CN116999142A - Fracture reduction device - Google Patents

Abstract

The application is applicable to the technical field of medical appliances, and provides a fracture reduction device which comprises a linear motion mechanism, a parallel mechanism and a fixing part. The parallel mechanism comprises a first motion assembly, a second motion assembly and a third motion assembly, and the first motion assembly, the second motion assembly and the third motion assembly are all arranged on the linear motion mechanism. The fixed part is provided with a first connecting end, a second connecting end and a third connecting end. The first motion assembly is movably connected with the first connecting end, the second motion assembly is movably connected with the second connecting end, the third motion assembly comprises a first end and a second end, the first end is movably connected with the linear motion mechanism, and the second end is movably connected with the third connecting end. Through the cooperation between rectilinear motion mechanism and first motion subassembly, second motion subassembly and the third motion subassembly for the fixed part has three changes three six degrees of freedom that move, so that fracture reduction device's flexibility is higher, and the treatment is better.

Description

Fracture reduction device

Technical Field

The application relates to the technical field of medical appliances, in particular to a fracture reduction device.

Background

With the advancement of medical science, orthopedic surgical robots have also evolved. In the bone surgery robot, the fracture reduction robot is mainly used for treating a fracture patient, and the fracture reduction robot can be used for more accurately reducing the fracture part of the patient and providing more stable internal fixation for the fracture part of the patient so as to be beneficial to healing and recovery of the fracture part.

The fracture reduction robot mainly fixes the fracture part of a patient through a fixed end, and then drives the fixed end to move through a transmission mechanism so as to reduce the fracture part of the patient. However, the conventional fracture reduction robots generally have only three to five degrees of freedom, and the flexibility of the fixed end is low, that is, the fracture reduction robots have low flexibility and poor treatment effect on complex fracture.

Disclosure of Invention

The embodiment of the application aims to provide a fracture reduction device, and aims to solve the technical problems that a fracture reduction robot in the prior art is low in flexibility and poor in treatment effect on complex fracture.

In order to achieve the above purpose, the application adopts the following technical scheme: providing a fracture reduction device, comprising a linear motion mechanism, a parallel mechanism and a fixing part;

the parallel mechanism comprises a first motion assembly, a second motion assembly and a third motion assembly, the first motion assembly, the second motion assembly and the third motion assembly are all arranged on the linear motion mechanism, and the linear motion mechanism is used for driving the first motion assembly, the second motion assembly and the third motion assembly to move along a first direction;

The fixing part is provided with a first connecting end, a second connecting end and a third connecting end, and the first connecting end, the second connecting end and the third connecting end are distributed in a triangle shape on the fixing part; the first moving assembly is movably connected with the first connecting end and is used for driving the first connecting end to move along a second direction and a third direction; the second moving assembly is movably connected with the second connecting end and is used for driving the second connecting end to move along the second direction and the third direction; the third motion assembly comprises a first end and a second end, the first end is movably connected with the linear motion mechanism, the second end is movably connected with the third connecting end, and the third motion assembly is used for driving the third connecting end to move along a connecting line between the first end and the second end; the first direction, the second direction and the third direction are arranged in an angle mode in pairs;

the fixing part is used for fixing a patient part of a patient.

In one possible design, the first moving component is connected to the first connection end through a ball pair, the second moving component is connected to the second connection end through a ball pair, and the second end of the third moving component is connected to the third connection end through a ball pair.

In one possible design, the first motion assembly includes a first motion part and a second motion part, the first motion part is movably connected with the first connection end, the first motion part is used for driving the first connection end to move along the second direction, the first motion part is mounted on the second motion part, the second motion part is mounted on the linear motion mechanism, and the second motion part is used for driving the first motion part to move along the third direction; and/or the number of the groups of groups,

the second motion assembly comprises a third motion part and a fourth motion part, the third motion part is movably connected with the second connecting end, the third motion part is used for driving the first connecting end to move along the second direction, the third motion part is installed on the fourth motion part, the fourth motion part is installed on the linear motion mechanism, and the fourth motion part is used for driving the third motion part to move along the third direction.

In one possible design, the first motion assembly further includes a first support rod, one end of the first support rod is connected with the first connecting end through a ball pair, and the other end of the first support rod is connected with the first motion part through a revolute pair, so that the first support rod can rotate around a first axis relative to the first motion part, and the first axis extends along the second direction; and/or the number of the groups of groups,

The second motion assembly further comprises a second support rod, one end of the second support rod is connected with the second connecting end through a ball pair, the other end of the second support rod is connected with the third motion part through a rotating pair, so that the second support rod can rotate around a second axis relative to the third motion part, and the second axis extends along the second direction; and/or the number of the groups of groups,

the first end of the third motion assembly is connected with the linear motion mechanism through a revolute pair, so that the third motion assembly can rotate around a third axis relative to the linear motion mechanism, and the third axis extends along the first direction.

In one possible design, the first motion assembly includes a first motion part and a second motion part, the first motion part is mounted on the linear motion mechanism, one end of the second motion part is connected with the first motion part through a revolute pair, so that the second motion part can rotate around a first axis relative to the first motion part, and the first axis extends along the second direction; the other end of the second motion part is connected with the first connecting end through a ball pair; the first moving part is used for driving the second moving part to move along the second direction, and the second moving part is used for driving the first connecting end to move along the third direction; and/or the number of the groups of groups,

The second motion assembly comprises a third motion part and a fourth motion part, the third motion part is arranged on the linear motion mechanism, one end of the fourth motion part is connected with the third motion part through a revolute pair, so that the fourth motion part can extend around a second axis relative to the third motion part, and the second axis extends along the second direction; the other end of the fourth movement part is connected with the second connecting end through a ball pair; the third movement part is used for driving the fourth movement part to move along the second direction, and the fourth movement part is used for driving the second connecting end to move along the third direction.

In one possible design, the linear motion mechanism includes a sliding rail, a sliding table and a transmission assembly, the transmission assembly is connected with the sliding table, the transmission assembly is used for driving the sliding table to move along the first direction, the sliding table is slidably mounted on the sliding rail along the first direction, and the first motion assembly, the second motion assembly and the third motion assembly are mounted on the sliding table.

In one possible design, the transmission assembly includes a first drive assembly, a first lead screw, and a first slider, the first drive assembly is in transmission connection with the first lead screw, the first lead screw is in transmission connection with the first slider, and the first slider is in transmission connection with the sliding table.

