CN114917013B - Multi-pose Kirschner wire clamp holder for robot-assisted fracture reduction operation - Google Patents
Multi-pose Kirschner wire clamp holder for robot-assisted fracture reduction operation Download PDFInfo
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- CN114917013B CN114917013B CN202210377962.3A CN202210377962A CN114917013B CN 114917013 B CN114917013 B CN 114917013B CN 202210377962 A CN202210377962 A CN 202210377962A CN 114917013 B CN114917013 B CN 114917013B
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- 239000000203 mixture Substances 0.000 claims abstract description 12
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 22
- 239000000741 silica gel Substances 0.000 claims description 17
- 229910002027 silica gel Inorganic materials 0.000 claims description 17
- 230000006835 compression Effects 0.000 claims description 16
- 238000007906 compression Methods 0.000 claims description 16
- 238000001356 surgical procedure Methods 0.000 claims description 10
- 230000001681 protective effect Effects 0.000 claims description 7
- 238000007789 sealing Methods 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims description 2
- 230000000399 orthopedic effect Effects 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 3
- 208000010392 Bone Fractures Diseases 0.000 description 17
- 206010017076 Fracture Diseases 0.000 description 17
- 210000000988 bone and bone Anatomy 0.000 description 8
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
- A61B17/92—Impactors or extractors, e.g. for removing intramedullary devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
- A61B17/84—Fasteners therefor or fasteners being internal fixation devices
- A61B17/846—Nails or pins, i.e. anchors without movable parts, holding by friction only, with or without structured surface
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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
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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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
- A61B17/92—Impactors or extractors, e.g. for removing intramedullary devices
- A61B2017/922—Devices for impaction, impact element
- A61B2017/924—Impact element driving means
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Neurology (AREA)
- Surgical Instruments (AREA)
Abstract
A multi-pose Kirschner wire clamp holder for robot-assisted fracture reduction operation relates to the technical field of orthopedic surgical instruments and solves the problems that the existing Kirschner wire holding instrument has single function and low adjustment precision, and the holding position, angle and interval of the Kirschner wire cannot be adjusted simultaneously. The clamp mainly comprises: a fixing assembly; the movable assembly and the fixed end sliding assembly are connected with the fixed assembly; a mobile end sliding assembly connected with the mobile assembly; the movable end sliding component and the fixed end sliding component have the same structural composition; the movable end clamping assembly is connected with the movable end sliding assembly; the fixed end clamping assembly is connected with the fixed end sliding assembly; the fixed end clamping assembly and the movable end clamping assembly have the same structural composition. The clamp holder is compact in structure, convenient to install, accurate in positioning, capable of adjusting holding positions, angles and distances of the Kirschner wire simultaneously, strong in operability, wide in application range, strong in applicability and capable of improving operation quality and treatment effect.
Description
Technical Field
The invention relates to the technical field of orthopedic surgical instruments, in particular to a multi-pose Kirschner wire clamp holder for robot-assisted fracture reduction surgery.
Background
The orthopedic operation robot has great application value in clinical medical treatment by virtue of the advantages of high precision, small wound, quick recovery and the like, and is widely focused worldwide. In fracture treatment surgery, whether conventional open surgery or closed intramedullary nail internal fixation surgery or robot-assisted fracture reduction surgery, it is first necessary to reduce the fracture site, i.e. splice fractured bones, to restore the continuity of the bone. In general, a doctor needs to drive at least two kirschner wires into a bone along the radial direction of the bone at a certain included angle, and then the kirschner wires are held by hand or by holding an instrument to complete fracture reduction operation. However, the manner of driving the k-wire is affected by individual physiological differences and differences in the state of illness of the patient, and it is sometimes necessary to simultaneously adjust the angle and position of the holding device to simultaneously hold two k-wires.
Currently, most of the existing kirschner wire holding devices have single function, such as a clamping device for a kirschner wire disclosed in Chinese patent with publication number of CN 113069199A; as disclosed in chinese patent publication No. CN212679210U, the structure of the present invention is suitable for manual operation, and can only implement clamping of the k-wire, but cannot drive the k-wire into the bone along with the position of the k-wire and cannot adjust the position and angle of the holding device according to the posture change of the k-wire, so that the existing k-wire holding device cannot be directly used for robot operation, and further development of the orthopedic operation robot is hindered. Some instruments with position adjusting function, such as a semi-ring external fixator disclosed in the university of Harbin industry, university of Harbin, zhao Mihao, and month 6 of 2008, can only adjust the holding position of the holding instrument in the circumferential direction of the bone according to specific increment. In addition, most kirschner wires hold the apparatus and adjust the precision lower, and can't adjust different kirschner wires' interval, have influenced the operation treatment effect.
