CN115414103A - External fixation orthopedic mechanism with virtual center motion characteristic - Google Patents
External fixation orthopedic mechanism with virtual center motion characteristic Download PDFInfo
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- CN115414103A CN115414103A CN202211039094.4A CN202211039094A CN115414103A CN 115414103 A CN115414103 A CN 115414103A CN 202211039094 A CN202211039094 A CN 202211039094A CN 115414103 A CN115414103 A CN 115414103A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/60—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like for external osteosynthesis, e.g. distractors, contractors
- A61B17/62—Ring frames, i.e. devices extending around the bones to be positioned
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/60—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like for external osteosynthesis, e.g. distractors, contractors
- A61B17/64—Devices extending alongside the bones to be positioned
- A61B17/6425—Devices extending alongside the bones to be positioned specially adapted to be fitted across a bone joint
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/60—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like for external osteosynthesis, e.g. distractors, contractors
- A61B17/66—Alignment, compression or distraction mechanisms
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Abstract
The invention discloses an external fixation orthopedic mechanism with virtual center motion characteristics, which consists of a movable platform, a static platform, three movable branched chains and an orthopedic component, wherein the three movable branched chains are distributed at intervals of 120 degrees along the circumference of the static platform, the stability of the mechanism is increased, the movable branched chains are connected with the static platform in a threaded connection mode, the branched chains can be fixed on the static platform and the movable platform through the extrusion of a locking nut, the installation is convenient and flexible, and the mechanism is stable and reliable.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to an external fixation orthopedic mechanism with a virtual center motion characteristic.
Background
At present, a plurality of bone joint deformity problems exist in orthopedics clinic, the Ilizarov orthopedic technology is introduced in the 90 s, the correction of the bone deformity develops in a spanning way, but the design of the component has the defects of single configuration, more components, time and labor waste in assembly, fixation and adjustment and the like.
When the force line orthopedic is carried out on a human malformed skeleton, an orthopedic mode that an external fixator rotates around a certain point in space in multiple degrees of freedom and moves along a straight line is involved, in the existing external bone fixing mechanism, no matter an Ilizarov bracket, a Taylor bracket or other external fixing mechanisms in the forms of bilateral type, quadrilateral type, semi-ring type and the like cannot realize virtual center motion, manual adjustment is needed in the using process, the problems of skeleton orthopedic dislocation, inaccurate orthopedic and the like can be caused, and the structure has coupling characteristics, so that the independent orthopedic adjustment of the multiple degrees of freedom in space is difficult to carry out, and the orthopedic effect and the rehabilitation of patients with the malformed bone joints are influenced.
Disclosure of Invention
The invention aims to design and develop an external fixation orthopedic mechanism with a virtual center motion characteristic, and through the combination of a movable platform, a static platform and three motion branched chains, the external fixation orthopedic mechanism rotates around a virtual center point, the orthopedic flexibility and the orthopedic range are increased, and the stability of the mechanism is improved.
The technical scheme provided by the invention is as follows:
an external fixation orthotic mechanism having a virtual center of motion feature, comprising:
the static platform is detachably fixed on the outer side of the fixed component, and the height of the static platform is adjustable;
the movable platform is coaxially arranged with the static platform at intervals, and the movable platform is detachably fixed on the outer side of the moving component;
the first branched chain is arranged between the static platform and the movable platform in a telescopic way and is used for driving the external fixation orthopedic mechanism to rotate around an x axis of a virtual coordinate system;
the second branched chain is arranged between the static platform and the movable platform in a telescopic mode and used for driving the external fixing orthopedic mechanism to rotate around the y axis of the virtual coordinate system;
the third branched chain is arranged between the static platform and the movable platform in a telescopic mode and used for driving the external fixing orthopedic mechanism to move along the z axis of the virtual coordinate system;
the first branch chain comprises:
the first motor is detachably fixed on the static platform;
one end of the arc-shaped guide rail is connected with the output end of the first motor, and the other end of the arc-shaped guide rail extends towards the space between the static platform and the movable platform;
the guide rail sliding block is arranged on the arc-shaped guide rail in a sliding way;
the first electric push rod comprises a fixed end and a pushing end, the fixed end is connected with the guide rail sliding block, and the pushing end is connected with the movable platform;
the interval among the first branched chain, the second branched chain and the third branched chain is 120 degrees, and the arc radius of the arc-shaped guide rail is the same as the radius of the static platform;
the virtual coordinate system satisfies:
the origin is the circle center of the static platform, the x axis is a horizontal line extending from the origin to the first branch chain direction, the z axis is a vertical line perpendicular to the static platform, and the y axis is a horizontal line perpendicular to the x axis and the z axis.