In one possible design, the fracture reduction device further comprises a housing to which the linear motion mechanism is mounted, the housing having a receiving cavity.

In one possible design, the fracture reduction device further comprises a plurality of moving wheels, and the plurality of moving wheels are installed at intervals at the bottom of the case.

In one possible design, the fracture reduction device further comprises a foot mounted to the bottom of the chassis, the foot having a support surface, the distance between the support surface and the bottom surface of the chassis being adjustable, the foot supporting the chassis when the distance between the support surface of the foot and the bottom surface of the chassis is greater than the maximum distance between the bottom of the mobile wheel and the bottom surface of the chassis; and/or the number of the groups of groups,

the movable wheel is provided with a brake structure.

The fracture reduction device provided by the application has the beneficial effects that: compared with the prior art, the fracture reduction device provided by the application has the advantages that the first connecting end, the second connecting end and the third connecting end are distributed in a triangle, and the first moving assembly, the second moving assembly and the third moving assembly in the parallel mechanism respectively drive the first connecting end, the second connecting end and the third connecting end which are correspondingly connected to move, so that the fixing part has five degrees of freedom of three-rotation and two-movement. Then drive first motion subassembly, second motion subassembly and third motion subassembly in the parallel mechanism through linear motion mechanism and remove, and then drive fixed part and remove to make the fixed part have three changes three six degrees of freedom that move, the mobilizable angle range of fixed part or position are more extensive, and the flexibility of fixed part is higher promptly, makes the fixed part can reset more complicated fracture. Therefore, the fracture reduction device provided by the application has higher flexibility and better treatment effect.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a fracture reduction device according to one embodiment of the present application;

FIG. 2 is a schematic view of a portion of a fracture reduction device according to one embodiment of the present application;

FIG. 3 is a schematic illustration of a portion of a fracture reduction device according to one embodiment of the present application;

FIG. 4 is a schematic view of a linear motion mechanism of a fracture reduction device according to one embodiment of the present application;

FIG. 5 is a partial schematic view of a fracture reduction device provided in one embodiment of the present application;

FIG. 6 is a schematic view of the structure of a fixing portion of a fracture reduction device according to an embodiment of the present application;

fig. 7 is a schematic view of the position between the fracture reduction device and the operating table provided by one embodiment of the present application.

Reference numerals related to the above figures are as follows:

1. a fracture reduction device; 2. an operating bed; 3. a patient;

110. a chassis; 120. a moving wheel; 130. a support leg;

200. a linear motion mechanism; 210. a first drive assembly; 220. a first lead screw; 230. a first slider; 240. a sliding table; 250. a slide rail; 260. structural members; 261. a first plate; 262. a second plate; 263. a first reinforcing part; 264. a second reinforcing part; 270. a connecting plate; 280. a base;

300. a parallel mechanism;

310. a first motion assembly; 311. a first moving part; 3111. a second drive assembly; 3112. a second lead screw; 3113. a second slider; 312. a second moving part; 3121. a third drive assembly; 3122. a third lead screw; 3123. a third slider; 313. a first support bar;

320. a second motion assembly; 321. a third movement section; 3211. a fourth drive assembly; 3212. a fourth lead screw; 3213. a fourth slider; 322. a fourth movement section; 3221. a fifth drive assembly; 3222. a fifth lead screw; 3223. a fifth slider; 323. a second support bar;

330. a third motion assembly; 331. an electric pushing cylinder;

400. a fixing part; 410. a movable plate; 411. a through hole;

510. a Hooke hinge; 520. a flange plate; 530. and (5) a hinge.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the structures or elements being referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

The existing orthopedic operation robot is mainly applied to the fields of joint replacement, spinal minimally invasive and the like, and has the advantages of accurate bone excision, accurate placement of prosthesis, accurate positioning and navigation of drilling channels and the like. However, in the field of trauma orthopaedics with the largest operation amount, aiming at the fracture reduction problem with great operation difficulty, the fracture reduction still highly depends on personal experience and operation methods of doctors. Of course, there are also some fracture reduction robots currently available that can solve the problem of fracture reduction in partial fracture reduction surgery. The fracture reduction robot is mainly an operation robot for restoring the fracture part to normal anatomical form and physiological function by combining a robot technology with a clinical method, and by adopting the existing fracture reduction robot, the reduction precision in at least partial fracture reduction operation is not limited by personal experience and technical level of doctors, so that the conditions of poor homogeneity, high reduction force, easy fatigue of doctors, certain damage to the bodies of doctors caused by X-ray and the like in partial fracture reduction operation can be reduced to a certain extent.

In the related art, a fracture reduction robot mainly fixes a fracture part of a patient through a fixed end, and then drives the fixed end to move through a transmission mechanism so as to reduce the fracture part of the patient. However, the conventional fracture reduction robots generally have only three to five degrees of freedom, and the flexibility of the fixed end is low, that is, the fracture reduction robots have low flexibility and poor treatment effect on complex fracture.

In order to solve the technical problems in the related art, an embodiment of the present application provides a fracture reduction device. In order to explain the technical scheme of the application, the following is a detailed description with reference to the specific drawings and embodiments.

As shown in fig. 1, the fracture reduction device 1 according to the embodiment of the present application includes a linear motion mechanism 200, a parallel mechanism 300, and a fixing portion 400. The parallel mechanism 300 includes a first moving assembly 310, a second moving assembly 320 and a third moving assembly 330, wherein the first moving assembly 310, the second moving assembly 320 and the third moving assembly 330 are all mounted on the linear moving mechanism 200, and the linear moving mechanism 200 is used for driving the first moving assembly 310, the second moving assembly 320 and the third moving assembly 330 to move along a first direction. The fixing part 400 is provided with a first connection end, a second connection end and a third connection end, and the first connection end, the second connection end and the third connection end are distributed in a triangle shape on the fixing part 400. The first moving component 310 is movably connected with the first connecting end, and the first moving component 310 is used for driving the first connecting end to move along the second direction and the third direction. The second moving component 320 is movably connected to the second connecting end, and the second moving component 320 is used for driving the second connecting end to move along the second direction and the third direction. The third motion assembly 330 includes a first end and a second end, the first end is movably connected with the linear motion mechanism 200, the second end is movably connected with the third connecting end, and the third motion assembly 330 is used for driving the third connecting end to move along a connecting line between the first end and the second end. The first direction, the second direction and the third direction are arranged in an angle mode. The fixing portion 400 is used to fix a patient portion of the patient 3. It should be noted that the first connection end, the second connection end, and the third connection end are distributed in a triangle on the fixing portion 400, specifically, the first connection end, the second connection end, and the third connection end are respectively located at three vertex positions of a triangle, which may be an isosceles triangle, an equilateral triangle, or an irregular triangle, and the like, which is not limited herein.