Disclosure of Invention
The invention provides a multi-pose Kirschner wire clamp for a robot-assisted fracture reduction operation, which aims to solve the problems that the existing Kirschner wire holding instrument has single function and low adjustment precision, and the holding position, angle and interval of the Kirschner wire cannot be adjusted simultaneously.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the invention relates to a multi-pose Kirschner wire clamp holder for robot-assisted fracture reduction operation, which comprises the following components:
a fixing assembly;
the movable assembly and the fixed end sliding assembly are connected with the fixed assembly;
a mobile end sliding assembly connected with the mobile assembly; the movable end sliding component and the fixed end sliding component have the same structural composition;
the movable end clamping assembly is connected with the movable end sliding assembly;
the fixed end clamping assembly is connected with the fixed end sliding assembly; the fixed end clamping assembly and the movable end clamping assembly have the same structural composition.
Further, the fixing assembly includes: the magnetic grid fixing device comprises a fixing ring, a sliding bearing, a fixing ring magnetic grid ruler and a tail end plug, wherein the sliding bearing is arranged at one end of the fixing ring and sealed through a fixing ring sealing ring, the fixing ring magnetic grid ruler is fixed on the fixing ring, and the tail end plug is fixed at the other end of the fixing ring.
Further, a boss is arranged in the middle of the fixed ring, and a quick connection hole and a driving screw mounting hole are formed in the boss; one end of the fixed ring is provided with a cylinder, and the sliding bearing is arranged in the cylinder; the outer surface of the other end of the fixed ring is provided with a fixed rectangular groove, and the fixed ring magnetic grid ruler is fixed in the fixed rectangular groove; the inner surface and the outer surface of the other end of the fixed ring are respectively provided with a fixed circular section groove; the outer surface of the other end of the fixed ring is provided with a fixed guide groove.
Further, the moving assembly includes: the movable ring, the movable ring magnetic grating ruler fixed on the movable ring, the terminal limit cylinder fixed at one end of the movable ring, the driving part bearing installed at the other end of the movable ring, the driving screw rod installed in the driving part bearing and penetrating through the driving screw rod installation hole, the middle silica gel ring and the movable ring magnetic grating ruler in sequence, the driving handle fixed at one end of the driving screw rod, the terminal silica gel plug installed at the other end of the driving screw rod, the guide shafts with two ends installed in the sliding bearing and the terminal limit cylinder respectively, and the guide shaft caps installed at two ends of the guide shaft respectively.
Further, a groove is formed in the left end of the movable ring, and the tail end limiting cylinder is arranged in the groove; the right end of the movable ring is provided with a bearing cylinder, and the driving part bearing is arranged in the bearing cylinder; the outer surface of the movable ring is provided with a movable rectangular groove, and the movable ring magnetic grid ruler is arranged in the movable rectangular groove; the inner surface and the outer surface of the movable ring are respectively provided with a movable circular section groove; the outer surface of the movable ring is provided with a movable guide groove.
Further, the mobile terminal sliding assembly includes: the sliding protection shell, a double-lug type sliding block, a sliding block pressing plate, a sliding block pressing rotary handle, a magnetic grating ruler reading head, a reading head connecting piece and a side pressing plate are arranged in the sliding protection shell; the front end and the rear end of the side pressing plate are respectively connected with the double-lug type sliding block and the sliding protective shell; the double-lug type sliding block is arranged on the movable ring; the magnetic grating ruler reading head is connected with the double-lug type sliding block through a reading head connecting piece; the sliding block pressing plate is fixed on the double-lug type sliding block, and the double-lug type sliding block is pressed on the movable ring through the sliding block pressing rotary handle.
Further, a spiral handle groove and a wiring hole are formed in the surface of the sliding protective shell; the front surface of the lower end of the double-lug type sliding block is provided with two mounting seats, the inner walls of the two mounting seats are respectively provided with a circular section bulge, and the circular section bulge is correspondingly arranged in the movable circular section groove; the front end of the side pressing plate is connected with the two mounting seats; the upper surface of the mounting seat positioned above is provided with a sliding block pressing plate mounting groove, and the sliding block pressing plate is mounted in the sliding block pressing plate mounting groove; the sliding block pressing rotary handle is arranged on the sliding block pressing plate to press the sliding block pressing plate on the movable ring; the lower end part of the sliding block pressing rotary handle is arranged in the movable guide groove, and the upper end of the sliding block pressing rotary handle is arranged in the rotary handle groove; the magnetic grating ruler reading head is connected with a reading head connecting piece, and the reading head connecting piece is connected with the upper surface of the mounting seat positioned above; the rear surface of the upper end of the double-lug-shaped sliding block is provided with two lug-shaped structures.
