CN114209436A - Auxiliary broken bone returning robot for orthopedics department - Google Patents
Auxiliary broken bone returning robot for orthopedics department Download PDFInfo
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- CN114209436A CN114209436A CN202111515369.2A CN202111515369A CN114209436A CN 114209436 A CN114209436 A CN 114209436A CN 202111515369 A CN202111515369 A CN 202111515369A CN 114209436 A CN114209436 A CN 114209436A
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- bone nail
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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
- A61B34/37—Master-slave robots
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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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract
The application discloses an auxiliary fractured bone returning robot for orthopedics department, which comprises a bone nail, a mounting assembly and a mechanical arm, wherein the bone nail is connected with the mounting assembly, the mounting assembly is connected with the mechanical arm, and the mechanical arm drives the bone nail to move; the bone nail number is two, the installation component is two sets of, the installation component includes two bulb six degrees of freedom rotating turret and two freedom moving frame about, around, the bone nail loops through two bulb six degrees of freedom rotating turret, two freedom moving frame about, around, is connected to the arm. The robot provided by the application is used for assisting a doctor in improving the accuracy and stability of the operation in the bone fracture reduction scene.
Description
Technical Field
The application relates to an auxiliary fractured bone returning robot for orthopedics department, and belongs to the technical field of medical auxiliary instruments.
Background
For bone fracture displacement, the traditional treatment method is that a doctor needs to complete operation under a limited visual field by means of memory and three-dimensional imagination of deep tissue anatomy in the brain and matching with a perspective lens, firstly, a bone nail is nailed into a fractured bone, and the bone nail is manually corrected and aligned, so that the problems that reduction operation is difficult to accurately and stably performed and the like occur, sometimes, great force is needed when a large bone is reduced, strong manual labor is needed for the doctor, and the body needs to be exposed in rays.
Disclosure of Invention
The utility model aims to design an orthopedics is used assists broken bone return robot, provides a more stable, accurate, safe and laborsaving equipment for the doctor when carrying out the skeleton operation that resets.
In order to achieve the above object, on one hand, the technical scheme of the application provides an auxiliary fractured bone returning robot for orthopedics department, which is characterized by comprising a bone nail, a mounting assembly and a mechanical arm, wherein the bone nail is connected with the mounting assembly, the mounting assembly is connected with the mechanical arm, and the mechanical arm drives the bone nail to move; the bone nail number is two, the installation component is two sets of, the installation component includes two bulb six degrees of freedom rotating turret and two freedom moving frame about, around, the bone nail loops through two bulb six degrees of freedom rotating turret, two freedom moving frame about, around, is connected to the arm.
Wherein, the mounting component comprises a bone nail cover plate, a ball head cover plate, a front and back adjusting rod, a left and right adjusting seat and a mechanism adjusting base, the front end of the bone nail cover plate is provided with a cylindrical groove for accommodating bone nails, the bone nails are mounted in the cylindrical groove and are connected and pressed with the bone nail cover plate through bone nail pressing plates, the rear end of the bone nail cover plate is provided with a ball head joint, the front end of the front and back adjusting rod is provided with a ball head joint, the ball head joint of the bone nail cover plate and the ball head joint of the front and back adjusting rod are connected through the ball head cover plate, the ball head cover plate is a structure that the two cover plates are combined together and the two ends are provided with spherical grooves, the spherical grooves at the two ends of the ball head cover plate are respectively provided with the ball head joint of the bone nail cover plate and the ball head joint of the front and back adjusting rod, the ball head joint of the bone nail cover plate, the ball head cover plate and the ball head joint of the front and back adjusting rod form the double-ball-head six-rotating frame, the two cover plates are connected through bolts, the direction of the two ball joints can be respectively adjusted by loosening and pressing the bolts of the two cover plates.