Preferably, the stationary platform comprises:
a first fixed ring; and
the two ends of the first fixing needle are symmetrically arranged on the first fixing ring in a circle center manner, and the first fixing needle can selectively penetrate through the fixing component;
the second fixed ring is coaxially arranged with the first fixed ring at an interval and is adjustable in interval;
the first motor is detachably fixed on the second fixed ring, the circle center of the second fixed ring is the origin of a virtual coordinate system, and the first branched chain, the second branched chain and the third branched chain are arranged between the second fixed ring and the movable platform.
Preferably, the movable platform comprises:
a third fixed ring; and
and two ends of the second fixed needle are symmetrically arranged on the third fixed ring by the circle center, and the second fixed needle can selectively penetrate through the moving component.
Preferably, the first branch chain further comprises:
the first motor shaft connecting piece is fixedly connected with the output end of the first motor;
one end of the arc-shaped guide rail is fixedly connected with the first motor shaft connecting piece.
Preferably, the second branch comprises:
the second motor is fixed on the second fixed ring;
the second motor shaft connecting piece is fixedly connected with an output shaft of the second motor;
the fork head is rotatably arranged at the outer side of the second motor shaft connecting piece;
and the second electric push rod has the same structure as the first electric push rod, a fixed end is connected with the fork head, and a pushing end is connected with the third fixed ring.
Preferably, the first branch chain further comprises:
the sliding block connecting piece is fixed on the guide rail sliding block;
one end of the first sleeve is detachably arranged on the sliding block connecting piece, and the other end of the first sleeve is detachably arranged at the fixed end of the first electric push rod;
one end of the first push rod connecting piece is connected with the pushing end of the first electric push rod;
and one end of the first threaded rod is connected with the other end of the first push rod connecting piece, and the other end of the first threaded rod is connected with the third fixed ring.
Preferably, the second branch further comprises:
one end of the second push rod connecting piece is connected with the pushing end of the second electric push rod;
one end of the second threaded rod is connected with the other end of the second push rod connecting piece;
and the first spherical hinge is arranged on the third fixed ring, and the first spherical hinge is connected with the other end of the second threaded rod.
Preferably, the third branch comprises:
the second spherical hinge is arranged on the second fixed circular ring;
the third electric push rod has the same structure as the first electric push rod, and a fixed end of the third electric push rod is connected with the second spherical hinge;
and the third spherical hinge is fixed on the third fixed ring and is connected with the pushing end of the third electric push rod.
Preferably, the third branch further comprises:
one end of the third threaded rod is connected with the second spherical hinge;
one end of the second sleeve is connected with the other end of the third threaded rod, and the other end of the second sleeve is connected with the fixed end of the third electric push rod;
one end of the third push rod connecting piece is connected with the pushing end of the third electric push rod;
and one end of the fourth threaded rod is connected with the other end of the third push rod connecting piece, and the other end of the fourth threaded rod is connected with the third spherical hinge.
Preferably, the rotation angles of the first motor and the second motor are both-15 to-15 degrees, the moving distances of the first electric push rod, the second electric push rod and the third electric push rod are all 0 to 30mm, and the lengths of the arc-shaped guide rails meet the following requirements:
in the formula, H is the length of the arc-shaped guide rail, and R is the arc radius of the arc-shaped guide rail.