Further, the circular section protrusions on the inner wall of the mounting seat on the double-lug type sliding block in the fixed end sliding assembly are correspondingly arranged in the fixed circular section grooves of the fixed ring; the sliding block compression rotary handle in the fixed end sliding assembly is arranged on the sliding block compression plate to compress the sliding block compression plate on the fixed ring; the end part of the sliding block pressing rotary handle in the fixed end sliding assembly is arranged in the fixed guide groove of the fixed ring.
Further, the mobile terminal clamping assembly includes: the clamping shell, clamping silica gel fixed in the clamping shell, a Kirschner wire locker fixed on the clamping shell through the clamping silica gel, a shell compression rotary handle and a shell locking knob which are arranged on the clamping shell, and a shaft end encoder fixed on the clamping shell through a double-lug sliding block and a jackscrew at the same time through bolts; the clamping shell is tightly pressed on the double-lug type sliding block through the shell pressing rotary handle.
Further, two bulges are arranged at one end of the clamping shell and are locked by the shell locking knob; arc grooves are respectively formed in two sides of the other end of the clamping shell, and the two arc grooves are installed in one-to-one correspondence with the two lug structures; the ear-shaped structure is connected with the arc-shaped groove through the shell pressing rotary handle; the center of the other end of the clamping shell is provided with a short shaft, the short shaft penetrates through a central hole of the double-lug type sliding block, the outer ring of the shaft end encoder is fixed on the double-lug type sliding block through a bolt, and the inner ring of the shaft end encoder is fixed on the short shaft through a jackscrew; the clamping shell outer wall is equipped with the lug for block solid kirschner wire locker, clamping shell bottom inner wall still is equipped with semi-circular flange for the position of restriction centre gripping silica gel.
The beneficial effects of the invention are as follows:
1. the multi-pose Kirschner wire clamp holder for the robot-assisted fracture reduction operation has the advantages that the whole structure is semi-annular, the clamp holder is convenient to install, and the clamp holder is directly arranged above the limbs of a patient without moving the patient when in use, so that secondary damage is avoided.
2. The invention utilizes the magnetic grating ruler and the encoder to obtain the Kirschner wire position information, has accurate reading and can further improve the operation quality.
3. The clamping assembly can be used for clamping the Kirschner wire according to the position and the posture of the Kirschner wire, and has high applicability.
4. The invention can adjust the interval between the two Kirschner wire clamping assemblies according to the individual physiological difference and the wound condition of the patient, and has wide application range.
5. The multi-pose Kirschner wire clamp holder for the robot-assisted fracture reduction operation is compact in structure, convenient to use and high in operability, and can rapidly move and lock a sliding assembly and a clamping assembly by utilizing a rotating handle.
6. The invention can accurately adjust the holding angle and the holding position of the Kirschner wire, improves the treatment effect and promotes the development of the robot industry for orthopedic surgery.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of the overall structure of a multi-pose k-wire holder for a robot-assisted fracture reduction operation.
Fig. 2 is an exploded view of the structure of the fixing assembly.
FIG. 3 is a schematic view of a portion of a retaining ring in a retaining assembly.
Fig. 4 is an exploded view of the structure of the mobile assembly.
FIG. 5 is a schematic view of a portion of a shift ring in a shift assembly.
Fig. 6 is a structural exploded view of the mobile terminal sliding assembly.
Fig. 7 is an assembly view of the mobile terminal sliding assembly (the sliding protection shell is omitted).
Fig. 8 is an exploded view of the structure of the mobile end clamping assembly.
FIG. 9 is a partial schematic view of the connection between the mobile end slide assembly and the mobile end clamp assembly.
FIG. 10 is a cross-sectional view of the connection between the mobile end slide assembly, the mobile end clamping assembly, and the mobile ring.
FIG. 11 is a cross-sectional view of the connection between the mobile end slide assembly and the mobile end clamp assembly.
Fig. 12 is a bottom view of the clamping housing in the mobile end clamping assembly.