The rear end of the front and rear adjusting rod is arranged in a chute of the left and right adjusting seat, the front and rear adjusting rod is provided with a fixed hole for limiting sliding, the left and right adjusting seat is arranged in a chute of the mechanism adjusting base, the left and right adjusting seat is provided with a fixed hole for limiting sliding, the chute direction of the left and right adjusting seat is vertical to the chute direction of the mechanism adjusting base, and the front and rear adjusting rod, the left and right adjusting seat and the mechanism adjusting base form the front and rear and left and right two-degree-of-freedom moving frame to realize displacement adjustment on two degrees of freedom; the mechanism adjusting base is fixed at the executing end of the mechanical arm.
On the other hand, the application also provides a using method of the auxiliary fractured bone returning robot for orthopedics department, which adopts the auxiliary fractured bone returning robot for orthopedics department of any one of claims 1 to 3, and is characterized in that two bone nails are drilled into bones to be moved, a mechanical arm is moved to the vicinity of the bones, and a double-ball-head six-degree-of-freedom rotating frame and a front-back and left-right two-degree-of-freedom moving frame of two mounting assemblies are respectively adjusted, so that each bone nail is connected to one mounting assembly; operating the mechanical arm to move to drive the skeleton to reach the designated position; and finishing returning.
Preferably, the two bone screws are drilled into the bone to be moved from different angles and directions.
This application advantage lies in, through using the robot that this application provided, at the scene that the skeleton rupture resets, can make doctor's bigger degree improve the accuracy and the stability of operation, still removed the physical expenditure of certain intensity from and the radiation exposure of high-frequency, this equipment can make the doctor with more energy input in treatment itself.
Drawings
Fig. 1 is a schematic view of the overall structure of an orthopedic auxiliary fractured bone returning robot provided in the embodiment;
FIG. 2 is a partial structural diagram of an orthopedic auxiliary fractured bone repositioning robot provided in the embodiment;
description of reference numerals: 1-bone nails; 2-pressing the bone nail; 3-a bone nail substrate; 4-a ball head cover plate; 5-front and back adjusting rod; 6-left and right adjusting rods; 7-mechanism adjusting base; 8, a mechanical arm; 9-bone.
Detailed Description
In order to make the present application more comprehensible, preferred embodiments are described in detail below with reference to the accompanying drawings.
The embodiment provides an auxiliary fractured bone returning robot for orthopedics department, which comprises a bone nail 1, a mounting assembly and a mechanical arm 8, wherein the bone nail 1 is drilled into fractured bones of a patient, the bone nail 1 is connected with the mechanical arm 8 through the mounting assembly, and the mechanical arm 8 drives the bone nail 1 to drive the bones to move; the specific structure is as shown in fig. 1 and fig. 2, one or two groups of bone nails 1 and mounting components can be arranged, when one group of bone nails 1 is arranged, the mounting components directly select a connecting piece to connect the bone nails 1 and the mechanical arm 8, when two groups of bone nails 1 are arranged, two bone nails 1 can be drilled into a bone to be moved, the two bone nails 1 are drilled into the bone from different angles and directions, the force transmission of the two bone nails 1 is more stable when the bone is moved, and in order to connect the two bone nails 1 to the mechanical arm 8, the mounting components must realize multi-degree-of-freedom adjustment so as to be suitable for different angles and directions of the bone nails 1;
as shown in figure 2, the mounting assembly comprises a bone nail cover plate 3, a ball head cover plate 4, a front and rear adjusting rod 5, a left and right adjusting seat 6 and a mechanism adjusting base 7, a cylindrical groove is arranged at the front end of the bone nail cover plate 3 and is used for accommodating a bone nail 1, the bone nail 1 is arranged in the cylindrical groove and is pressed by a bone nail pressing plate 2, the bone nail pressing plate 2 is fixed on the cylindrical groove through a bolt, the rear end of the bone nail cover plate 3 is arranged into a ball head joint, the front end of the front and rear adjusting rod 5 is also arranged into a ball head joint, the ball head joint of the bone nail cover plate 3 and the ball head joint of the front and rear