In the fracture reduction device 1 provided by the embodiment of the application, the first connecting end, the second connecting end and the third connecting end are distributed in a triangle, and the first moving component 310, the second moving component 320 and the third moving component 330 in the parallel mechanism 300 respectively drive the first connecting end, the second connecting end and the third connecting end which are correspondingly connected to move, so that the fixing part 400 has five degrees of freedom of three-rotation two-movement. Specifically, the first and second connection ends are respectively and correspondingly driven to synchronously move along the second direction by the first and second moving assemblies 310 and 320, so that the fixing portion 400 moves along the second direction. The first and second connection ends are respectively and correspondingly driven to synchronously move along the third direction by the first and second moving assemblies 310 and 320, so that the fixing portion 400 moves along the third direction. The first link is driven to move in the second direction by the first moving assembly 310 or the second link is driven to move in the second direction by the second moving assembly 320 so that the fixing part 400 rotates about the fourth axis. The first connection end is driven to move in the third direction by the first moving assembly 310, or the second connection end is driven to move in the third direction by the second moving assembly 320, so that the fixing part 400 rotates about the fifth axis. The third connecting end is driven to move along the line between the first end and the second end by the third moving assembly 330, so that the fixing part 400 rotates around the sixth axis. Then, the first moving component 310, the second moving component 320 and the third moving component 330 in the parallel mechanism 300 are driven by the linear moving mechanism 200 to move along the first direction, so that the fixing portion 400 moves along the first direction. As can be seen from the above, the fixing portion 400 has six degrees of freedom of three-rotation and three-movement by the cooperation between the first moving assembly 310, the second moving assembly 320 and the third moving assembly 330 in the linear movement mechanism 200 and the parallel mechanism 300, and the movable angle range or position of the fixing portion 400 is wider, i.e. the flexibility of the fixing portion 400 is higher, so that the fixing portion 400 can reduce more complex fracture. Therefore, the fracture reduction device 1 provided by the embodiment of the application has higher flexibility and better treatment effect.

In the fracture reduction device 1 provided by the embodiment of the application, the first moving component 310, the second moving component 320 and the third moving component 330 are arranged on the fixing part 400 in parallel, so that the structure is more compact and the space is more saved. The first motion assembly 310, the second motion assembly 320 and the third motion assembly 330 are connected in parallel and then are arranged on the linear motion mechanism 200, namely, the fixing part 400, the parallel mechanism 300 and the linear motion mechanism 200 are connected in series in sequence, so that the fracture reduction device 1 provided by the embodiment of the application realizes a serial-parallel hybrid structure, and the fracture reduction device 1 is compact in structure and saves space on the basis of improving flexibility.

In some alternative embodiments, the first direction, the second direction, and the third direction may be disposed diagonally with respect to each other. Alternatively, the first direction, the second direction and the third direction may be perpendicular to each other, as shown in fig. 1, and in the directions shown in fig. 1, the first direction is an X arrow indication direction, the second direction is a Z arrow indication direction, and the third direction is a Y arrow indication direction. The following description will be made with the first direction, the second direction, and the third direction being disposed vertically in pairs.

In one possible design, the first motion assembly 310 is connected to the first connection end by a ball pair, the second motion assembly 320 is connected to the second connection end by a ball pair, and the second end of the third motion assembly 330 is connected to the third connection end by a ball pair. By adopting the ball pair connection, the movable angles between the first moving assembly 310, the second moving assembly 320 and the third moving assembly 330 and the corresponding first connecting end, second connecting end and third connecting end are larger, so that the first moving assembly 310, the second moving assembly 320 and the third moving assembly 330 can drive the fixing part 400 to rotate along different directions or move around different axes.

In one possible design, as shown in fig. 1 and 2, the first moving assembly 310 includes a first moving portion 311 and a second moving portion 312, the first moving portion 311 is movably connected with the first connecting end, the first moving portion 311 is used for driving the first connecting end to move along the second direction, the first moving portion 311 is mounted on the second moving portion 312, the second moving portion 312 is mounted on the linear moving mechanism 200, and the second moving portion 312 is used for driving the first moving portion 311 to move along the third direction. In this arrangement, the first moving portion 311 drives the first connecting end to move along the second direction, and the second moving portion 312 drives the first moving portion 311 to move along the third direction, so as to drive the first connecting end to move along the third direction, thereby realizing that the first moving assembly 310 drives the first connecting end to move along the second direction and the third direction.

In a specific embodiment, as shown in fig. 2, the first moving portion 311 includes a second driving assembly 3111, a second screw 3112 and a second slider 3113, the second driving assembly 3111 is in driving connection with the second screw 3112, the second slider 3113 is slidably mounted to the second screw 3112 along a second direction, and the first connecting end is movably connected to the second slider 3113. The second driving assembly 3111 drives the second screw 3112 to rotate, so as to drive the second slider 3113 to move along the second direction, and further drive the first connecting end to move along the second direction. The second moving portion 312 includes a third driving assembly 3121, a third screw 3122 and a third slider 3123, the third driving assembly 3121 is installed on the linear motion mechanism 200, the third driving assembly 3121 is in transmission connection with the third screw 3122, the third slider 3123 is slidably installed on the third screw 3122 along a third direction, the second driving assembly 3111 is installed on the third slider 3123, and further the first moving portion 311 is installed on the second moving portion 312. The third driving assembly 3121 drives the third screw 3122 to rotate, so as to drive the third slider 3123 to move along the third direction, and further drive the second driving assembly 3111, the second screw 3112 and the second slider 3113 to move along the third direction, so that the first connection end moves along the third direction. Optionally, the second driving assembly 3111 includes a motor and a coupling, the motor in the second driving assembly 3111 is in driving connection with the second screw 3112 through the coupling in the second driving assembly 3111, the second slider 3113 is in sliding connection with the second screw 3112 through threaded engagement, and after the motor in the second driving assembly 3111 drives the second screw 3112 to rotate, the second slider 3113 can move along the second direction. The third driving assembly 3121 has the same structure as the second driving assembly 3111, and will not be described herein. The motor in the third driving assembly 3121 is in transmission connection with the third screw 3122 through the coupling in the third driving assembly 3121, and the third slider 3123 is in sliding connection with the third screw 3122 through screw thread fit. After the motor in the third driving assembly 3121 drives the third screw 3122 to rotate, the third slider 3123 may move along the third direction.

In another possible design, as shown in fig. 1, the second moving assembly 320 includes a third moving portion 321 and a fourth moving portion 322, the third moving portion 321 is movably connected to the second connecting end, the third moving portion 321 is used for driving the first connecting end to move along the second direction, the third moving portion 321 is mounted on the fourth moving portion 322, the fourth moving portion 322 is mounted on the linear motion mechanism 200, and the fourth moving portion 322 is used for driving the third moving portion 321 to move along the third direction. In this setting manner, the third moving portion 321 drives the second connection end to move along the second direction, and the fourth moving portion 322 drives the third moving portion 321 to move along the third direction, so as to drive the second connection end to move along the third direction, thereby realizing that the second moving assembly 320 drives the second connection end to move along the second direction and the third direction.

In a specific embodiment, the third moving portion 321 includes a fourth driving assembly 3211, a fourth lead screw 3212 and a fourth slider 3213, the fourth moving portion 322 includes a fifth driving assembly 3221, a fifth lead screw 3222 and a fifth slider 3223, the fifth driving assembly 3221 is mounted on the linear motion mechanism 200, the fifth lead screw 3222 is in transmission connection with the fifth driving assembly 3221, the fifth slider 3223 is slidably mounted on the fifth lead screw 3222 along a third direction, the fourth driving assembly 3211 is mounted on the fifth slider 3223, the fourth lead screw 3212 is in transmission connection with the fourth driving assembly 3211, the fourth slider 3213 is slidably mounted on the fourth lead screw 3212 along a second direction, and the second connecting end is movably connected with the fourth slider 3213. In the working process, the fifth driving assembly 3221 drives the fifth screw rod 3222 to rotate, so that the fifth slider 3223 moves along the third direction, and further drives the fourth driving assembly 3211, the fourth screw rod 3212, the fourth slider 3213 and the second connecting end to move along the third direction; the fourth driving assembly 3211 drives the fourth screw rod 3212 to rotate, so that the fourth slider 3213 moves along the second direction, and further drives the second connection end to move along the second direction. The fourth driving assembly 3211, the fifth driving assembly 3221 and the second driving assembly 3111 have the same structure, and are not described herein. The motor in the fourth drive assembly 3211 is in drive connection with the fourth lead screw 3212 via a coupling in the fourth drive assembly 3211, and the motor in the fifth drive assembly 3221 is in drive connection with the fifth lead screw 3222 via a coupling in the fifth drive assembly 3221.

In yet another possible design, the first motion assembly 310 includes a first motion 311 and a second motion 312, while the second motion assembly 320 also includes a third motion 321 and a fourth motion 322. The first moving portion 311, the second moving portion 312, the third moving portion 321, and the fourth moving portion 322 are arranged in the same manner as described above, and will not be described again.

In one possible design, as shown in fig. 1 and 2, the first moving assembly 310 further includes a first support rod 313, one end of the first support rod 313 is connected to the first connection end through a ball pair, and the other end of the first support rod 313 is connected to the first moving part 311 through a revolute pair, so that the first support rod 313 can rotate about a first axis relative to the first moving part 311, and the first axis extends in the second direction. In this arrangement, on the one hand, by providing the first support bar 313 so that the distance between the first connection end and the first moving portion 311 is large, collision between the fixed portion 400 and the first moving portion 311 when the fixed portion 400 moves relative to the first moving portion 311 can be avoided to some extent. On the other hand, since the first support rod 313 and the first moving part 311 are connected through the revolute pair, a certain limiting effect can be achieved on the first support rod 313, and the first support rod 313 is prevented from swinging relative to the first moving part 311 in the vertical direction, so that a certain supporting effect can be achieved on the fixing part 400 through the first support rod 313.

In another possible design, as shown in fig. 1, the second moving assembly 320 further includes a second supporting rod 323, one end of the second supporting rod 323 is connected with the second connecting end through a ball pair, and the other end of the second supporting rod 323 is connected with the third moving portion 321 through a rotating pair, so that the second supporting rod 323 can rotate around a second axis relative to the third moving portion 321, and the second axis extends along the second direction. In this arrangement, on the one hand, by providing the second support bar 323 so that the distance between the second connection end and the third moving portion 321 is large, collision between the fixing portion 400 and the third moving portion 321 can be avoided to some extent when the fixing portion 400 moves relative to the third moving portion 321. On the other hand, since the second support bar 323 and the third moving portion 321 are connected through the revolute pair, a certain limiting effect can be achieved on the second support bar 323, and the second support bar 323 is prevented from swinging relative to the second moving portion 312 in the vertical direction, and then a certain supporting effect is achieved on the fixing portion 400 through the second support bar 323.

In another possible design, the first moving component 310 includes a first supporting rod 313, and the second moving component 320 includes a second supporting rod 323, where the first supporting rod 313 and the second supporting rod 323 are disposed in the same manner as the first supporting rod 313 and the second supporting rod 323, and are not described herein. In this arrangement, the fixing portion 400 can be effectively prevented from colliding with the first moving portion 311 or the second moving portion 312, and the fixing portion 400 is supported simultaneously by the first support bar 313 and the second support bar 323, so that the supporting force of the fixing portion 400 is improved to a certain extent, and the loading capacity and rigidity of the fracture reduction device 1 are improved.

In one possible design, as shown in fig. 1 and 3, the first end of the third motion assembly 330 is connected to the linear motion mechanism 200 through a revolute pair, so that the third motion assembly 330 is rotatable relative to the linear motion mechanism 200 about a third axis extending in the first direction. In this arrangement, the first end of the third motion assembly 330 is connected with the linear motion mechanism 200 through the revolute pair, so as to play a certain limiting role on the swinging of the third motion assembly 330 relative to the linear motion mechanism 200 in the third direction, and only the second motion portion 312 and the fourth motion portion 322 are correspondingly driven to move the first motion portion 311 and the second motion portion 312 along the third direction respectively, so that the fixing portion 400 moves along the third direction, so that the supporting force of the fixing portion 400 is improved to a certain extent, and the load capacity and the rigidity of the fracture reduction device 1 are improved. In some alternative embodiments, the third moving assembly 330 may include any structure that can drive the third connecting end to move along a straight line, such as an air cylinder, a hydraulic cylinder, or an electric push cylinder 331.