In the figure, 1, a fixing assembly; 11. a fixing ring; 111. a boss; 112. a quick connection hole; 113. a cylinder; 114. fixing the rectangular groove; 115. fixing the groove with the circular section; 116. a fixed guide groove; 117. a drive screw mounting hole; 12. a sliding bearing; 13. a fixed ring seal ring; 14. a fixed ring magnetic grid ruler; 15. a terminal plug;
2. a moving assembly; 21. a moving ring; 211. moving the rectangular groove; 212. moving the circular section groove; 213. moving the guide groove; 214. a groove; 215. a bearing cylinder; 22. a terminal limit cylinder; 23. driving a screw; 24. a drive handle; 25. a drive section bearing; 26. a middle silica gel ring; 27. a terminal silica gel plug; 28. a guide shaft; 29. a guide shaft cap; 210. moving the ring magnetic grid ruler;
3. a mobile end sliding assembly; 31. a sliding protective shell; 311. a spin handle groove; 312. a wiring hole; 32. a binaural slider; 321. a circular section bulge; 322. a mounting base; 323. a compacting plate mounting groove; 324. an ear-like structure; 33. a sliding block compacting plate; 34. the sliding block compresses the rotary handle; 35. a magnetic grating ruler reading head; 36. a read head connector; 37. a side pressure plate;
4. a fixed end sliding assembly;
5. a mobile end clamping assembly; 51. clamping the housing; 511. an arc-shaped groove; 512. a semicircular flange; 513. a short shaft; 514. a lug; 52. clamping silica gel; 53. a k-wire locker; 54. the shell compresses the rotary handle; 55. a housing locking knob; 56. a shaft end encoder; 57. a jackscrew;
6. a fixed end clamping assembly;
7. a k-wire;
8. bone.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 12, the multi-pose k-wire holder for the robot-assisted fracture reduction surgery of the present invention mainly comprises: the device comprises a fixed assembly 1, a movable assembly 2, a movable end sliding assembly 3, a fixed end sliding assembly 4, a movable end clamping assembly 5 and a fixed end clamping assembly 6. The movable assembly 2 and the fixed end sliding assembly 4 are connected with the fixed assembly 1; the movable end sliding component 3 is connected with the movable component 2; the movable end clamping assembly 5 is connected with the movable end sliding assembly 3; the fixed end clamping assembly 6 is connected with the fixed end sliding assembly 4. Wherein, the fixed end sliding component 4 and the movable end sliding component 3 have the same structure and composition; the fixed end clamping assembly 6 and the movable end clamping assembly 5 have the same structure and composition.
As shown in fig. 2 and 3, the fixing assembly 1 mainly includes: the fixed ring 11, the sliding bearing 12, the fixed ring sealing ring 13, the fixed ring magnetic grating ruler 14 and the tail end plug 15; the sliding bearing 12 is arranged at the left end of the fixed ring 11 and is sealed by a fixed ring sealing ring 13; the fixed ring magnetic grid ruler 14 is fixed on the fixed ring 11; the end plug 15 is fixed at the right end of the fixed ring 11 through bolts.
Wherein, the fixed ring 11 is of an arc structure, a boss 111 for connecting the robot body is arranged at the middle bulge part of the fixed ring 11, a quick connection hole 112 is arranged on the boss 111, and the fixed ring 11 is connected with the robot body through the boss 111 and the quick connection hole 112; the left end of the fixed ring 11 is provided with a cylinder 113, and the sliding bearing 12 is arranged in the cylinder 113 and is sealed by a fixed ring sealing ring 13; as shown in fig. 3, a fixed rectangular groove 114 is formed on the outer surface of the right end of the fixed ring 11, and the fixed ring magnetic grid ruler 14 is fixed in the fixed rectangular groove 114; the inner and outer surfaces of the right end of the fixed ring 11 are provided with fixed circular section grooves 115 for installing double-lug type sliding blocks in the fixed end sliding assembly 4; the outer surface of the right end of the fixed ring 11 is provided with a fixed guide groove 116 for installing a sliding block in the fixed end sliding component 4 to compress the rotary handle; the boss 111 is provided with a drive screw mounting hole 117 for mounting the drive screw 23.