The invention has the following beneficial effects:
(1) The external fixation orthopedic mechanism with the motion characteristic of the virtual center is designed and developed by the invention, can be applied to the orthopedic of the human skeleton line, can rotate and move around the virtual center point in multiple dimensions when the mechanism corrects the skeleton line, has a wide orthopedic range, can be controlled by establishing serial port communication between the upper computer and the driving component in the orthopedic process, ensures the orthopedic accuracy and flexibility, can realize independent orthopedic adjustment of spatial multiple degrees of freedom, and has positive influence on the postoperative rehabilitation of patients with bone joint deformity.
(2) The external fixation orthopedic mechanism with the virtual center motion characteristic is designed and developed by the invention, three motion branched chains are combined with the movable platform and the static platform, the number of kinematic pairs is reduced, the configuration is simple, the stability of the mechanism is enhanced, the problems of easy rotation dislocation, orthopedic motion coupling and the like of the current external fixation orthopedic mechanism can be solved, and the height of the static platform is adjustable, so that the mechanism has higher adaptability.
(3) The invention relates to an external fixation orthopedic mechanism with a virtual center motion characteristic, which is designed and developed, when the mechanism performs orthopedic, a movable platform can drive a fixed component to rotate around an X axis and a Y axis of a virtual coordinate system and move along a Z axis, the orthopedic flexibility and the orthopedic range are increased, the axial line of the orthopedic component is ensured not to deviate and not to be dislocated in the orthopedic process, the accuracy of the mechanism orthopedic and the independent orthopedic adjustment of spatial multiple degrees of freedom are realized, the orthopedic safety control and quantitative accurate regulation and control are improved, and based on a modular design concept, the external fixation orthopedic mechanism can be used in series with partial clinical orthopedic instruments, so that a wider orthopedic function and a better orthopedic effect are achieved.
Drawings
Fig. 1 is a schematic diagram of the overall structure of an external fixation orthotic mechanism featuring virtual central motion according to the present invention.
Fig. 2 is a schematic structural diagram of the static platform of the present invention.
Fig. 3 is a schematic structural view of the movable platform of the present invention.
Fig. 4 is a schematic structural diagram of the first branched chain according to the present invention.
FIG. 5 is a schematic diagram of the structure of the second branch chain according to the present invention.
FIG. 6 is a schematic structural diagram of a third branch chain according to the present invention.
Fig. 7 is a schematic view of the external fixation orthotic mechanism with a virtual center motion feature of the present invention rotating around one side of the axis of the virtual coordinate system x.
Fig. 8 is a schematic view of the external fixation orthotic device featuring a virtual center of motion according to the present invention rotating around the other side of the virtual coordinate system x axis.
Fig. 9 is a schematic view of the external fixation orthotic mechanism with a virtual center motion feature of the present invention rotating around one side of the axis of the virtual coordinate system y.
Fig. 10 is a schematic view of the external fixation orthotic device with a virtual center motion feature of the present invention rotating around the other side of the virtual coordinate system y axis.
Fig. 11 is a schematic view of the shortening of the external fixation orthotic mechanism with virtual center motion features of the present invention along the z-axis of a virtual coordinate system.
Fig. 12 is a schematic view of the extension of the external fixation orthotic mechanism with virtual center motion features of the present invention along the z-axis of a virtual coordinate system.
Detailed Description
The present invention is described in further detail below to enable those skilled in the art to practice the invention with reference to the description.
As shown in fig. 1, the present invention provides an external fixation orthotic device with virtual central motion features comprising:
the fixed platform 110 is detachably sleeved on the outer side of the fixed member 210 and used for positioning a mechanism, the movable platform 120 is coaxially arranged with the fixed platform 110 at an interval, the movable platform 120 is detachably sleeved on the outer side of the movable member 220, the first branch chain 130, the second branch chain 140 and the third branch chain 150 are telescopically arranged between the fixed platform 110 and the movable platform 120, the interval between the first branch chain 130, the second branch chain and the third branch chain is 120 degrees, the first branch chain 130 is used for driving the external fixation orthopedic mechanism to rotate around an x axis of a virtual coordinate system, the second branch chain 140 is used for driving the external fixation orthopedic mechanism to rotate around a y axis of the virtual coordinate system, and the third branch chain 150 is used for driving the external fixation orthopedic mechanism to move along a z axis of the virtual coordinate system.
