail slide block 109 is fixedly connected with the connecting plate, the two sides of the front surface are respectively in sliding fit with two lifting slide rails fixedly connected with the box body, and the middle part of the connecting plate is a boss structure protruding to the outside of the box body from the lifting hole, so that a lifting mechanism is formed; the repair station 2 is connected to the boss structure.
Preferably, the display and control device comprises a display and touch integrated machine 31 for sending out 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 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 243, 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 is detachably connected with the output end of the electric cylinder 212, the electric claw upper pressing block 234 and the electric claw lower pressing block 235 are detachably connected with the electric claw finger 233, the heel pushing block 243 is detachably connected with the heel pushing block mounting plate 242, the arch bottom pressing block 254 and the arch face pressing block 255 are detachably connected with the arch pressing block mounting plate 253, so that the parts which are directly contacted with the feet of the patient can be replaced and disinfected conveniently.
Preferably, force sensors are respectively arranged at the parts, which are contacted with the feet of the patient, of the jacking head 213, the electric claw upper pressing block 234, the electric claw lower pressing block 235, the heel pushing block 243, the arch bottom pressing block 254 and the arch face pressing block 255, so as to feed back the acting force between the parts and the feet of the patient in real time.
When the electric foot repairing device is specifically used, taking the fracture of the bone of the right heel of a patient as an example, the right foot repairing mode is selected through the display touch integrated machine 31, the heel repairing sliding block 231 moves to the left side along the long electric sliding table 22, and medical staff replaces the electric claw upper pressing block 234, the electric claw lower pressing block 235, the arch bottom pressing block 254 and the arch face pressing block 255 with the right foot pressing blocks. Then, the medical staff spreads sterile cloth on the repair table 2, and the patient is anesthetized on the operation table 4.
After anesthesia is completed, medical staff integrally pushes the movable lifting mechanism 1 and the repairing table 2 connected with the movable lifting mechanism to the front end of the operating table 4, and adjusts the height of the repairing table 2 to be consistent with that of the operating table 4.
Medical staff places the right leg of a patient on a shank fixing cushion block 263 and fixes the patient by a shank fixing bandage 264, places the heel of the right foot of the patient between an electric claw upper pressing block 234 and an electric claw lower pressing block 235, places the foot arch between an arch bottom pressing block 254 and an arch face pressing block 255, and then controls an electric cylinder 212 to drive a jacking head 213 to extend to be in contact with the sole of the right foot of the patient; the medical staff then adjusts the position of the C-arm X-ray machine 5 to align the patient's right foot heel and exit the operating room, and the display and control device 3 continues the operation.
The calcaneus fracture surgery repair process is that an electric claw 232 drives an electric claw upper pressing block 234 and an electric claw lower pressing block 235 to clamp and relax repeatedly through an electric claw finger 233, when the electric claw upper pressing block 234 and the electric claw lower pressing block 235 clamp, a heel repair electric cylinder 241 drives a heel push block 243 to extrude the rear part of a foot through a heel push block mounting plate 242, and when the electric claw upper pressing block 234 and the electric claw lower pressing block 235 relax, the heel repair electric cylinder 241 drives the heel push block 243 to reset and retract through the heel push block mounting plate 242. After several times, the calcaneus thickness is restored to a normal value, the electric claw upper pressing block 234 and the electric claw lower pressing block 235 keep a clamping state, the heel pushing block 243 is retracted, and the electric cylinder 212 drives the jacking head 213 to continuously extend to reach a preset value and keep jacking. Then, the arch electric claw 252 drives the arch bottom pressing block 254 and the arch face pressing block 255 to clamp the arch through the arch pressing block mounting plate 253, the heel repairing slide block 231 drives the electric claw 232 to slide leftwards to be stretched, and meanwhile, the arch electric claw 252 is driven by the electric turntable 251 to rotate clockwise to a preset value and to be maintained. After the action is finished, the C-arm X-ray machine 5 shoots the right heel of the patient longitudinally and transversely, displays the image in the display and touch integrated machine, and if the ideal effect is achieved, a doctor can fix the calcaneus fracture part by using a compression screw. If the ideal effect is not achieved, the doctor controls the corresponding module to conduct fine adjustment, photographs are taken again after adjustment, and the repairing condition is confirmed until the ideal repairing effect is achieved.