As shown in fig. 4 and 5, the moving assembly 2 mainly includes: the movable ring 21, the tail end limiting cylinder 22, the driving screw 23, the driving handle 24, the driving part bearing 25, the middle silica gel ring 26, the tail end silica gel plug 27, the guide shaft 28, the guide shaft cap 29 and the movable ring magnetic grating ruler 210; the tail end limiting cylinder 22 is fixed at the left end of the movable ring 21 through a bolt; the movable ring magnetic grating 210 is fixed on the movable ring 21; the driving handle 24 is fixed at one end of the driving screw 23; the other end of the driving screw 23 sequentially passes through the driving screw mounting hole 117 of the fixed ring 11, the middle silica gel ring 26 and the movable ring magnetic grating ruler 210 and is connected with the right end of the movable ring 21 through the driving part bearing 25 and the tail silica gel plug 27; one end of the guide shaft 28 is arranged in the sliding bearing 12 of the fixed ring 11, the other end of the guide shaft 28 is arranged in the tail end limiting cylinder 22, and the two end parts of the guide shaft 28 are provided with guide shaft caps 29.
The movable ring 21 is of an arc-shaped structure, a groove 214 is formed in the left end of the movable ring 21, and a tail end limiting cylinder 22 is installed in the groove 214; the right end of the moving ring 21 is provided with a bearing cylinder 215, and a driving part bearing 25 is arranged in the bearing cylinder 215; the outer surface of the movable ring 21 is provided with a movable rectangular groove 211, and the movable ring magnetic grating ruler 210 is arranged in the movable rectangular groove 211; the inner and outer surfaces of the movable ring 21 are provided with movable circular section grooves 212 for mounting the double-lug type sliding blocks 32 in the movable end sliding assembly 3; the outer surface of the movable ring 21 is provided with a movable guide groove 213 for mounting the slider pressing knob 34 in the movable-end slide assembly 3.
The fixed end sliding component 4 and the movable end sliding component 3 have the same structure and composition, and the structure and composition of the movable end sliding component 3 will be described below as an example.
As shown in fig. 6, 7 and 9, the mobile-end sliding assembly 3 mainly includes: the sliding protection shell 31, the double-lug type sliding block 32, the sliding block pressing plate 33, the sliding block pressing rotary handle 34, the magnetic grid ruler reading head 35, the reading head connecting piece 36 and the side pressing plate 37; the double-lug type sliding block 32, the sliding block pressing plate 33, the sliding block pressing rotary handle 34, the magnetic grid ruler reading head 35, the reading head connecting piece 36 and the side pressing plate 37 are all arranged in the sliding protective shell 31; the rear end of the side pressing plate 37 is connected with the sliding protective shell 31, and the front end of the side pressing plate 37 is connected with the double-lug type sliding block 32; the double-ear slider 32 is mounted on the moving ring 21; the magnetic grating ruler reading head 35 is connected with the double-lug type sliding block 32 through a reading head connecting piece 36; the slider pressing plate 33 is fixed to the binaural slider 32, and presses the binaural slider 32 to the moving ring 21 by the slider pressing knob 34.
The sliding protection shell 31 is provided with a rotary handle groove 311 and a wiring hole 312, and the wires of the magnetic grating ruler reading head 35 and the shaft end encoder 56 can pass through the wiring hole 312. The front surface of the lower end of the double-lug type sliding block 32 is provided with two mounting seats 322, the inner walls of the two mounting seats 322 are respectively provided with a circular section bulge 321, and the circular section bulge 321 is correspondingly arranged in the moving circular section groove 212 of the moving ring 21; the front end of the side pressing plate 37 is connected with two mounting seats 322 through screws; the upper surface of the upper mounting seat 322 is provided with a sliding block compression plate mounting groove 323, the sliding block compression plate 33 is mounted in the sliding block compression plate mounting groove 323, the sliding block compression rotary handle 34 is mounted on the sliding block compression plate 33 to compress the sliding block compression plate 33 on the movable ring 21, the lower end part of the sliding block compression rotary handle 34 is mounted in the movable guide groove 213 of the movable ring 21, and the upper end of the sliding block compression rotary handle 34 is mounted in the rotary handle groove 311; the magnetic grating ruler reading head 35 is connected with a reading head connecting piece 36, and the reading head connecting piece 36 is connected with the upper surface of the mounting seat 322 positioned above; the rear surface of the upper end of the binaural slider 32 is provided with two ear-type structures 324.
The fixed end sliding assembly 4 is mounted on the fixed ring 11 in a manner of connection between the movable end sliding assembly 3 and the movable ring 21. Wherein, the circular section bulge on the inner wall of the mounting seat on the double-lug type sliding block in the fixed end sliding component 4 is correspondingly arranged in the fixed circular section groove 115 of the fixed ring 11; the slider pressing rotary handle in the fixed end sliding assembly 4 is arranged on the slider pressing plate to press the slider pressing plate on the fixed ring 11, and the end part of the slider pressing rotary handle is arranged in the fixed guide groove 116 of the fixed ring 11.