adjusting rod 5 are connected through the ball head cover plate 4, the ball head cover plate 4 is a structure that two cover plates are combined together and both ends are spherical grooves, the two cover plates are pressed by a bolt, the spherical grooves at both ends are respectively provided with the ball head joint of the bone nail cover plate 3 and the ball head joint of the front and rear adjusting rod 5, and the bolt pressing the two cover plates are loosened, the two ball joints can be respectively adjusted in direction, and the ball joint of the bone nail cover plate 3 and the ball joint of the front and rear adjusting rod 5 are connected through the ball cover plate 4 to realize the adjustment in the direction of six degrees of freedom; the rear end of the front and rear adjusting rod 5 is arranged in a chute of the left and right adjusting seat 6, the front and rear adjusting rod 5 is provided with a fixed hole for limiting sliding, the left and right adjusting seat 6 is arranged in a chute of the mechanism adjusting base 7, the left and right adjusting seat 6 is provided with a fixed hole for limiting sliding, the chute direction of the left and right adjusting seat 6 is vertical to the chute direction of the mechanism adjusting base 7, therefore, the front and rear adjusting rod 5 and the left and right adjusting seat 6 realize displacement adjustment in two degrees of freedom; the mechanism adjusting base 7 is directly fixed at the executing end of the mechanical arm 8.
As shown in fig. 2, two bone nails 1 are provided, and two sets of mounting assemblies are provided, when in use, after a doctor drills two bone nails 1 into a broken bone of a patient, the mechanical arm 8 and the two sets of mounting assemblies are dragged to a position close to the patient, the groove of the bone nail cover plate 3 is adjusted to the position of the bone nail 1 through the sliding adjustment of two degrees of freedom of the front and rear adjusting rod 5 and the left and right adjusting seat 6, and then the direction adjustment of six degrees of freedom of the ball joint of the bone nail cover plate 3 and the ball joint of the front and rear adjusting rod 5 is carried out, and the bone nails are clamped by the bone nail pressure plate 2; the doctor then passes through the perspective mirror, and the motion of operation arm drags the broken bone to the original position, then fixes with the support, later loosens bone nail clamp plate 2, moves the arm to the original position.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (5)
1. An auxiliary fractured bone returning robot for orthopedics is characterized by comprising a bone nail, a mounting assembly and a mechanical arm, wherein the bone nail is connected with the mounting assembly, the mounting assembly is connected with the mechanical arm, and the mechanical arm drives the bone nail to move; the bone nail number is two, the installation component is two sets of, the installation component includes two bulb six degrees of freedom rotating turret and two freedom moving frame about, around, the bone nail loops through two bulb six degrees of freedom rotating turret, two freedom moving frame about, around, is connected to the arm.
2. The auxiliary fractured bone return robot for orthopedics department according to claim 1, wherein the mounting assembly comprises a bone nail cover plate, a ball head cover plate, a front and back adjusting rod, a left and right adjusting seat and a mechanism adjusting base, a cylindrical groove is formed in the front end of the bone nail cover plate and used for accommodating a bone nail, the bone nail is mounted in the cylindrical groove and is connected and pressed with the bone nail cover plate through a bone nail pressing plate, a ball head joint is arranged at the rear end of the bone nail cover plate, a ball head joint is arranged at the front end of the front and back adjusting rod, the ball head joint of the bone nail cover plate and the ball head joint of the front and back adjusting rod are connected through the ball head cover plate, the ball head cover plate is of a structure that two cover plates are combined together and two ends are arranged as a spherical groove, the spherical grooves at two ends of the ball head cover plate are respectively mounted with the ball head joint of the bone nail cover plate and the ball head joint of the front and back adjusting rod, and the ball head joint of the front and back adjusting rod constitute the double-ball-head six-head rotating frame, two cover plates of the ball joint cover plate are connected through bolts, and the direction of the two ball joint joints can be adjusted respectively by loosening and pressing the bolts of the two cover plates.