Wherein the virtual coordinate system satisfies:
the origin is a circle center of the static platform 110, the x-axis is a horizontal line extending from the origin to the first branched chain 130, the z-axis is a vertical line perpendicular to the static platform 110, and the y-axis is a horizontal line perpendicular to the x-axis and the z-axis.
As shown in fig. 2, the static platform 110 includes: the structure of the second fixed ring 112 is completely the same as that of the first fixed ring 111, the second fixed ring 112 and the first fixed ring 111 are coaxially arranged at intervals, the second fixed ring 112 and the first fixed ring 111 are detachably connected through a threaded rod 113 and a nut, threaded holes are uniformly distributed in the first fixed ring 111 and the second fixed ring 112, and the distance between the first fixed ring 111 and the second fixed ring 112 can be adjusted by rotating the threaded rod according to the distance between the fixed member 210 and the moving member 220; two ends of the first fixing pin 115 are symmetrically arranged on the first fixing ring 111 through a first fixing pin fastener 114 in a circle center manner, and are used for penetrating through the fixing component 210, and the first fixing pin 115 and the second fixing ring 112 are respectively arranged on two sides of the first fixing ring 111.
The center of the second fixed ring 112 is an origin of the virtual coordinate system, that is, the center of the second fixed ring 112 is a virtual center point.
As shown in fig. 3, the movable platform includes: fixed ring 121 of third and the fixed needle 122 of second, the fixed ring 121 of third is the same with the structure of first fixed ring 111, the fixed needle fastening piece 123 of second is passed through at the both ends of needle 122 and is in with the centre of a circle symmetry setting on the fixed ring 121 of third, be used for passing motion member 220, just the fixed needle 122 setting of second is in the fixed ring 121 of third is kept away from one side of the fixed ring 112 of second.
As shown in fig. 4, the first branch 130 includes: the first motor 132 is detachably fixed on the second fixed ring 112 through a first motor fixing member 131 to form a first revolute pair; the first motor shaft connector 161 is fixedly connected with the output end of the first motor; one end of the arc-shaped guide rail 162 is fixedly connected with the first motor shaft connecting piece 161, and the other end extends between the static platform 110 and the movable platform 120, and the arc radius of the arc-shaped guide rail 162 is the same as the radius of the first fixed circular ring 111; the guide rail sliding block 163 is slidably disposed on the arc-shaped guide rail 162 to form a second rotating pair, which is substantially equivalent to a rotating pair rotating around the axis; the slider connector 164 is fixed to the rail slider 163; one end of the first sleeve 133 is connected to the slider connector 164 by a screw; the first electric push rod 134 comprises a fixed end and a pushing end, wherein the fixed end is connected with the other end of the first sleeve 133 through threads to form a moving pair; one end of the first push rod connector 135 is connected with the pushing end of the first electric push rod 134; one end of the first threaded rod 136 is connected to the other end of the first push rod connector 135, and the other end is connected to the third fixing ring 121.
When the movable platform and the static platform are coaxially parallel (namely the external fixation orthopedic mechanism is in an initial state), the guide rail sliding block is in the middle position of the arc-shaped guide rail.
As shown in fig. 5, the second branch 140 includes: a second motor shaft connector 142, a second motor 143, a fork head 144, a second electric push rod 145, a second push rod connector 146, a second threaded rod 147 and a first spherical hinge 148, wherein the second motor 143 is detachably fixed on the second fixed ring 112 through a second motor fixing member 141, and the second motor shaft connector 142 is fixedly connected with an output shaft of the second motor 143; the fork head 144 is rotatably arranged at the outer side of the second motor shaft connecting piece 142, and the fork head 144 can rotate around the intersection point of the fork head 144 and the second motor shaft connecting piece 142 to form a Hooke pair; the second electric push rod 145 has the same structure as the first electric push rod 134, and a fixed end is in threaded connection with the fork head 144 to form a sliding pair; one end of the second push rod connector 146 is connected with the pushing end of the second electric push rod 145; one end of the second threaded rod 147 is connected to the other end of the second push rod connector 146; the first spherical hinge 148 is arranged on the third fixed circular ring 121, and the first spherical hinge 148 is connected with the other end of the second threaded rod 147 to form a spherical hinge.
As shown in fig. 6, the third branch 150 includes: a second spherical hinge 151, a third threaded rod 152, a second sleeve 153, a third electric push rod 154, a third push rod connecting piece 155, a fourth threaded rod 156 and a third spherical hinge 157, wherein the second spherical hinge 151 is arranged on the second fixed ring 112 to form a spherical pair; one end of the third threaded rod 152 is connected with the second spherical hinge 151; one end of the second sleeve 153 is connected to the other end of the third threaded rod 152; the third electric push rod 154 has the same structure as the first electric push rod 134, and a fixed end thereof is connected with the other end of the second sleeve 153 to form a sliding pair; one end of the third push rod connector 155 is connected with the pushing end of the third electric push rod 154; one end of the fourth threaded rod 156 is connected to the other end of the third push rod connector 155, the other end is connected to the third spherical hinge 157, and the third spherical hinge 157 is fixed to the third fixed ring 121 to form a spherical pair.
The rotation angles of the first motor 132 and the second motor 143 are both-15 to-15 degrees, the moving distances of the first electric push rod 134, the second electric push rod 145 and the third electric push rod 154 are all 0 to 30mm, the rotation angles of the motors and the moving distances of the electric push rods are the orthopedic range of the external fixation orthopedic mechanism, and the lengths of the arc-shaped guide rails meet the following requirements:
in the formula, H is the length of arc guide rail, and R is the circular arc radius of arc guide rail, the radius of arc guide rail 162, first fixed ring 111, second fixed ring 112 and third fixed ring 121 can be customized according to patient's size.
As shown in fig. 7, when the external fixation orthopedic mechanism rotates left around the virtual coordinate system X axis, the center of the second fixed ring 112 is a virtual center point, the first branch chain 130 is a driving chain, the second branch chain 140 and the third branch chain 150 are driven chains, the first motor 132 is driven to rotate forward, and further the first branch chain 130 is driven to rotate, the second motor 143 is locked, the second branch chain 140 rotates along the hooke's minor rotation axis 1 (the direction of the extension line of the output shaft of the second motor 143), the third branch chain 150 rotates along with the rotation, the third electric push rod 154 extends, and the second electric push rod 145 shortens; as shown in fig. 8, when the external fixation orthopedic mechanism rotates to the right around the X axis of the virtual coordinate system, the first motor 132 is driven to rotate reversely, the second motor 143 is locked, the third electric push rod 154 is shortened, the second electric push rod 145 is extended, in the process of movement of the three branched chains, orthopedic force is transmitted to the movable platform 120 through the branched chains, and the movable platform 120 can drive the moving member 220 to move around the X axis of the virtual coordinate system.
As shown in fig. 9, when the external fixation orthopedic mechanism rotates left around the Y axis of the virtual coordinate system, the second branch chain 140 is a driving chain, the first branch chain 130 and the third branch chain 150 are driven chains, the second motor 143 is driven to rotate in reverse, the first motor 132 is locked, the second branch chain 140 rotates, the first branch chain 130 and the third branch chain 150 rotate concomitantly, the second electric push rod 145 extends, and the first electric push rod 134 shortens; as shown in fig. 10, when the external fixation orthopedic mechanism rotates to the right around the virtual central point Y axis, the second motor 143 is driven to rotate reversely, the first motor 132 is locked, the second electric push rod 145 is shortened, the first electric push rod 134 is extended, and the movable platform 120 can drive the movable member 220 to move around the virtual coordinate system Y axis.