The fixed end clamping assembly 6 and the movable end clamping assembly 5 have the same structure and composition, and the structure and composition of the movable end clamping assembly 5 will be described below as an example.
As shown in fig. 8 to 12, the mobile end clamping assembly 5 mainly includes: a clamping shell 51, a clamping silica gel 52, a Kirschner wire locker 53, a shell pressing rotary handle 54, a shell locking knob 55, a shaft end encoder 56 and a jackscrew 57; the clamping silica gel 52 is fixed inside the clamping shell 51; the Kirschner wire locker 53 is fixed on the clamping shell 51 through the clamping silica gel 52; the shell pressing rotary handle 54 is arranged on the clamping shell 51, and the clamping shell 51 is pressed on the double-lug sliding block 32 through the shell pressing rotary handle 54; the housing locking knob 55 is mounted on the clamp housing 51; the outer ring of the shaft end encoder 56 is fixed to the double-lug type slider 32 by bolts, and the inner ring is fixed to the clamp housing 51 by jackscrews 57.
Wherein, two bulges 512 are arranged at one end of the clamping shell 51, and the two bulges 512 are locked by the shell locking knob 55; arc grooves 511 are respectively formed in two sides of the other end of the clamping shell 51, the two arc grooves 511 are installed in one-to-one correspondence with the two ear-shaped structures 324, and the ear-shaped structures 324 are connected with the arc grooves 511 through shell pressing rotary handles 54; a short shaft 513 is arranged at the center of the other end of the clamping shell 51, the short shaft 513 penetrates through a central hole of the double-lug type sliding block 32, then the outer ring of the shaft end encoder 56 is fixed on the double-lug type sliding block 32 through a bolt, and the inner ring is fixed on the short shaft 513 through a jackscrew 57; the outer wall of the clamping shell 51 is provided with lugs 514 for clamping the k-wire locker 53, and the inner wall of the bottom of the clamping shell 51 is also provided with semicircular flanges 512 for limiting the position of the clamping silica gel 52.
In this embodiment, the Kirschner wire locker 53 is a T-shaped Kirschner wire locker manufactured by Chuan medical instruments Co., ltd.
The fixed end clamping assembly 6 is mounted on the fixed end sliding assembly 4 according to the connection mode between the movable end clamping assembly 5 and the movable end sliding assembly 3.
The invention relates to a multi-pose Kirschner wire holder for robot-assisted fracture reduction operation, which comprises the following using method:
1. first, the slider pressing knob 34 is released, respectively, so that the movable end slider 3 and the fixed end slider 4 are both in a released state, the movable end slider 3 is moved along the movable ring 21, the fixed end slider 4 is moved along the fixed ring 11, the movable end slider 3 is mounted on the movable ring 21, and the end-stop cylinder 22 is mounted on the movable ring 21, and at the same time, the fixed end slider 4 is mounted on the fixed ring 11, and the end plug 15 is mounted on the fixed ring 11.
2. Then, the shell pressing handles 54 are respectively loosened, so that the movable end clamping assembly 5 and the fixed end clamping assembly 6 are in a loosened state, the movable end clamping assembly 5 rotates relative to the movable end sliding assembly 3, and the fixed end clamping assembly 6 rotates relative to the fixed end sliding assembly 4.
3. Finally, the housing locking knobs 55 are released, respectively, so that the clamping housing 51 in the movable-end clamping assembly 5 and the clamping housing in the fixed-end clamping assembly 6 are both in a released state, so that the k-wire locker 53 can be loaded.
4. According to the gesture and the position of the Kirschner wire 7 driven into the bone 8, the driving handle 24 is rotated, the distance between the movable ring 21 and the fixed ring 11 is adjusted, and meanwhile, the positions of the movable end sliding component 3, the fixed end sliding component 4, the movable end clamping component 5 and the fixed end clamping component 6 are respectively adjusted, so that the Kirschner wire locker 53 in the movable end clamping component 5 and the Kirschner wire locker in the fixed end clamping component 6 can clamp two Kirschner wires 7 simultaneously, and then the Kirschner wire locker 53 is arranged in the clamping shell 51, the locking shell locking knob 55 is used for firmly fixing the Kirschner wire locker 53 on the clamping shell 51; the locking slide presses against knob 34 and the housing presses against knob 54, maintaining the relative positions of the components.