It is noted that relational terms such as first and second, and the like are 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. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. The utility model provides an intelligence noninvasive calcaneus auxiliary robot that resets, is including being used for settling operation table (4) of patient, being used for detecting and feeding back C type arm X ray machine (5) of foot skeleton situation and being used for showing the foot skeleton situation and being used for carrying out robot control's demonstration and controlling means (3), the position setting of patient foot is corresponding to C type arm X ray machine (5), its characterized in that: the foot sole lifting device is characterized by further comprising a movable lifting mechanism (1) with moving and lifting functions and a repairing table (2) arranged on the movable lifting mechanism (1), wherein the repairing table (2) comprises a repairing table support (261) with a box-shaped structure with an opening at the 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) arranged above the repairing table cover plate (262) and arranged on 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) arranged in the box-shaped structure of the repairing table support (261);
The long electric sliding table (22) is arranged at the longitudinal middle part of the bottom of the repairing table support (261), the output sliding direction of the long electric sliding table is perpendicular to the leg length direction of a patient, the arch limiting unit (25) is arranged at the transverse middle part of the bottom of the repairing table support (261), and the long electric sliding table (22) and the leg fixing structure are positioned at the same side; the heel limiting units (23) are arranged 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) and fixedly connected with the box-shaped structure and are respectively used for propping up the left heel and the right heel of a patient; a long electric sliding table electric cylinder (221) is arranged on one side of any heel repairing unit (24) close to the long electric sliding table (22), 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 repairing 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 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 a patient;
The electric turntable (251) is fixedly connected with the repairing table bracket (261), an arch electric claw (252) is arranged on the electric turntable (251), and an arch bottom pressing block (254) and an arch face pressing block (255) are respectively arranged on the arch electric claw (252) through an arch pressing block mounting 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 relax the arch of a patient.
2. The intelligent non-invasive calcaneus reduction assisting robot according to claim 1, wherein: the heel pushes away briquetting (243) and is connected with heel repair jar (241) output through heel push away a mounting panel (242), constitutes heel repair unit (24), heel repair jar (241) connect and be fixed in the box-like structure, heel pushes away briquetting (243) and stretches out to repair platform apron (262) top.
3. The intelligent non-invasive calcaneus reduction assisting robot according to claim 2, wherein: the short electric sliding table (211) is fixedly installed through a sole jacking bracket installed on the repairing table bracket (261) and the repairing table cover plate (262), the sliding direction of the short electric sliding table is horizontally arranged, an 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 a horizontal plane, and the output end of the electric cylinder is connected with a jacking head (213) to form the sole jacking unit (21); the tightening head (213) is arranged towards the foot direction of a patient, the top of the sole tightening support is closed by a sole tightening cover plate, and the sole tightening unit (21) is arranged inside an area surrounded by the sole tightening support and the sole tightening cover plate.
4. The intelligent non-invasive calcaneus reduction assisting robot according to claim 1, wherein: the leg fixing structure comprises a shank fixing cushion block (263) and two shank fixing bandages (264), the shank fixing cushion block (263) is of a rectangular table-shaped structure, the length direction of the shank fixing cushion block is parallel to the sliding direction of the long electric sliding table (22), and the two shank fixing bandages (264) are symmetrically arranged on the shank fixing cushion block (263).
5. The intelligent non-invasive calcaneus reduction assisting robot according to claim 1, wherein: the movable lifting mechanism (1) comprises a sliding support (101) and a lifting mechanism, wherein the bottom of the sliding support (101) is of a plate-shaped structure, one side of the plate-shaped structure is provided with an upright box body, and the bottom of the plate-shaped structure 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 inner bottom of 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) fixedly connected to the box body, which are arranged at the two ends of the ball screw, and the rotation axis of the ball screw is vertically arranged; the connecting plate (108) is fixedly connected with a connecting block (107) which is matched and connected with the ball screw (106), the back surface of the guide rail sliding block (109) is fixedly connected with the connecting plate, the two sides of the front surface are respectively in sliding fit with two lifting sliding rails fixedly connected with the box body, and the middle part of the connecting plate is a boss structure protruding to the outside of the box body from the lifting hole, so that the lifting mechanism is formed; the repair table (2) is connected to the boss structure.
6. The intelligent non-invasive calcaneus reduction assisting robot according to claim 1, wherein: the display and control device comprises a display and touch integrated machine (31) used for sending out instructions and displaying information, a controller (33) used for controlling the robot and a control device bracket (32), wherein the display and touch integrated machine (31) and the controller (33) are installed on the control device bracket (32).
7. An intelligent non-invasive calcaneus reduction assisting robot according to claim 3, wherein: the jacking head (213), the electric claw upper pressing block (234), the electric claw lower pressing block (235), the heel pushing block (243), the arch bottom pressing block (254) and the arch face pressing block (255) are all coated with soft materials; the jacking head (213) is detachably connected with the output end of the electric cylinder (212), the electric claw upper pressing block (234) and the electric claw lower pressing block (235) are detachably connected with the electric claw finger (233), the heel pushing block (243) is detachably connected with the heel pushing block mounting plate (242), the arch bottom pressing block (254) and the arch face pressing block (255) are detachably connected with the arch pressing block mounting plate (253).