3. The auxiliary fractured bone return robot for orthopedics department according to claim 2, wherein the rear end of the front and rear adjusting rod is installed in the sliding groove of the left and right adjusting seats, the front and rear adjusting rod is provided with a fixing hole for limiting sliding, the left and right adjusting seats are installed in the sliding groove of the mechanism adjusting base, the left and right adjusting seats are provided with fixing holes for limiting sliding, the direction of the sliding groove of the left and right adjusting seats is perpendicular to the direction of the sliding groove of the mechanism adjusting base, and the front and rear adjusting rod, the left and right adjusting seats and the mechanism adjusting base form the front and rear and left and right two-degree-of-freedom moving frame to realize displacement adjustment in two degrees of freedom; the mechanism adjusting base is fixed at the executing end of the mechanical arm.
4. The use method of the auxiliary fractured bone returning robot for the orthopedics department adopts the auxiliary fractured bone returning robot for the orthopedics department of any one of claims 1 to 3, and is characterized in that two bone nails are drilled into bones to be moved, a mechanical arm is moved to the position near the bones, and a double-ball-head six-degree-of-freedom rotating frame and a front-back and left-right two-degree-of-freedom moving frame of two mounting assemblies are respectively adjusted, so that each bone nail is connected to one mounting assembly; operating the mechanical arm to move to drive the skeleton to reach the designated position; and finishing returning.
5. The method for using an orthopaedic auxiliary fractured bone return robot according to claim 4, wherein two bone screws are drilled into the bone to be moved from different angles and directions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111515369.2A CN114209436B (en) | 2021-12-13 | 2021-12-13 | Auxiliary broken bone return robot for orthopedics department |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111515369.2A CN114209436B (en) | 2021-12-13 | 2021-12-13 | Auxiliary broken bone return robot for orthopedics department |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114209436A true CN114209436A (en) | 2022-03-22 |
| CN114209436B CN114209436B (en) | 2023-07-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111515369.2A Active CN114209436B (en) | 2021-12-13 | 2021-12-13 | Auxiliary broken bone return robot for orthopedics department |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103654959A (en) * | 2013-10-18 | 2014-03-26 | 江苏艾迪尔医疗科技股份有限公司 | Method for carrying out orthopedic surgery by utilizing intelligent auxiliary equipment |
| WO2017032156A1 (en) * | 2015-08-24 | 2017-03-02 | 深圳市鑫君特智能医疗器械有限公司 | Intelligent orthopedic surgical system |
| CN109498141A (en) * | 2018-11-20 | 2019-03-22 | 中国人民解放军第四军医大学 | A kind of master-slave mode both arms bionical digitlization long bone shaft fracture reset robot |
| CN211067011U (en) * | 2019-11-03 | 2020-07-24 | 北京诺影医疗科技有限公司 | High-integration orthopaedic surgery robot |
| CN211187517U (en) * | 2019-09-20 | 2020-08-07 | 内蒙古医科大学附属医院 | Medical surgical robot and tool end capable of finely adjusting and positioning |
-
2021
- 2021-12-13 CN CN202111515369.2A patent/CN114209436B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103654959A (en) * | 2013-10-18 | 2014-03-26 | 江苏艾迪尔医疗科技股份有限公司 | Method for carrying out orthopedic surgery by utilizing intelligent auxiliary equipment |
| WO2017032156A1 (en) * | 2015-08-24 | 2017-03-02 | 深圳市鑫君特智能医疗器械有限公司 | Intelligent orthopedic surgical system |
| CN109498141A (en) * | 2018-11-20 | 2019-03-22 | 中国人民解放军第四军医大学 | A kind of master-slave mode both arms bionical digitlization long bone shaft fracture reset robot |
| CN211187517U (en) * | 2019-09-20 | 2020-08-07 | 内蒙古医科大学附属医院 | Medical surgical robot and tool end capable of finely adjusting and positioning |
| CN211067011U (en) * | 2019-11-03 | 2020-07-24 | 北京诺影医疗科技有限公司 | High-integration orthopaedic surgery robot |
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| CN114209436B (en) | 2023-07-28 |
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