5. The multi-pose Kirschner wire clamp for the auxiliary fracture reduction operation of the robot which is installed on the fracture reduction robot body through the quick connection connecting hole 112 on the fixing ring 11, the data of the magnetic grating ruler reading head 35 and the shaft end encoder 56 are read, the size information of each component is combined, the upper computer in the robot system can complete the space position solving of the clamp, and the fracture reduction robot is controlled to complete the subsequent fracture reduction operation.
In the description of the present invention, it should be understood that the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the protection of the present invention.
Finally, it should be noted that: 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 solutions described in the foregoing embodiments may be modified or some technical features may be replaced with others, which may not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. A robot-assisted fracture reduction surgical multi-pose k-wire holder, comprising:
a fixing assembly;
the movable assembly and the fixed end sliding assembly are connected with the fixed assembly;
a mobile end sliding assembly connected with the mobile assembly; the movable end sliding component and the fixed end sliding component have the same structural composition;
the movable end clamping assembly is connected with the movable end sliding assembly;
the fixed end clamping assembly is connected with the fixed end sliding assembly; the fixed end clamping assembly and the movable end clamping assembly have the same structural composition;
the fixing assembly includes: the fixed ring, the sliding bearing which is arranged at one end of the fixed ring and is sealed by the fixed ring sealing ring, the fixed ring magnetic grid ruler which is fixed on the fixed ring, and the tail end plug which is fixed at the other end of the fixed ring;
the moving assembly includes: the device comprises a movable ring, a movable ring magnetic grating ruler, a tail end limiting cylinder, a driving part bearing, a driving screw rod, a driving handle, a tail end silica gel plug, guide shafts, guide shaft caps and a guide shaft cover, wherein the movable ring magnetic grating ruler is fixed on the movable ring, the tail end limiting cylinder is fixed at one end of the movable ring, the driving part bearing is arranged at the other end of the movable ring, the driving screw rod sequentially penetrates through a driving screw rod mounting hole, a middle silica gel ring and the movable ring magnetic grating ruler, the driving screw rod is arranged in the driving part bearing, the driving handle is fixed at one end of the driving screw rod, the tail end silica gel plug is arranged at the other end of the driving screw rod, the guide shafts are respectively arranged at two ends of the sliding bearing and the tail end limiting cylinder, and the guide shaft caps are respectively arranged at two ends of the guide shaft;
the mobile terminal sliding assembly includes: the sliding protection shell, a double-lug type sliding block, a sliding block pressing plate, a sliding block pressing rotary handle, a magnetic grating ruler reading head, a reading head connecting piece and a side pressing plate are arranged in the sliding protection shell; the front end and the rear end of the side pressing plate are respectively connected with the double-lug type sliding block and the sliding protective shell; the double-lug type sliding block is arranged on the movable ring; the magnetic grating ruler reading head is connected with the double-lug type sliding block through a reading head connecting piece; the sliding block pressing plate is fixed on the double-lug type sliding block, and the double-lug type sliding block is pressed on the movable ring through the sliding block pressing rotary handle;
the mobile terminal clamping assembly includes: the clamping shell, clamping silica gel fixed in the clamping shell, a Kirschner wire locker fixed on the clamping shell through the clamping silica gel, a shell compression rotary handle and a shell locking knob which are arranged on the clamping shell, and a shaft end encoder fixed on the clamping shell through a double-lug sliding block and a jackscrew at the same time through bolts; the clamping shell is tightly pressed on the double-lug type sliding block through the shell pressing rotary handle.
2. The multi-pose Kirschner wire holder for the robot-assisted fracture reduction operation according to claim 1, wherein a boss is arranged in the middle of the fixed ring, and a quick connection hole and a driving screw mounting hole are arranged on the boss; one end of the fixed ring is provided with a cylinder, and the sliding bearing is arranged in the cylinder; the outer surface of the other end of the fixed ring is provided with a fixed rectangular groove, and the fixed ring magnetic grid ruler is fixed in the fixed rectangular groove; the inner surface and the outer surface of the other end of the fixed ring are respectively provided with a fixed circular section groove; the outer surface of the other end of the fixed ring is provided with a fixed guide groove.
3. The multi-pose Kirschner wire holder for the robot-assisted fracture reduction surgery according to claim 2, wherein a groove is formed at the left end of the movable ring, and the tail end limiting cylinder is arranged in the groove; the right end of the movable ring is provided with a bearing cylinder, and the driving part bearing is arranged in the bearing cylinder; the outer surface of the movable ring is provided with a movable rectangular groove, and the movable ring magnetic grid ruler is arranged in the movable rectangular groove; the inner surface and the outer surface of the movable ring are respectively provided with a movable circular section groove; the outer surface of the movable ring is provided with a movable guide groove.
4. The multi-pose Kirschner wire holder for the robot-assisted fracture reduction surgery according to claim 3, wherein a knob groove and a wiring hole are formed on the surface of the sliding protective shell; the front surface of the lower end of the double-lug type sliding block is provided with two mounting seats, the inner walls of the two mounting seats are respectively provided with a circular section bulge, and the circular section bulge is correspondingly arranged in the movable circular section groove; the front end of the side pressing plate is connected with the two mounting seats; the upper surface of the mounting seat positioned above is provided with a sliding block pressing plate mounting groove, and the sliding block pressing plate is mounted in the sliding block pressing plate mounting groove; the sliding block pressing rotary handle is arranged on the sliding block pressing plate to press the sliding block pressing plate on the movable ring; the lower end part of the sliding block pressing rotary handle is arranged in the movable guide groove, and the upper end of the sliding block pressing rotary handle is arranged in the rotary handle groove; the magnetic grating ruler reading head is connected with a reading head connecting piece, and the reading head connecting piece is connected with the upper surface of the mounting seat positioned above; the rear surface of the upper end of the double-lug-shaped sliding block is provided with two lug-shaped structures.
5. The multi-pose k-wire holder for robot-assisted fracture reduction surgery according to claim 4, wherein the circular cross-section protrusions on the inner wall of the mounting seat on the double-lug type slide block in the fixed end sliding assembly are correspondingly arranged in the fixed circular cross-section grooves of the fixed ring; the sliding block compression rotary handle in the fixed end sliding assembly is arranged on the sliding block compression plate to compress the sliding block compression plate on the fixed ring; the end part of the sliding block pressing rotary handle in the fixed end sliding assembly is arranged in the fixed guide groove of the fixed ring.
6. The multi-pose Kirschner wire clamp for the robot-assisted fracture reduction operation according to claim 5, wherein two bulges are arranged at one end of the clamping shell and are locked by a shell locking knob; arc grooves are respectively formed in two sides of the other end of the clamping shell, and the two arc grooves are installed in one-to-one correspondence with the two lug structures; the ear-shaped structure is connected with the arc-shaped groove through the shell pressing rotary handle; the center of the other end of the clamping shell is provided with a short shaft, the short shaft penetrates through a central hole of the double-lug type sliding block, the outer ring of the shaft end encoder is fixed on the double-lug type sliding block through a bolt, and the inner ring of the shaft end encoder is fixed on the short shaft through a jackscrew; the clamping shell outer wall is equipped with the lug for block solid kirschner wire locker, clamping shell bottom inner wall is equipped with semi-circular flange for the position of restriction centre gripping silica gel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210377962.3A CN114917013B (en) | 2022-04-12 | 2022-04-12 | Multi-pose Kirschner wire clamp holder for robot-assisted fracture reduction operation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210377962.3A CN114917013B (en) | 2022-04-12 | 2022-04-12 | Multi-pose Kirschner wire clamp holder for robot-assisted fracture reduction operation |
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| CN114917013A CN114917013A (en) | 2022-08-19 |
| CN114917013B true CN114917013B (en) | 2024-03-22 |
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| CN202210377962.3A Active CN114917013B (en) | 2022-04-12 | 2022-04-12 | Multi-pose Kirschner wire clamp holder for robot-assisted fracture reduction operation |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112370164B (en) * | 2020-11-03 | 2022-08-26 | 上海大学 | Space series-parallel connection pelvis fracture reduction robot |
| CN115444569A (en) * | 2022-09-20 | 2022-12-09 | 吉林大学 | Series-parallel fracture reduction surgical robot |
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| DE102018115435A1 (en) * | 2018-06-27 | 2020-01-02 | avateramedical GmBH | Trokarhalterung |
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| CN104814779A (en) * | 2015-05-07 | 2015-08-05 | 浙江工业大学 | External fixation device needle threading fixture capable of being adjusted in multiple directions and at multiple angles |
| CN209253095U (en) * | 2017-07-21 | 2019-08-16 | 绍兴市寅川软件开发有限公司 | A kind of orthopaedics Kirschner wire fixation device |
| CN212281573U (en) * | 2020-09-23 | 2021-01-05 | 河北医科大学第三医院 | External fixing mechanism for kirschner wire |
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| CN114917013A (en) | 2022-08-19 |
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