As shown in fig. 11, when the external fixation orthopedic mechanism moves upward along the Z-axis of the virtual coordinate system, the first electric push rod 134, the second electric push rod 145 and the third electric push rod 154 are driven, the first motor 132 and the second motor 143 are locked, and the first branch chain 130, the second branch chain 140 and the third branch chain 150 extend; conversely, as shown in fig. 12, when the external fixation orthopedic mechanism moves downward along the virtual central point Z axis, the first branch chain 130, the second branch chain 140, and the third branch chain 150 are shortened, and the movable platform 120 can drive the moving member 220 to move along the virtual coordinate system Z axis.
The invention relates to an external fixation orthopedic mechanism with virtual center motion characteristics, which is designed and developed by the invention, through the combination of three motion branched chains, a movable platform and a static platform, the stability of the mechanism is increased, the installation is convenient and flexible, the height of the static platform can be adjusted, so that the mechanism has higher adaptability, compared with the existing external fixation orthopedic mechanism, the virtual center motion can be realized, the number of motion pairs is small, the configuration is simple and convenient, the control is convenient, the problems of rotation dislocation, orthopedic motion coupling and the like of the existing external fixation orthopedic mechanism can be solved, the orthopedic flexibility and the orthopedic range are increased, the independent control of the three motion branched chains is realized, the safe control and quantitative accurate regulation and control of the orthopedic are realized, and the mechanism has wider orthopedic function and better orthopedic effect.
While embodiments of the invention have been described above, it is not intended to be limited to the details shown, particular embodiments, but rather to those skilled in the art, and it is to be understood that the invention is capable of numerous modifications and that various changes may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.
Claims (10)
1. An external fixation orthotic mechanism having a virtual central motion feature, comprising:
the static platform is detachably fixed on the outer side of the fixed component, and the height of the static platform can be adjusted;
the movable platform is coaxially arranged with the static platform at intervals, and the movable platform is detachably fixed on the outer side of the moving component;
the first branched chain is arranged between the static platform and the movable platform in a telescopic way and is used for driving the external fixation orthopedic mechanism to rotate around an x axis of a virtual coordinate system;
the second branched chain is arranged between the static platform and the movable platform in a telescopic mode and used for driving the external fixing orthopedic mechanism to rotate around the y axis of the virtual coordinate system;
the third branched chain is telescopically arranged between the static platform and the movable platform and is used for driving the external fixing orthopedic mechanism to move along the z axis of the virtual coordinate system;
the first branch chain comprises:
the first motor is detachably fixed on the static platform;
one end of the arc-shaped guide rail is connected with the output end of the first motor, and the other end of the arc-shaped guide rail extends between the static platform and the movable platform;
the guide rail sliding block is arranged on the arc-shaped guide rail in a sliding way;
the first electric push rod comprises a fixed end and a pushing end, the fixed end is connected with the guide rail sliding block, and the pushing end is connected with the movable platform;
the interval among the first branched chain, the second branched chain and the third branched chain is 120 degrees, and the arc radius of the arc-shaped guide rail is the same as the radius of the static platform;
the virtual coordinate system satisfies:
the origin is the circle center of the static platform, the x axis is a horizontal line extending from the origin to the first branch chain direction, the z axis is a vertical line perpendicular to the static platform, and the y axis is a horizontal line perpendicular to the x axis and the z axis.
2. The external fixator orthopedic mechanism with virtual central motion feature of claim 1 wherein the static platform comprises:
a first fixed ring; and
the two ends of the first fixing needle are symmetrically arranged on the first fixing ring by the circle center, and the first fixing needle can selectively penetrate through the fixing component;
the second fixed ring is coaxially arranged with the first fixed ring at an interval and is adjustable in interval;
the first motor is detachably fixed on the second fixed ring, the circle center of the second fixed ring is the origin of a virtual coordinate system, and the first branched chain, the second branched chain and the third branched chain are arranged between the second fixed ring and the movable platform.