8. An intelligent non-invasive calcaneus reduction assisting robot according to 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 (243), the arch bottom pressing block (254) and the arch face pressing block (255) are respectively provided with force sensors at the parts contacted with the feet of the patient.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910987539.3A CN110623811B (en) | 2019-10-17 | 2019-10-17 | Intelligent noninvasive calcaneus reduction auxiliary robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910987539.3A CN110623811B (en) | 2019-10-17 | 2019-10-17 | Intelligent noninvasive calcaneus reduction auxiliary robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110623811A CN110623811A (en) | 2019-12-31 |
| CN110623811B true CN110623811B (en) | 2024-04-30 |
Family
ID=68975258
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910987539.3A Active CN110623811B (en) | 2019-10-17 | 2019-10-17 | Intelligent noninvasive calcaneus reduction auxiliary robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110623811B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200963213Y (en) * | 2006-09-29 | 2007-10-24 | 李西成 | Automatic reposition device for calcaneum fracture |
| CN108309694A (en) * | 2018-03-02 | 2018-07-24 | 哈工大机器人（合肥）国际创新研究院 | A kind of foot drive-type lower limb rehabilitation training device |
| CN109330686A (en) * | 2018-10-25 | 2019-02-15 | 上海大学 | A kind of robot assisted reset system for long bone fracture |
| CN208641201U (en) * | 2018-03-02 | 2019-03-26 | 哈工大机器人（合肥）国际创新研究院 | A kind of foot drive-type lower limb rehabilitation training device |
| CN211188037U (en) * | 2019-10-17 | 2020-08-07 | 中国科学院合肥物质科学研究院 | Intelligent noninvasive calcaneus reduction auxiliary robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8882690B2 (en) * | 2010-11-16 | 2014-11-11 | Fred W. Toenges | Orthotic device and method of manufacture |
-
2019
- 2019-10-17 CN CN201910987539.3A patent/CN110623811B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200963213Y (en) * | 2006-09-29 | 2007-10-24 | 李西成 | Automatic reposition device for calcaneum fracture |
| CN108309694A (en) * | 2018-03-02 | 2018-07-24 | 哈工大机器人（合肥）国际创新研究院 | A kind of foot drive-type lower limb rehabilitation training device |
| CN208641201U (en) * | 2018-03-02 | 2019-03-26 | 哈工大机器人（合肥）国际创新研究院 | A kind of foot drive-type lower limb rehabilitation training device |
| CN109330686A (en) * | 2018-10-25 | 2019-02-15 | 上海大学 | A kind of robot assisted reset system for long bone fracture |
| CN211188037U (en) * | 2019-10-17 | 2020-08-07 | 中国科学院合肥物质科学研究院 | Intelligent noninvasive calcaneus reduction auxiliary robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110623811A (en) | 2019-12-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105726127B (en) | A kind of fractured leg is drawn automatically and rotating restoring device | |
| CN211188037U (en) | Intelligent noninvasive calcaneus reduction auxiliary robot | |
| DE10211081A1 (en) | X-ray observation and monitoring system for patient in hospital has movable table with conventional X-ray machine at one end and computer tomography at one end | |
| CN211962570U (en) | Heart pressing device for rescuing in cardiology department | |
| CN110623811B (en) | Intelligent noninvasive calcaneus reduction auxiliary robot | |
| CN103505275B (en) | A kind of Intelligent reduction system for long bone fracture | |
| CN204839978U (en) | Medical shallow of many function combination formula orthopedics | |
| CN109646088B (en) | Lumbar vertebra anesthesia auxiliary positioning device for surgical operation | |
| CN117653196A (en) | Multi-body-position diagnosis and treatment bed suitable for musculoskeletal ultrasonic imaging technology | |
| CN220309134U (en) | Position switching bearing type posture correcting device based on vertical CT scanning equipment | |
| CN108670699B (en) | A kind of adjustable gynaecology's lower body check device | |
| CN203749438U (en) | Radioactive examination couch with turning function | |
| CN211460262U (en) | Knee joint photographing device | |
| KR20220125938A (en) | Mobile knee joint X-ray ancillary equipment | |
| CN211300153U (en) | Cardiovascular internal medicine radiography pressing hemostasis device | |
| CN111528878A (en) | Auxiliary device and medical X-ray equipment | |
| CN219895774U (en) | Auxiliary fixing device | |
| CN221578660U (en) | Surgical traction frame for orthopedics department | |
| CN212466394U (en) | A full-automatic nursing bed for image branch of academic or vocational study CT room | |
| CN219921082U (en) | Infant chest radiography auxiliary device of image radiology department | |
| CN218009763U (en) | Medical imaging science position adjustment auxiliary assembly | |
| CN215229764U (en) | Operating table and have its bone surgery auxiliary system | |
| CN221555841U (en) | Lumbar puncture positioning device | |
| CN221308226U (en) | X-ray protection device for physical examination film shooting | |
| CN217138086U (en) | X-ray inspection operation panel |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |