CN115444569A - Series-parallel fracture reduction surgical robot - Google Patents
Series-parallel fracture reduction surgical robot Download PDFInfo
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- CN115444569A CN115444569A CN202211142019.0A CN202211142019A CN115444569A CN 115444569 A CN115444569 A CN 115444569A CN 202211142019 A CN202211142019 A CN 202211142019A CN 115444569 A CN115444569 A CN 115444569A
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- 230000033001 locomotion Effects 0.000 claims abstract description 37
- 230000005540 biological transmission Effects 0.000 claims description 32
- 229920001971 elastomer Polymers 0.000 claims description 16
- 239000005060 rubber Substances 0.000 claims description 16
- 239000003638 chemical reducing agent Substances 0.000 claims description 8
- 238000005096 rolling process Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 3
- 208000010392 Bone Fractures Diseases 0.000 description 33
- 206010017076 Fracture Diseases 0.000 description 33
- 230000005855 radiation Effects 0.000 description 3
- 206010061599 Lower limb fracture Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 208000008924 Femoral Fractures Diseases 0.000 description 1
- 208000004367 Tibial Fractures Diseases 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 238000000338 in vitro Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
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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
- 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
- A61B17/90—Guides therefor
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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
- 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
- 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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- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Orthopedic Medicine & Surgery (AREA)
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- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
The invention discloses a series-parallel fracture reduction surgical robot, which comprises a movable fixing component, a three-dimensional coarse adjustment moving component, a fine adjustment lifting moving component, a fixed end clamping component and a movable end clamping component, wherein the movable fixing component is fixedly arranged on the movable end of the movable end clamping component; the fine adjustment lifting moving component adjusts the height and the position in the horizontal direction through the three-dimensional coarse adjustment moving component; the fixed end clamping assembly and the movable end clamping assembly are adjusted in height through the corresponding fine adjustment lifting and moving assembly, and the movable end clamping structure and the fixed end clamping structure are identical in structure. The robot has high positioning precision, good motion performance and large working space, and improves the operation precision and the treatment effect.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a series-parallel fracture reduction surgical robot.
Background
Long dry bone fractures are one of the most common types of fractures, accounting for about 40% of conventional limb fractures. At present, the closed reduction mode is mostly adopted for treating the long-dry bone fracture, but the method has the problems of poor alignment, high incidence rate of rotational distortion, high fatigue degree of medical staff and high accumulative radiation intensity. The fracture reduction surgical robot can improve the reduction accuracy and efficiency, reduce the working strength of medical personnel and reduce radiation, thereby being widely applied to orthopedic surgery.
Currently, orthopaedic robots can be broadly divided into two categories: a serial robot and a parallel robot. The serial orthopaedic robot has large operation space, good controllability and high flexibility, for example, a serial fracture Reduction robot system disclosed in the article "Functional assessment of surgical robot for Reduction of lower limb fractures", a 'Reoprobo' femoral fracture Reduction robot system disclosed in the article "Reduction of surgical fractures in vitro by a new reduced Reduction robot system", a portable tibial fracture Reduction robot disclosed in the Chinese patent publication No. CN 569211446A, and the like, but the serial orthopaedic robot has low precision and low motion performance. The Parallel Robot has high precision, stable structure and large rigidity, for example, a six-freedom-degree Parallel fracture Reduction Robot based on a traction bed disclosed in a paper Parallel Robot, a 6-freedom-degree Parallel Robot system disclosed in a paper sum-induced and roller-induced Long Bone Fractures Reduction, a Parallel Robot system for lower limb fracture Reduction surgery disclosed in a Chinese patent with publication number CN112998864A, and the like, but the working spaces of the Robot systems are smaller. Therefore, it is necessary to provide a fracture reduction surgical robot which can combine the advantages of the serial and parallel robots and overcome the disadvantages thereof as much as possible.
Therefore, based on the above technical problems, there is a need for a new fracture reduction surgical robot.
Disclosure of Invention
The invention aims to provide a series-parallel fracture reduction surgical robot which solves the problems of low manual reduction precision, high radiation intensity and high fatigue degree, solves the problems of low positioning precision and poor movement performance of the existing series-parallel client reduction surgical robot which is easy to collide with medical staff and other medical equipment, and simultaneously can solve the problem of too small working space of a parallel fracture robot.
In order to achieve the above purpose, the invention provides the following technical scheme:
the invention relates to a series-parallel fracture reduction surgical robot, which comprises:
a mobile fixed component positioned at the bottom;
the three-dimensional coarse adjustment moving component is positioned at the upper part of the moving fixed component and connected with the moving fixed component;
fine adjustment lifting moving components which are arranged at intervals on the three-dimensional coarse adjustment moving components and connected with the three-dimensional coarse adjustment moving components; and
the fixed end clamping component and the movable end clamping component are respectively assembled on the corresponding fine adjustment lifting movable component;
the fine adjustment lifting moving assembly adjusts the height and the position in the horizontal direction through the three-dimensional coarse adjustment moving assembly;
the fixed end clamping assembly and the movable end clamping assembly are adjusted in height through the corresponding fine adjustment lifting and moving assemblies;
the stiff end centre gripping subassembly with it all is provided with the clamping structure that can the centre gripping ke shi needle to remove end centre gripping subassembly, clamping structure is configured to the arc and extends the structure, just clamping structure is formed with a plurality of slots along its extending direction, the ke shi needle can be fixed in arbitrary the ditch inslot with the regulation for clamping structure's position.
Further, the mobile fixing component comprises:
a moving housing which is internally hollow-formed as a chamber;
a movable caster wheel integrated at the bottom of the movable shell;
a handle fixed on the rear side of the movable shell through a fastener assembly;
the movable sliding block guide rail is fixedly connected with the inner wall of the side plate of the movable shell; and
a coarse adjustment lifting rod fixing structure arranged in the movable shell;
the position where the movable shell is matched with the movable sliding block guide rail is inwards sunken to form a fixed square groove, and the movable sliding block guide rail is partially embedded into the fixed square groove and is assembled and fixed with a side plate of the movable shell through a fastener;
the bottom mounting plate of the coarse adjustment lifting rod fixing structure is fixedly assembled with the bottom plate of the movable shell through a fastener, and the upper part of the coarse adjustment lifting rod fixing structure is a coarse adjustment lifting rod fixing end connected with the lifting rod of the three-dimensional coarse adjustment moving component;
the three-dimensional coarse adjustment moving assembly is provided with a guide rail slide block which is in sliding connection with the corresponding moving slide block guide rail.
Further, the three-dimensional coarse movement module comprises:
a coarse adjustment lifting device and a horizontal linear moving module;
the rough adjusting lifting device is provided with a lifting platform, the lower part of the lifting platform is provided with a lifting platform boss extending towards the inside of the movable shell, and the lifting platform boss is fixedly provided with the guide rail sliding block through a fastener;
the middle part of the bottom of the lifting platform is provided with the lifting rod;
the horizontal linear moving module comprises:
the transverse linear moving module and the longitudinal linear moving module;
the transverse linear moving module is fixedly assembled with the lifting platform and is provided with a transverse moving module sliding block capable of moving along the transverse direction;
the longitudinal linear moving module and the transverse moving module sliding block are assembled and fixed, the longitudinal linear moving module is provided with a longitudinal moving module sliding block capable of moving longitudinally, and the fine adjustment lifting assembly and the longitudinal moving module sliding block are assembled and fixed.
Further, the lifting platform is provided with two stepped grooves which are arranged at intervals;
the transverse linear module is embedded into the stepped groove and is assembled and fixed with the lifting platform through a fastener.
Further, the fine adjustment lifting and moving assembly comprises:
the telescopic shell is fixedly assembled with the longitudinal moving module sliding block;
the telescopic linear guide rails are fixed on the inner wall of the telescopic shell and are arranged oppositely; and
the lifting electric push rod is integrated in the telescopic shell;
the lifting electric push rod is characterized in that a lifting plate is installed at the output end of the lifting electric push rod, a lifting plate rectangular boss matched with the telescopic linear guide rail is arranged at the bottom of the lifting plate and corresponds to one side of the lifting plate, and the lifting plate rectangular boss is connected with the telescopic linear guide rail in a sliding mode through a lifting plate guide rail sliding block.
Further, the fixed end clamping assembly is integrated with one of the lifting plates;
the fixed end clamping assembly comprises:
the fixed end connecting rod is fixedly assembled with the lifting plate; and
the fixed end clamping structure is arranged at the end part of one end of the fixed end connecting rod, which is far away from the lifting plate;
the movable end clamping assembly is integrated with the other lifting plate;
the moving end clamping assembly comprises:
the movable end connecting rod is fixedly assembled with the lifting plate;
the driving shell is positioned at the end part of the moving end connecting rod, which is far away from one end of the lifting plate, and is divided into a driving mechanism shell, a transmission mechanism shell and a movement mechanism shell which are connected with the moving end connecting rod;
a driving mechanism integrated cavity is formed in the driving mechanism shell, and a servo motor and a planetary reducer arranged at the output end of the servo motor are integrated in the driving mechanism integrated cavity;
a transmission mechanism integrated cavity is formed in the transmission mechanism shell, a moving end worm is integrated in the transmission mechanism integrated cavity, the moving end worm is connected with the planetary reducer through a coupler, and the other end of the moving end worm is connected with the transmission mechanism shell through a worm rolling bearing;
a worm wheel guide groove is formed in the motion mechanism shell, a moving end worm wheel is integrated in the worm wheel guide groove, and the moving end worm is meshed with the moving end worm wheel to drive the moving end worm wheel to slide along the worm wheel guide groove;
a cylinder body connecting rod is mounted on one side of the transmission mechanism shell, a middle telescopic rod is mounted in the middle of the cylinder body connecting rod, and side telescopic rods are mounted at two ends of the cylinder body connecting rod;
the transmission mechanism shell is provided with an arc-shaped through groove, and the output ends of the middle telescopic rod and the side telescopic rods penetrate through the arc-shaped through groove and extend to the other end of the transmission mechanism shell;
the middle telescopic rod and the side telescopic rod extend to the end part of the other end of the transmission mechanism shell, and a moving end clamping structure is integrated on the end part of the other end of the transmission mechanism shell.
Further, the clamping structure is divided into the fixed end clamping structure and the movable end clamping structure;
the clamping structure includes:
an upper end surface configured as an arcuate structure;
a right end face and a right semicircular ring integrated on one side of the upper end face; and
the left end face is integrated on the other side of the upper end face;
two clamping rubbers are arranged between the right end face and the right semicircular ring, the opposite sides of the two clamping rubbers are provided with the grooves, and the grooves are semicircular grooves;
the clamping rubber is arranged between the corresponding side of the left end face and the corresponding side of the upper end face, the grooves are formed in the opposite sides of the two clamping rubbers, and the grooves are semicircular.
Furthermore, a rotation motor is assembled on the middle telescopic rod through a rotation motor connecting rod;
the end, matched with the middle telescopic rod, of the autorotation motor connecting rod is provided with an autorotation motor and cylinder body connecting device, and the autorotation motor and cylinder body connecting device is connected with the middle telescopic rod through a middle cylinder body pin shaft;
the rotation motor connecting rod and the cylinder body connecting rod are connected with the movement mechanism shell through a connecting sliding rod and are connected with a moving end worm wheel.
Furthermore, the middle telescopic rod and the side telescopic rods are connected with the moving end clamping structure through a cylinder universal joint, a universal joint cross shaft and an upper end face universal joint in sequence;
the side telescopic rod is hinged with the cylinder body connecting rod through a hinge pin shaft.
In the technical scheme, the series-parallel fracture reduction surgical robot provided by the invention has the following beneficial effects:
in the moving fixing component, the three-dimensional coarse-adjusting moving component, the fine-adjusting lifting moving component, the fixed end clamping component and the moving end clamping component of the robot, the moving end clamping component is controlled by a parallel structure, and the moving end clamping structure and the fixed end clamping structure have the same structure. The robot has high positioning precision, good motion performance and large working space, and improves the operation precision and the treatment effect.
The coarse adjustment lifting assembly can adjust the overall height, is suitable for operating tables of various types, has strong applicability, can be wholly contained in the movable shell in non-working time, and saves the occupied viewing space.
The moving end clamping assembly utilizes the worm gear device to adjust the axial position of the moving end clamping structure, increases the transmission ratio, enables the movement to be more stable, has self-locking performance and improves the controllability.
The moving end clamping assembly of the invention realizes the movement of the moving end clamping structure in two directions except the axial direction by utilizing a parallel structure, replaces rotation with linear motion, replaces a rotating motor with a linear motor, and improves the positioning precision and sensitivity, thereby improving the operation quality.
The axial distance of the clamping structure can be adjusted by rotating the nut, and the clamping rubber of the clamping part is provided with a plurality of semicircular grooves, so that the clamping structure can be used for holding kirschner wires with different disease conditions, and has strong applicability.
Drawings
In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a schematic overall structure diagram of a series-parallel fracture reduction surgical robot according to an embodiment of the present invention.
Fig. 2 is a sectional exploded view of a series-parallel fracture reduction surgical robot according to an embodiment of the present invention.
Fig. 3 is an exploded view of a mobile fixing component of a series-parallel fracture reduction surgical robot according to an embodiment of the present invention.
Fig. 4 is an exploded view of a three-dimensional coarse adjustment movement assembly of a series-parallel fracture reduction surgical robot according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a base in a three-dimensional coarse adjustment movement assembly of a series-parallel fracture reduction surgical robot according to an embodiment of the present invention.
Fig. 6 is an exploded view of a fine adjustment lifting moving assembly of a series-parallel fracture reduction surgical robot according to an embodiment of the present invention.
FIG. 7 is an assembly view of a fine-adjustment lifting/lowering assembly of a series-parallel fracture reduction surgical robot without a telescopic shell according to an embodiment of the present invention
Fig. 8 is an exploded view of a fixed end clamping assembly of a series-parallel fracture reduction surgical robot according to an embodiment of the present invention.
Fig. 9 is an assembly view of the clamping portion of the movable end and the fixed end clamping assembly of the series-parallel fracture reduction surgical robot according to the embodiment of the present invention.
Fig. 10 is an exploded view of a moving end clamping assembly of a series-parallel fracture reduction surgical robot according to an embodiment of the present invention.
Fig. 11 is a partial view of a connection relationship between a moving end clamping portion and a telescopic rod of a series-parallel fracture reduction surgical robot according to an embodiment of the present invention.
Fig. 12 is a partial view of a connection relationship between a cylinder connecting rod and two side telescopic rods of a series-parallel fracture reduction surgical robot according to an embodiment of the present invention.
Fig. 13 is a partial view of a connection relationship between a rotation motor and a middle telescopic rod of a series-parallel fracture reduction surgical robot according to an embodiment of the present invention.
Fig. 14 is a cross-sectional view of a moving end link of a series-parallel fracture reduction surgical robot according to an embodiment of the present invention.
Description of the reference numerals:
1. a mobile fixed component;
11. moving the housing; 111. fixing the square groove; 112. a guide rail mounting hole; 113. a handle mounting hole; 12. moving the caster; 13. a handle; 14. moving the slider guide; 15. the fixed end is lifted roughly;
2. a three-dimensional coarse movement component;
21. a coarse adjustment lifting device; 211. a guide rail slider; 212. a lifting rod; 213. a lifting platform; 2131. a lifting platform boss; 2132. a step-shaped groove; 2133. a transverse linear moving module mounting hole; 2134. a slider mounting hole; 22. a transverse linear moving module; 23. a longitudinal linear moving module; 231. a longitudinal linear module slider;
3. fine-adjusting the lifting moving assembly;
31. a telescopic housing; 32. a telescopic linear guide rail; 321. a groove of the telescopic linear guide rail; 33. a lifter guide rail slider; 34. lifting the electric push rod; 35. a lifting plate; 351. a lifting plate rectangular boss; 352. a lifter plate slider mounting hole;
4. a fixed end clamping assembly; 41. a fixed end connecting rod; 411. an upper end face mounting hole; 42. an upper end surface; 421. a clamping structure mounting hole; 43. a right end face; 44. a right semicircular ring; 45. clamping rubber; 451. a semicircular groove; 46. a left end face;
5. a moving end clamping assembly;
51. a moving end connecting rod; 5101. a drive mechanism housing; 5102. a motion mechanism housing; 5103. an arc-shaped through groove; 5104. a transmission mechanism housing;
52. a servo motor; 53. a planetary reducer; 54. a coupling; 551. a moving end worm; 552. a moving end worm gear; 5521. a worm wheel connecting hole; 56. a worm rolling bearing; 57. a cylinder body connecting rod; 58. a rotation motor; 59. a rotation motor connecting rod; 510. the rotation motor is connected with the cylinder body; 511. a middle telescopic rod; 512. a side telescopic rod; 513. hinging a pin shaft; 514. a cylinder universal joint; 515. a cylinder body pin shaft; 516. a universal joint cross; 517. a universal joint on the upper end surface; 518. connecting a sliding rod; 519. a middle cylinder body pin shaft;
6. a fixed end clamping structure; 7. and a movable end clamping structure.
Detailed Description
In order to make the technical solutions of the present invention better understood, those skilled in the art will now describe the present invention in further detail with reference to the accompanying drawings.
See fig. 1-3;
the series-parallel fracture reduction surgical robot of the embodiment includes:
a mobile fixed component 1 positioned at the bottom;
a three-dimensional coarse adjustment moving component 2 which is positioned at the upper part of the moving fixed component 1 and is connected with the moving fixed component 1;
fine adjustment lifting moving components 3 which are arranged at intervals on the three-dimensional coarse adjustment moving component 2 and are connected with the three-dimensional coarse adjustment moving component 2; and
a fixed end clamping component 4 and a movable end clamping component 5 which are respectively assembled on the corresponding fine adjustment lifting movable component 3;
the fine adjustment lifting moving component 3 adjusts the height and the position in the horizontal direction through the three-dimensional coarse adjustment moving component 2;
the fixed end clamping component 4 and the movable end clamping component 5 are adjusted in height through the corresponding fine adjustment lifting moving component 3;
the fixed end clamping assembly 4 and the movable end clamping assembly 5 are both provided with clamping structures capable of clamping the kirschner wires, the clamping structures are configured to be arc-shaped extension structures, a plurality of grooves are formed in the clamping structures along the extension directions of the clamping structures, and the kirschner wires can be fixed in any grooves to adjust the positions of the kirschner wires relative to the clamping structures.
Specifically, the embodiment discloses a series-parallel fracture reduction surgical robot, which mainly comprises a mobile fixing component 1, a three-dimensional coarse adjustment mobile component 2, a fine adjustment lifting mobile component 3, a fixed end clamping component 4 and a mobile end clamping component 5; the movable fixing component 1 is connected with the three-dimensional coarse adjustment moving component 2, the fine adjustment lifting moving component 3 is connected with the three-dimensional coarse adjustment moving component 2, the fixed end clamping component 4 and the movable end clamping component 5 are both connected with the fine adjustment lifting moving component 3, and the structures and the compositions of the clamping parts of the fixed end clamping component 4 and the movable end clamping component 5 are the same.
Preferably, the mobile fixing assembly 1 of the present embodiment includes:
a movable housing 11, the movable housing 11 being hollow to form a chamber therein;
a caster 12 integrated with the bottom of the movable housing 11;
a handle 13 fixed to the rear side of the movable housing 11 by a fastener assembly;
a moving slider guide 14 fixedly attached to an inner wall of a side plate of the moving housing 11; and
a coarse adjustment lifting rod fixing structure arranged inside the movable shell 1;
the position where the movable housing 11 is matched with the movable slider guide rail 14 is formed into a fixed square groove 111 in an inward recessed manner, and the movable slider guide rail 14 is partially embedded into the fixed square groove 111 and is assembled and fixed with a side plate of the movable housing 11 through a fastener;
the bottom mounting plate of the coarse adjustment lifting rod fixing structure is fixedly assembled with the bottom plate of the movable shell 11 through a fastener, and the upper part of the coarse adjustment lifting rod fixing structure is a coarse adjustment lifting rod fixing end 15 connected with the lifting rod of the three-dimensional coarse adjustment moving component 2;
the three-dimensional coarse movement assembly 2 has a rail slider 211 slidably connected to a corresponding movement slider rail 14.
First, the present embodiment defines the structural components of the mobile fixing assembly 1 in detail, and the medical staff can move the device to a designated position by pulling the handle 13. In order to adjust the height of the three-dimensional coarse adjustment movement assembly 2, four movement slider rails 14 are installed inside the movement housing 11 and slidably connected to the rail slider 211 of the three-dimensional coarse adjustment movement assembly 2, so as to facilitate the adjustment of the height at the later stage.
Preferably, the three-dimensional coarse movement module 2 of the present embodiment includes:
a coarse adjustment lifting device 21 and a horizontal linear moving module;
the rough adjusting lifting device 21 is provided with a lifting platform 213, the lower part of the lifting platform 213 is provided with a lifting platform boss 2131 extending towards the interior of the movable shell, and a guide rail slide block 211 is assembled and fixed on the lifting platform boss 2131 through a fastener;
a lifting rod 212 is arranged in the middle of the bottom of the lifting platform 213;
the horizontal linear moving module is divided into:
a transverse linear moving module 22 and a longitudinal linear moving module 23;
the transverse linear moving module 22 is fixedly assembled with the lifting platform 213, and the transverse linear moving module 22 is provided with a transverse moving module sliding block capable of moving along the transverse direction;
the longitudinal linear moving module 23 is fixedly assembled with the transverse moving module slide block, and the longitudinal linear moving module 23 has a longitudinal moving module slide block 231 capable of moving along the longitudinal direction, and the fine adjustment lifting moving assembly 3 is fixedly assembled with the longitudinal moving module slide block 213.
The lifting platform 213 has two stepped recesses 2132 arranged at intervals;
the transverse linear moving module 22 is embedded into the stepped recess 2132 and is assembled and fixed with the lifting platform 2131 through a fastener.
Preferably, the fine adjustment lifting and moving assembly 3 of the present embodiment includes:
a telescopic housing 31 fixedly assembled with the longitudinally moving module slider 231;
telescopic linear guides 32 fixed to an inner wall of the telescopic housing 31 and arranged opposite to each other; and
a lifting electric push rod 34 integrated in the telescopic shell 31;
the lifting plate 35 is installed at the output end of the lifting electric push rod 34, a lifting plate rectangular boss 351 matched with the telescopic linear guide rail 32 on the corresponding side is arranged at the bottom of the lifting plate 35, and the lifting plate rectangular boss 351 is connected with the telescopic linear guide rail 32 in a sliding mode through a lifting plate guide rail sliding block 33.
Secondly, the fixed end clamping assembly 4 of the present embodiment is integrated into one of the lifting plates 35;
the fixed end clamping assembly 4 includes:
a fixed end connecting rod 41 assembled and fixed with the lifting plate 35; and
a fixed end clamping structure 6 arranged at the end part of one end of the fixed end connecting rod 41 far away from the lifting plate 35;
the moving end clamping assembly 5 is integrated with another lifting plate 35;
the moving-end holding member 5 includes:
a moving end link 51 fixedly assembled with the elevating plate 35;
the driving shell is positioned at the end part of the moving end connecting rod 51 far away from one end of the lifting plate 35 and is divided into a driving mechanism shell 5101, a transmission mechanism shell 5104 and a movement mechanism shell 5102 which are connected with the moving end connecting rod 51;
a driving mechanism integrated cavity is formed in the driving mechanism housing 5101, and a servo motor 52 and a planetary reducer 53 mounted at the output end of the servo motor 52 are integrated in the driving mechanism integrated cavity;
a transmission mechanism integrated cavity is formed in the transmission mechanism housing 5104, a movable end worm 551 is integrated in the transmission mechanism integrated cavity, the movable end worm 551 is connected with the planetary speed reducer 53 through a coupler 54, and the other end of the movable end worm 551 is connected with the transmission mechanism housing 5104 through a worm rolling bearing 56;
a worm wheel guide groove is formed in the moving mechanism housing 5102, a moving end worm wheel 552 is integrated in the worm wheel guide groove, and the moving end worm 551 is engaged with the moving end worm wheel 552 to drive the moving end worm wheel 552 to slide along the worm wheel guide groove;
a cylinder connecting rod 57 is mounted on one side of the transmission mechanism housing 5104, a middle telescopic rod 511 is mounted in the middle of the cylinder connecting rod 57, and side telescopic rods 512 are mounted at two ends of the cylinder connecting rod 57;
the transmission mechanism housing 5104 is provided with an arc-shaped through groove 5103, and the output ends of the middle telescopic rod 511 and the side telescopic rod 512 penetrate through the arc-shaped through groove 5103 and extend to the other end of the transmission mechanism housing 5104;
the end of the middle extension rod 511 and the side extension rod 512 extending to the other end of the transmission housing 5104 is integrated with a moving end clamping structure 7.
Preferably, the clamping structure of the present embodiment is divided into a fixed end clamping structure 6 and a moving end clamping structure 7;
the clamping structure includes:
an upper end face 42, the upper end face 42 configured in an arcuate configuration;
a right end surface 43 and a right semicircular ring 44 integrated on one side of the upper end surface 42; and
a left end face 46 integrated at the other side of the upper end face 42;
two clamping rubbers 45 are arranged between the right end surface 43 and the right semicircular ring 44, and one sides of the two clamping rubbers 45, which are opposite to each other, are provided with grooves which are semicircular grooves 451;
the two clamping rubbers 45 are arranged between the corresponding sides of the left end face 46 and the upper end face 42, and grooves are arranged on the opposite sides of the two clamping rubbers 45, and each groove is a semicircular groove 451.
The middle telescopic rod 511 is provided with a rotation motor 58 through a rotation motor connecting rod 59;
the end of the rotation motor connecting rod 59, which is matched with the middle telescopic rod 511, is provided with a rotation motor and cylinder body connecting device 510, and the rotation motor and cylinder body connecting device 510 is connected with the middle telescopic rod 511 through a middle cylinder body pin shaft 519;
the rotation motor connecting rod 59 and the cylinder connecting rod 57 are connected to the movement mechanism housing 5102 through the connecting slide rod 518 and connected to the moving-end worm gear 522.
The middle telescopic rod 511 and the side telescopic rod 512 are connected with the moving end clamping structure 7 through a cylinder universal joint 514, a universal joint cross 516 and an upper end face universal joint 517 in sequence;
the side expansion rod 512 is hinged to the cylinder connecting rod 57 via a hinge pin 513.
When the robot is used, firstly, medical staff pushes the robot to the side of an operating bed, controls the three-dimensional coarse adjustment lifting device to lift the robot to the height suitable for the operating bed, controls the transverse linear movement module 22 and the longitudinal linear movement module 23, and respectively adjusts the fixed end clamping structure 6 and the movable end clamping structure 7 to the proper positions. Subsequently, the elevating electric push rod 34 is controlled so that the robot fixed end holding structure 6 and the moving end holding structure 7 are further adjusted to a suitable height. Then, medical personnel loosen the nut of the fixed end clamping structure 6 first, put the kirschner wire between the two clamping rubbers 45, and adjust the position of the kirschner wire, then tighten the nut, and do the same operation to the movable end clamping structure 7.
Finally, the lifting electric push rod 34, the transverse linear moving module 22 and the longitudinal linear moving module 23 are controlled to control the linear motion of the fixed end clamping structure 6 in three directions, so that the kirschner wire is inserted into the proper position of the proximal end of the fracture, and the servo motor 52 and the planetary reducer 53 are controlled to control the transmission of the moving end worm 551 and the moving end worm wheel 552, so that the axial movement of the moving end clamping structure 7 is controlled; the rotation motor 58, the middle telescopic rod 511 and the side telescopic rod 512 are controlled to move to control the other two directions of the moving end clamping structure 7 to rotate; meanwhile, the lifting electric push rod 34, the transverse linear moving module 22 and the longitudinal linear moving module 23 are controlled to control the linear motion of the moving end clamping structure 7 in three directions, so that the kirschner wire is controlled to be inserted into the proper position of the far end of the fracture and the operation is performed.
In the technical scheme, the series-parallel fracture reduction surgical robot provided by the invention has the following beneficial effects:
in a moving fixed component 1, a three-dimensional coarse-adjusting moving component 2, a fine-adjusting lifting moving component 3, a fixed end clamping component 4 and a moving end clamping component 5 of the robot, the moving end clamping component 5 is controlled by a parallel structure, and a moving end clamping structure 7 and a fixed end clamping structure 6 have the same structure. The robot has the advantages of high positioning precision, good movement performance and large working space, and improves the operation precision and the treatment effect.
The three-dimensional coarse adjustment lifting component 2 can adjust the overall height, is suitable for operating tables of various types, has strong applicability, can be wholly contained in the movable shell in non-working time, and saves the occupied viewing space.
The moving end clamping assembly 5 utilizes the worm gear device to adjust the axial position of the moving end clamping structure 7, increases the transmission ratio, enables the movement to be more stable, has self-locking performance and improves the controllability.
The moving end clamping component 5 of the invention realizes the movement of the moving end clamping structure 7 in two directions except the axial direction by utilizing a parallel structure, replaces rotation with linear motion, replaces a rotating motor with a linear motor, and improves the positioning precision and sensitivity, thereby improving the operation quality.
The axial distance of the clamping structure can be adjusted by rotating the nut, and the clamping rubber 45 of the clamping part is provided with a plurality of semicircular grooves 451 which can be used for holding the kirschner wires with different disease conditions, so that the applicability is strong.
While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that the described embodiments may be modified in various different ways without departing from the spirit and scope of the present invention. Accordingly, the drawings and description are illustrative in nature and are not to be construed as limiting the scope of the invention.
Claims (9)
1. A series-parallel fracture reduction surgical robot is characterized by comprising:
a mobile fixed component (1) positioned at the bottom;
the three-dimensional coarse adjustment moving component (2) is positioned at the upper part of the moving fixed component (1) and is connected with the moving fixed component (1);
fine adjustment lifting and moving components (3) which are arranged at intervals on the three-dimensional coarse adjustment moving component (2) and connected with the three-dimensional coarse adjustment moving component (2); and
a fixed end clamping component (4) and a movable end clamping component (5) which are respectively assembled on the corresponding fine adjustment lifting moving component (3);
the fine adjustment lifting moving assembly (3) adjusts the height and the position in the horizontal direction through the three-dimensional coarse adjustment moving assembly (2);
the fixed end clamping assembly (4) and the movable end clamping assembly (5) are adjusted in height through the corresponding fine adjustment lifting moving assembly (3);
stiff end centre gripping subassembly (4) with it all is provided with the clamping structure that can the centre gripping ke shi needle to remove end centre gripping subassembly (5), clamping structure is configured to the arc and extends the structure, just clamping structure is formed with a plurality of slots along its extending direction, the ke shi needle can be fixed in arbitrary the ditch inslot with the regulation for clamping structure's position.
2. The series-parallel fracture reduction surgical robot according to claim 1, characterized in that said mobile fixing assembly (1) comprises:
a movable housing (11), the movable housing (11) being formed hollow inside as a chamber;
a mobile caster (12) integrated at the bottom of the mobile casing (11);
a handle (13) fixed to the rear side of the movable housing (11) by a fastener assembly;
a movable sliding block guide rail (14) fixedly connected with the inner wall of the side plate of the movable shell (11); and
a coarse adjustment lifting rod fixing structure arranged inside the movable shell (11);
the position where the movable shell (11) is matched with the movable sliding block guide rail (14) is formed into a fixed square groove (111) in an inward concave mode, and the movable sliding block guide rail (14) is partially embedded into the fixed square groove (111) and is fixedly assembled with a side plate of the movable shell (11) through a fastener;
the bottom mounting plate of the coarse adjustment lifting rod fixing structure is fixedly assembled with the bottom plate of the movable shell (11) through a fastening piece, and the upper part of the coarse adjustment lifting rod fixing structure is a coarse adjustment lifting rod fixing end (15) connected with a lifting rod (212) of the three-dimensional coarse adjustment moving component (2);
the three-dimensional coarse adjustment moving assembly (2) is provided with a guide rail sliding block (211) which is in sliding connection with the corresponding moving sliding block guide rail (14).
3. The series-parallel fracture reduction surgical robot according to claim 2, wherein the three-dimensional coarse movement assembly (2) comprises:
a coarse adjustment lifting device (21) and a horizontal linear moving module;
the rough lifting device (21) is provided with a lifting platform (213), the lower part of the lifting platform (213) is provided with a lifting platform boss (2131) extending towards the interior of the movable shell (11), and the lifting platform boss (2131) is fixedly assembled with the guide rail sliding block (211) through a fastener;
the middle part of the bottom of the lifting platform (213) is provided with the lifting rod (212);
the horizontal linear moving module comprises:
a transverse linear moving module (22) and a longitudinal linear moving module (23);
the transverse linear moving module (22) is fixedly assembled with the lifting table (213), and the transverse linear moving module (22) is provided with a transverse moving module sliding block capable of moving along the transverse direction;
the longitudinal linear moving module (23) and the transverse moving module sliding block are fixedly assembled, the longitudinal linear moving module (23) is provided with a longitudinal moving module sliding block (231) capable of moving along the longitudinal direction, and the fine adjustment lifting moving assembly (3) and the longitudinal moving module sliding block (231) are fixedly assembled.
4. The series-parallel fracture reduction surgical robot according to claim 3, wherein the lifting platform (213) has two stepped grooves (2132) arranged at intervals;
the transverse linear module is embedded into the stepped groove (2132) and is assembled and fixed with the lifting platform (213) through a fastener.
5. The series-parallel fracture reduction surgical robot according to claim 3, wherein the fine-adjustment lifting and moving assembly (3) comprises:
a telescopic shell (31) fixedly assembled with the longitudinal moving module sliding block (231);
telescopic linear guide rails (32) fixed on the inner wall of the telescopic shell (31) and arranged oppositely to each other; and
a lifting electric push rod (34) integrated in the telescopic shell (31);
lifting plate (35) is installed to lift electric putter's (34) output, the bottom of lifting plate (35) have with correspond one side flexible linear guide (32) complex lifting plate rectangle boss (351), lifting plate rectangle boss (351) through lifting plate guide slider (33) with flexible linear guide (32) sliding connection.
6. The series-parallel fracture reduction surgical robot according to claim 5, wherein the fixed end clamping assembly (4) is integrated in one of the lifting plates (35);
the fixed end clamping assembly (4) comprises:
a fixed end connecting rod (41) which is fixedly assembled with the lifting plate (35); and
the fixed end clamping structure (6) is arranged at the end part of one end of the fixed end connecting rod (41) far away from the lifting plate (35);
the moving end clamping component (5) is integrated with the other lifting plate (35);
the moving end clamping assembly (5) comprises:
a movable end connecting rod (51) assembled and fixed with the lifting plate (35);
the driving shell is positioned at the end part of one end, away from the lifting plate (35), of the moving end connecting rod (51), and is divided into a driving mechanism shell (5101), a transmission mechanism shell (5104) and a movement mechanism shell (5102) which are connected with the moving end connecting rod (51);
a driving mechanism integrated cavity is formed in the driving mechanism shell (5101), and a servo motor (52) and a planetary reducer (53) mounted at the output end of the servo motor (52) are integrated in the driving mechanism integrated cavity;
a transmission mechanism integrated cavity is formed in the transmission mechanism shell (5104), a movable end worm (551) is integrated in the transmission mechanism integrated cavity, the movable end worm (551) is connected with the planetary speed reducer (53) through a coupler (54), and the other end of the movable end worm (551) is connected with the transmission mechanism shell (5104) through a worm rolling bearing (56);
a worm wheel guide groove is formed in the movement mechanism housing (5102), a moving end worm wheel (552) is integrated in the worm wheel guide groove, and the moving end worm (551) is meshed with the moving end worm wheel (552) to drive the moving end worm wheel (552) to slide along the worm wheel guide groove;
a cylinder body connecting rod (57) is installed on one side of the transmission mechanism shell (5104), a middle telescopic rod (511) is installed in the middle of the cylinder body connecting rod (57), and side telescopic rods (512) are installed at two ends of the cylinder body connecting rod (57);
the transmission mechanism shell (5104) is provided with an arc-shaped through groove (5103), and the output ends of the middle telescopic rod (511) and the side telescopic rod (512) penetrate through the arc-shaped through groove (5103) and extend to the other end of the transmission mechanism shell (5104);
the end parts of the middle telescopic rod (511) and the side telescopic rod (512) extending to the other end of the transmission mechanism shell (5104) are integrated with a movable end clamping structure (7).
7. The series-parallel fracture reduction surgical robot according to claim 6, wherein the clamping structure is divided into the fixed end clamping structure (6) and the moving end clamping structure (7);
the clamping structure includes:
an upper end face (42), the upper end face (42) configured as an arcuate structure;
a right end face (43) and a right semicircular ring (44) integrated on one side of the upper end face (42); and
a left end face (46) integrated with the other side of the upper end face (42);
two clamping rubbers (45) are arranged between the right end surface (43) and the right semicircular ring (44), the opposite sides of the two clamping rubbers (45) are respectively provided with the groove, and the groove is a semicircular groove (451);
two clamping rubbers (45) are arranged between the corresponding sides of the left end face (46) and the upper end face (42), the opposite sides of the two clamping rubbers (45) are provided with the grooves, and the grooves are semicircular grooves (451).
8. The series-parallel fracture reduction surgical robot according to claim 7, wherein the middle telescopic rod (511) is equipped with a rotation motor (58) through a rotation motor connecting rod (59);
one end of the rotation motor connecting rod (59) matched with the middle telescopic rod (511) is provided with a rotation motor and cylinder body connecting device (510), and the rotation motor and cylinder body connecting device (510) is connected with the middle telescopic rod (511) through a middle cylinder body pin shaft (519);
the rotation motor connecting rod (510) and the cylinder body connecting rod (57) are connected with the movement mechanism shell (5102) through a connecting sliding rod (518) and connected with a moving end worm wheel (552).
9. The series-parallel fracture reduction surgical robot according to claim 7, wherein the middle telescopic rod (511) and the side telescopic rods (512) are connected with the moving end clamping structure (7) through a cylinder universal joint (514), a universal joint cross (514) and an upper end universal joint (517) in sequence;
the side surface telescopic rod (512) is hinged with the cylinder body connecting rod (57) through a hinge pin (513).
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| CN202211142019.0A CN115444569A (en) | 2022-09-20 | 2022-09-20 | Series-parallel fracture reduction surgical robot |
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| CN202211142019.0A CN115444569A (en) | 2022-09-20 | 2022-09-20 | Series-parallel fracture reduction surgical robot |
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