3. The external fixator orthopedic mechanism with virtual central motion feature of claim 2 wherein the motion platform comprises:
a third fixed ring; and
and two ends of the second fixed needle are symmetrically arranged on the third fixed ring by the circle center, and the second fixed needle can selectively penetrate through the moving component.
4. The external fixation orthotic mechanism with virtual center motion features of claim 3, wherein the first strut further comprises:
the first motor shaft connecting piece is fixedly connected with the output end of the first motor;
one end of the arc-shaped guide rail is fixedly connected with the first motor shaft connecting piece.
5. The external fixator apparatus of claim 3 wherein the second branch comprises:
the second motor is fixed on the second fixed ring;
the second motor shaft connecting piece is fixedly connected with an output shaft of the second motor;
the fork head is rotatably arranged at the outer side of the second motor shaft connecting piece;
and the second electric push rod has the same structure as the first electric push rod, the fixed end of the second electric push rod is connected with the fork head, and the pushing end of the second electric push rod is connected with the third fixed ring.
6. The external fixator orthopedic mechanism with virtual central motion feature of claim 4, wherein the first strut further comprises:
the sliding block connecting piece is fixed on the guide rail sliding block;
one end of the first sleeve is detachably arranged on the sliding block connecting piece, and the other end of the first sleeve is detachably arranged at the fixed end of the first electric push rod;
one end of the first push rod connecting piece is connected with the pushing end of the first electric push rod;
and one end of the first threaded rod is connected with the other end of the first push rod connecting piece, and the other end of the first threaded rod is connected with the third fixed ring.
7. The method of controlling an external fixation orthotic mechanism with virtual central motion features according to claim 5, wherein the second branch further comprises:
one end of the second push rod connecting piece is connected with the pushing end of the second electric push rod;
one end of the second threaded rod is connected with the other end of the second push rod connecting piece;
and the first spherical hinge is arranged on the third fixed ring, and the first spherical hinge is connected with the other end of the second threaded rod.
8. The method of controlling an external fixator apparatus having a virtual central movement feature of claim 7 wherein the third branch comprises:
the second spherical hinge is arranged on the second fixed circular ring;
the third electric push rod has the same structure as the first electric push rod, and a fixed end of the third electric push rod is connected with the second spherical hinge;
and the third spherical hinge is fixed on the third fixed ring and is connected with the pushing end of the third electric push rod.
9. The method of controlling an external fixator orthotic mechanism with virtual central kinematics according to claim 8, wherein the third branch further comprises:
one end of the third threaded rod is connected with the second spherical hinge;
one end of the second sleeve is connected with the other end of the third threaded rod, and the other end of the second sleeve is connected with the fixed end of the third electric push rod;
one end of the third push rod connecting piece is connected with the pushing end of the third electric push rod;
and one end of the fourth threaded rod is connected with the other end of the third push rod connecting piece, and the other end of the fourth threaded rod is connected with the third spherical hinge.
10. The method for controlling an external fixation orthopedic mechanism with virtual center motion characteristics as claimed in claim 9, wherein the rotation angles of the first motor and the second motor are both-15 ° to-15 °, the moving distances of the first electric push rod, the second electric push rod and the third electric push rod are all 0mm to 30mm, and the length of the arc-shaped guide rail satisfies the following conditions:
in the formula, H is the length of the arc-shaped guide rail, and R is the arc radius of the arc-shaped guide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211039094.4A CN115414103A (en) | 2022-08-29 | 2022-08-29 | External fixation orthopedic mechanism with virtual center motion characteristic |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211039094.4A CN115414103A (en) | 2022-08-29 | 2022-08-29 | External fixation orthopedic mechanism with virtual center motion characteristic |
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| CN115414103A true CN115414103A (en) | 2022-12-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211039094.4A Pending CN115414103A (en) | 2022-08-29 | 2022-08-29 | External fixation orthopedic mechanism with virtual center motion characteristic |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115414103A (en) |
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2022
- 2022-08-29 CN CN202211039094.4A patent/CN115414103A/en active Pending
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