In one possible design, the first moving part 311 is mounted on the linear motion mechanism 200, and one end of the second moving part 312 is connected to the first moving part 311 through a revolute pair, so that the second moving part 312 can rotate around a first axis relative to the first moving part 311, and the first axis extends along the second direction. The other end of the second moving part 312 is connected to the first connection end through a ball pair. The first moving part 311 is used for driving the second moving part 312 to move along the second direction, and the second moving part 312 is used for driving the first connecting end to move along the third direction. In this arrangement, the second moving part 312 can also support the fixing part 400 on the basis that the second moving part 312 drives the first connecting end to move in the second direction, so as to improve the supporting force of the fixing part 400, thus improving the loading capacity of the fracture reduction device 1 and the structural compactness of the fracture reduction device 1. In this arrangement, the second moving portion 312 may include a structure capable of outputting a linear motion, such as an air cylinder, a hydraulic cylinder, or an electric push cylinder. For example, the second moving portion 312 includes an electric push cylinder, the first moving portion 311 includes a second driving assembly 3111, a second screw 3112 and a second slider 3113, the second driving assembly 3111 is mounted to the linear motion mechanism 200, the second screw 3112 is in driving connection with the second driving assembly 3111, the second slider 3113 is slidably mounted to the second screw 3112 along a second direction, and the electric push cylinder is mounted to the second slider 3113 through a revolute pair.

In another possible design, the third moving portion 321 is mounted on the linear motion mechanism 200, and one end of the fourth moving portion 322 is connected to the third moving portion 321 through a revolute pair, so that the fourth moving portion 322 may extend around a second axis relative to the third moving portion 321, and the second axis extends along the second direction. The other end of the fourth moving part 322 is connected with the second connecting end through a ball pair. The third moving portion 321 is configured to drive the fourth moving portion 322 to move along the second direction, and the fourth moving portion 322 is configured to drive the second connecting end to move along the third direction. In this arrangement, the fourth moving part 322 can also support the fixing part 400 on the basis that the fourth moving part 322 drives the second connection end to move in the second direction, so that the supporting force of the fixing part 400 can be improved, and thus the loading capacity of the fracture reduction device 1 can be improved, and the compactness of the fracture reduction device 1 can be improved. In this arrangement, the fourth movement portion 322 may include a structure capable of outputting a linear movement, such as a cylinder, a hydraulic cylinder, or an electric push cylinder. For example, the fourth moving portion 322 includes an electric push cylinder, the third moving portion 321 includes a fourth driving assembly 3211, a fourth lead screw 3212 and a fourth slider 3213, the fourth driving assembly 3211 is mounted on the linear motion mechanism 200, the fourth lead screw 3212 is in transmission connection with the fourth driving assembly 3211, the fourth slider 3213 is slidably mounted on the fourth lead screw 3212 along the second direction, and the electric push cylinder is mounted on the fourth slider 3213 through a revolute pair.

In yet another possible design, the first moving part 311 is mounted on the linear motion mechanism 200, one end of the second moving part 312 is connected to the first moving part 311 through a revolute pair, and the other end of the second moving part 312 is connected to the first connecting end through a ball pair. Meanwhile, the third moving part 321 is mounted on the linear motion mechanism 200, one end of the fourth moving part 322 is connected with the third moving part 321 through a revolute pair, and the other end of the fourth moving part 322 is connected with the second connecting end through a ball pair. By this arrangement, the load capacity of the fracture reduction device 1 can be further improved, and the compactness of the fracture reduction device 1 can be improved.

In one possible design, as shown in fig. 4, the linear motion mechanism 200 includes a sliding rail 250, a sliding table 240, and a transmission assembly connected to the sliding table 240, where the transmission assembly is used to drive the sliding table 240 to move along a first direction, the sliding table 240 is slidably mounted on the sliding rail 250 along the first direction, and the first motion assembly 310, the second motion assembly 320, and the third motion assembly 330 are all mounted on the sliding table 240. By providing the sliding table 240, a larger installation area can be provided for the first, second and third moving assemblies 310, 320 and 330, that is, the first, second and third moving assemblies 310, 320 and 330 can be easily installed. The sliding table 240 is driven to move in the first direction by the driving assembly, so that the first moving assembly 310, the second moving assembly 320 and the third moving assembly 330 all move in the first direction, thereby realizing the degree of freedom of movement of the fixing portion 400 in the first direction. Due to the sliding rail 250, the sliding table 240 can be moved more stably, and the fixing portion 400 can be moved more stably. In some alternative embodiments, the number of slide rails 250 is two, and the slide table 240 is slidably mounted between the two slide rails 250 in the first direction. So set up, but the atress of slip table 240 is more even, and slip table 240 removes more steadily. Alternatively, the second moving part 312 and the fourth moving part 322 are both mounted on the sliding table 240, and the first end of the third moving assembly 330 is mounted on the sliding table 240 through a revolute pair.

In one possible design, as shown in fig. 4, the transmission assembly includes a first driving assembly 210, a first screw 220, and a first slider 230, the first driving assembly 210 is in transmission connection with the first screw 220, the first screw 220 is in transmission connection with the first slider 230, and the first slider 230 is connected with the sliding table 240. The first screw 220 is driven to rotate by the first driving assembly 210 such that the first slider 230 moves in the first direction, and thus the slide table 240 and the first, second and third moving assemblies 310, 320 and 330 mounted to the slide table 240 move in the first direction. The first driving assembly 210 and the second driving assembly 3111 have the same structure, and are not described herein. The first screw 220 is connected to the motor in the first drive assembly 210 by a coupling in the first drive assembly 210.

In some alternative embodiments, the fracture reduction device 1 provided by the present application further includes a controller, where the controller is respectively in signal connection with the linear motion mechanism 200, the first motion assembly 310, the second motion assembly 320, and the third motion assembly 330, so as to control the linear motion mechanism 200 to drive the first motion assembly 310, the second motion assembly 320, and the third motion assembly 330 to move along a first direction, control the first motion assembly 310 to drive the first connection end to move along a second direction and a third direction, control the second motion assembly 320 to drive the second connection end to move along the second direction and the third direction, and control the third motion assembly 330 to drive the third connection end to move along a connecting line between the first end and the second end. Specifically, the controller is specifically in signal connection with the motors in the first driving assembly 210, the second driving assembly 3111, the third driving assembly 3121, the fourth driving assembly 3211 and the fifth driving assembly 3221, so as to control the motors to drive the first screw 220, the second screw 3112, the third screw 3122, the fourth screw 3212 and the fifth screw 3222 to rotate through the controller. In the embodiment of the application, the signal connection can specifically realize signal transmission through wireless communication connection, and can also realize signal transmission through data wire connection, and the data wire can specifically be but not limited to an electric wire.

In one possible design, as shown in fig. 1 and 5, the fracture reduction device 1 further includes a housing 110, the linear motion mechanism 200 is mounted to the housing 110, and the housing 110 has a receiving cavity. By providing the housing 110, the receiving cavity of the housing 110 may be used to mount a controller, electrical wiring, etc., to protect the controller and electrical wiring to some extent.

In some alternative embodiments, the first driving assembly 210 and the sliding rail 250 are both installed on the chassis 110, the first screw 220 is movably connected with the first driving assembly 210, the first slider 230 is slidably installed on the first screw 220, the sliding table 240 is installed on the first sliding table 240, and the sliding table 240 is slidably installed on the sliding rail 250 along the first direction.

In an alternative embodiment, as shown in fig. 1 and 4, each of the sliding rails 250 is connected to a structural member 260, and the structural member 260 includes a first plate 261 and a second plate 262 disposed at an angle, the first plate 261 and the second plate 262 are connected, the first plate 261 is connected to the sliding rail 250, the second plate 262 is mounted to the chassis 110, and through holes are formed to allow screws or bolts to pass through, thereby facilitating the installation of the sliding rail 250. Optionally, a plurality of first reinforcing portions 263 are disposed between the first plate 261 and the second plate 262, and the plurality of first reinforcing portions 263 are disposed at intervals, so that the structural stability between the first plate 261 and the second plate 262 is enhanced by disposing the first reinforcing portions 263, and the sliding rail 250 can provide a more stable support for the sliding table 240, so as to improve the loading capacity of the fracture reduction device 1. Optionally, the structural member 260 further includes a second reinforcing portion 264, and the second reinforcing portion 264 penetrates through each first reinforcing portion 263, so that the adjacent first reinforcing portions 263 are connected by the second reinforcing portion 264, so as to further improve the structural strength of the structural member 260, and thus the sliding rail 250 can provide more stable support for the sliding table 240, so as to further improve the load capacity of the fracture reduction device 1. Optionally, a connecting plate 270 may be disposed between the first plate 261 and the sliding rail 250, where the first plate 261 is connected with the connecting plate 270, and the sliding rail 250 is mounted on the connecting plate 270, and by disposing the connecting plate 270, stable support may be provided for the sliding rail 250 and the structural member 260 at the same time, which is beneficial to further increase the supporting force on the sliding table 240, thereby further improving the rigidity and the load capacity of the fracture reduction device 1.

In one possible design, the fracture reduction device 1 further comprises a plurality of moving wheels 120, and the plurality of moving wheels 120 are mounted at intervals at the bottom of the case 110. The movable wheels 120 are arranged so that the fracture reduction device 1 can move integrally, and the position of the fracture reduction device 1 can be adjusted according to actual application scenes.

In one possible design, as shown in fig. 1 and 5, the fracture reduction device 1 further includes legs 130, the legs 130 are mounted to the bottom of the case 110, each leg 130 has a support surface, the distance between the support surface and the bottom surface of the case 110 is adjustable, and the legs 130 support the case 110 when the distance between the support surface of the legs 130 and the bottom surface of the case 110 is greater than the maximum distance between the bottom of the moving wheel 120 and the bottom surface of the case 110. In this arrangement, after the fracture reduction device 1 is moved into place, the fracture reduction device 1 may be supported on a table for mounting the fracture reduction device 1 by the legs 130 to brake the fracture reduction device 1. Alternatively, the table top may be a floor, a mounting table top for the operating table 2 or any other table top that may be used for mounting the fracture reduction device 1. In some alternative embodiments, the distance between the support surface and the bottom surface of the case 110 may be manually adjusted, for example, the bottom of the case 110 is provided with a threaded hole, one end of the leg 130 is provided with external threads, and one end of the leg 130 provided with external threads extends into the threaded hole, and the leg 130 is rotated to adjust the distance between the support surface and the bottom surface of the case 110. Alternatively, the distance between the support surface and the bottom surface of the case 110 may be automatically adjusted, for example, the fracture reduction device 1 may include an adjustment driving member mounted to the case 110 and connected to the leg 130, and the leg 130 may be driven to move in the vertical direction by the adjustment driving member to adjust the distance between the support surface and the bottom surface of the case 110. The adjusting driving part can be a structure which can output linear motion, such as an air cylinder, a hydraulic cylinder or an electric pushing cylinder.

In another possible design, the mobile wheel 120 is provided with a braking structure by means of which the fracture reduction device 1 is braked. In yet another possible design, the fracture reduction device 1 comprises the legs 130, while the mobile wheel 120 is provided with a braking structure, so that the fracture reduction device 1 can be braked doubly with a higher safety.

In some alternative embodiments, the number of the legs 130 may be plural, and as shown in fig. 5, the number of the legs 130 and the number of the moving wheels 120 are four, and the four moving wheels 120 and the four legs 130 are respectively installed on the bottom surface of the case 110 in a quadrilateral shape. Specifically, the four moving wheels 120 are located at four vertex positions of a quadrangle, and the four legs 130 are located at vertex positions of another quadrangle. Alternatively, the moving wheel 120 may be specifically a universal wheel.

In one possible design, as shown in fig. 6, the fixing portion 400 includes a movable plate 410 and bone pins (not shown in the figure), the movable plate 410 has the first, second and third connection ends, and the movable plate 410 further has a plurality of through holes 411, and the plurality of through holes 411 are used for fixing bone pins, through which the patient site of the patient 3 is fixed. Optionally, the fixing portion 400 further includes a sensor, where the sensor is mounted on the movable plate 410, and the sensor can sense an external force applied to the movable plate 410, so as to monitor the magnitude of the resetting force applied by the current resetting device. The sensor can be a six-dimensional force sensor or other sensors which can be used for detecting the magnitude of external force, and the six-dimensional force sensor is a sensor which can detect three axial forces and three axial moments simultaneously, and the monitoring effect on the restoring force acted by the current restoring device is better by adopting the six-dimensional force sensor.

The fracture reduction device 1 provided by the embodiment of the application is mainly used for reducing the fracture part of a fracture patient 3, and the fracture part can be specifically the limbs or pelvis of the patient. The fracture reduction device 1 specifically fixes the fracture part through the bone needle, installs the bone needle in the through hole 411 of the movable plate 410, and finally drives the movable plate 410 to move along a preset track or angle through the cooperation of the parallel mechanism 300 and the linear motion mechanism 200 so as to reduce the fracture part. In some application scenarios, the fracture reduction device 1 may be moved integrally to a position that is convenient to connect with the fracture site according to the position of the fracture site of the patient 3, as shown in fig. 7, where the fracture reduction device 1 is located on a long side of the operating table 2, that is, on a side of the operating table 2 where armrests are provided, and is connected with the fracture site of the patient 3 through bone pins, so as to reduce the fracture site of the patient 3. In the directions shown in fig. 7, the first direction is parallel to the long side extending direction of the operating table 2, the second direction is the vertical direction, and the third direction is parallel to the short side extending direction of the operating table 2.

In one embodiment, as shown in fig. 1 to 5, in the direction shown in fig. 1, four moving wheels 120 are mounted on the bottom surface of the case 110, four legs 130 are screwed to the bottom surface of the case 110, and the distance between the bottom surface of the legs 130 and the bottom surface of the case 110 can be adjusted by rotating the legs 130.

In the direction shown in fig. 1, the linear motion mechanism 200 is mounted on the top surface of the cabinet 110. Optionally, the linear motion mechanism 200 includes a base 280, a first driving assembly 210, a first lead screw 220, a first slider 230, a sliding table 240 and two sliding rails 250, the base 280 is mounted on the top surface of the chassis 110, the first driving assembly 210 is mounted on the base 280, the first lead screw 220 is in transmission connection with the first driving assembly 210, the first slider 230 has a threaded hole, the surface of the first lead screw 220 is provided with external threads, the first slider 230 is in sliding connection with the first lead screw 220 through threaded fit, the sliding table 240 is connected with the first slider 230, the two sliding rails 250 are mounted on the base 280 at intervals, and the sliding table 240 is slidably mounted in the sliding rails 250 along the first direction.

The parallel mechanism 300 is mounted to the slipway 240, i.e., the first moving assembly 310, the second moving assembly 320 and the third moving assembly 330 are mounted to the slipway 240. The first moving assembly 310 includes a first moving part 311 and a second moving part 312, and the second moving assembly 320 includes a third moving part 321 and a fourth moving part 322. Specifically, the first moving portion 311 includes a second driving assembly 3111, a second screw 3112 and a second slider 3113, the second moving portion 312 includes a third driving assembly 3121, a third screw 3122 and a third slider 3123, the third driving assembly 3121 is mounted on the sliding table 240, the third driving assembly 3121 is in transmission connection with the third screw 3122, the third slider 3123 is slidingly mounted on the third screw 3122 along a third direction, the second driving assembly 3111 is mounted on the third slider 3123, the second screw 3112 is in transmission connection with the second driving assembly 3111, and the second slider 3113 is slidingly mounted on the second screw 3112 along a second direction. One end of the first support bar 313 is connected with the second slider 3113 through a revolute pair, and the other end of the first support bar 313 is connected with the first connection end through a ball pair. The third moving part 321 includes a fourth driving assembly 3211, a fourth lead screw 3212 and a fourth slider 3213, the fourth moving part 322 includes a fifth driving assembly 3221, a fifth lead screw 3222 and a fifth slider 3223, the fifth driving assembly 3221 and the third driving assembly 3121 are mounted on the sliding table 240 at intervals along the first direction, the fifth lead screw 3222 is in transmission connection with the fifth driving assembly 3221, the fifth slider 3223 is slidingly mounted on the fifth lead screw 3222 along the third direction, the fourth driving assembly 3211 is mounted on the fifth slider 3223, the fourth lead screw 3212 is in transmission connection with the fourth driving assembly 3211, and the fourth slider 3213 is slidingly mounted on the fourth lead screw 3212 along the second direction. One end of the second supporting rod 323 is connected with the fourth sliding block 3213 through a revolute pair, and the other end of the second supporting rod 323 is connected with the second connecting end through a ball pair. The third moving component 330 comprises an electric pushing cylinder 331, one end of the electric pushing cylinder 331 is connected with the third connecting end through a ball pair, and the other end of the electric pushing cylinder 331 is connected with the sliding table 240 through a revolute pair.

The first moving assembly 310 is a PCS structure, and P is a moving pair, and the first moving portion 311 and the second moving portion 312, which are embodied in the first moving assembly 310, can drive the fixed portion 400 to move in the second direction and the third direction. C is a cylindrical pair, and is specifically configured such that the first support rod 313 is movable in the second direction relative to the first moving portion 311, and is also rotatable about a first axis extending in the second direction. S is a ball pair, and is specifically implemented in that the first support rod 313 is connected to the first connection end through the ball pair. The second moving assembly 320 is also a PCS structure, and the pair of motions (P) are embodied in the third moving portion 321 and the fourth moving portion 322 of the second moving assembly 320 to drive the fixed portion 400 to move in the second direction and the third direction. The cylindrical pair (C) is embodied in such a manner that the second support bar 323 is movable in the second direction with respect to the third moving portion 321, and is also rotatable about a second axis extending in the second direction. The ball pair (S) is specifically embodied in that the second support bar 323 is connected with the second connection end through the ball pair. The third motion assembly 330 is in an RPS structure, R represents a revolute pair, specifically, the first end of the third motion assembly 330 is connected with the linear motion mechanism 200 through the revolute pair, the moving pair (P) is specifically implemented in that the third motion assembly 330 can drive the third connecting end to move along a connecting line between the first end and the second end, and the ball pair (S) is specifically implemented in that the third motion assembly 330 is connected with the third connecting end through the ball pair.

In some alternative embodiments, each ball pair used in the embodiments of the present application includes a hook 510, a flange 520, and a slewing bearing, where the hook 510 and the flange 520 are rotatably connected by the slewing bearing, and one of the hook 510 and the flange 520 is connected to the first connecting end, and the other is connected to the first motion assembly 310. Each revolute pair used in the embodiments of the present application includes a hinge 530. Optionally, a damping member may be further disposed on the rotating shaft of the revolute pair, so that the rotation of the revolute pair is gentle, which is beneficial to improving the movement stability of the fixing portion 400, and further improving the stability of the fracture reduction device 1. The motors adopted by the embodiment of the application can be servo motors, and the servo motors have the characteristics of high precision and the like, so that the precision of the fracture reduction device 1 can be improved.

In operation, the first slider 230 is driven to move along the first direction by the first driving assembly 210 to drive the parallel mechanism 300 and the fixed portion 400 to move, i.e. the movable plate 410 moves along the first direction. The second driving assembly 3111 and the fourth driving assembly 3211 correspondingly drive the second slider 3113 and the fourth slider 3213 to move along the second direction, so as to drive the first connecting end and the second connecting end to move along the second direction, and further enable the movable plate 410 to move along the second direction. The third driving assembly 3121 and the fifth driving assembly 3221 correspondingly drive the third slider 3123 and the fifth slider 3223 to move along the third direction, so as to respectively drive the second driving assembly 3111 and the fourth driving assembly 3211 to move along the third direction, and then respectively drive the second slider 3113 and the fourth slider 3213 to move along the third direction, so that the first connection end and the second connection end move along the third direction, and further the movable plate 410 moves along the third direction. Rotation of the movable plate 410 about a fourth axis extending in a third direction is achieved by differential motion between the second drive assembly 3111 and the fourth drive assembly 3211. The rotation of the movable plate 410 about the fifth axis, which extends in the second direction, is achieved by the differential motion between the third driving assembly 3121 and the fifth driving assembly 3221. The third movable assembly drives the third connecting end to move along the connecting line between the first end and the second end, so as to enable the movable plate 410 to rotate around a sixth axis, and the sixth axis extends along the first direction.

It is noted that, the differential between the second driving assembly 3111 and the fourth driving assembly 3211, specifically, the moving direction or moving speed of the second driving assembly 3111 driving the second slider 3113 is different from the moving direction or moving speed of the fourth driving assembly 3211 driving the fourth slider 3213. The differential between the third drive assembly 3121 and the fifth drive assembly 3221, specifically the direction or speed of movement in which the third drive assembly 3121 drives the third slider 3123, is different from the direction or speed of movement in which the fifth drive assembly 3221 drives the fifth slider 3223. For example, the fourth drive assembly 3211 is stationary, and the second drive assembly 3111 drives the second slider 3113 for forward movement in the second direction; alternatively, the fourth driving assembly 3211 drives the fourth slider 3213 to move in a reverse direction in the second direction, and the second driving assembly 3111 drives the second slider 3113 to move in a forward direction in the second direction; alternatively, the second driving assembly 3111 drives the second slider 3113 at a moving speed greater than or less than that of the fourth driving assembly 3211 driving the fourth slider 3213.

The above description is illustrative of the various embodiments of the application and is not intended to be limiting, but is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the application.

Claims (10)

1. The fracture reduction device is characterized by comprising a linear motion mechanism, a parallel mechanism and a fixing part;

the parallel mechanism comprises a first motion assembly, a second motion assembly and a third motion assembly, the first motion assembly, the second motion assembly and the third motion assembly are all arranged on the linear motion mechanism, and the linear motion mechanism is used for driving the first motion assembly, the second motion assembly and the third motion assembly to move along a first direction;

the fixing part is provided with a first connecting end, a second connecting end and a third connecting end, and the first connecting end, the second connecting end and the third connecting end are distributed in a triangle shape on the fixing part; the first moving assembly is movably connected with the first connecting end and is used for driving the first connecting end to move along a second direction and a third direction; the second moving assembly is movably connected with the second connecting end and is used for driving the second connecting end to move along the second direction and the third direction; the third motion assembly comprises a first end and a second end, the first end is movably connected with the linear motion mechanism, the second end is movably connected with the third connecting end, and the third motion assembly is used for driving the third connecting end to move along a connecting line between the first end and the second end; the first direction, the second direction and the third direction are arranged in an angle mode in pairs;

The fixing part is used for fixing a patient part of a patient.

2. The fracture reduction device of claim 1, wherein the first motion assembly is coupled to the first connection end via a ball pair, the second motion assembly is coupled to the second connection end via a ball pair, and the second end of the third motion assembly is coupled to the third connection end via a ball pair.

3. The fracture reduction device of claim 1, wherein the first motion assembly comprises a first motion portion movably coupled to the first connection end, the first motion portion configured to drive the first connection end to move in the second direction, the first motion portion mounted to the second motion portion, the second motion portion mounted to the linear motion mechanism, the second motion portion configured to drive the first motion portion to move in the third direction; and/or the number of the groups of groups,

the second motion assembly comprises a third motion part and a fourth motion part, the third motion part is movably connected with the second connecting end, the third motion part is used for driving the first connecting end to move along the second direction, the third motion part is installed on the fourth motion part, the fourth motion part is installed on the linear motion mechanism, and the fourth motion part is used for driving the third motion part to move along the third direction.

4. The fracture reduction device of claim 3, wherein the first motion assembly further comprises a first support rod, one end of the first support rod being connected to the first connection end by a ball pair, the other end of the first support rod being connected to the first motion portion by a revolute pair such that the first support rod is rotatable relative to the first motion portion about a first axis extending in the second direction; and/or the number of the groups of groups,

the second motion assembly further comprises a second support rod, one end of the second support rod is connected with the second connecting end through a ball pair, the other end of the second support rod is connected with the third motion part through a rotating pair, so that the second support rod can rotate around a second axis relative to the third motion part, and the second axis extends along the second direction; and/or the number of the groups of groups,

the first end of the third motion assembly is connected with the linear motion mechanism through a revolute pair, so that the third motion assembly can rotate around a third axis relative to the linear motion mechanism, and the third axis extends along the first direction.

5. The fracture reduction device of claim 1, wherein the first motion assembly comprises a first motion portion and a second motion portion, the first motion portion being mounted to the linear motion mechanism, one end of the second motion portion being coupled to the first motion portion by a revolute pair such that the second motion portion is rotatable relative to the first motion portion about a first axis, the first axis extending in the second direction; the other end of the second motion part is connected with the first connecting end through a ball pair; the first moving part is used for driving the second moving part to move along the second direction, and the second moving part is used for driving the first connecting end to move along the third direction; and/or the number of the groups of groups,

The second motion assembly comprises a third motion part and a fourth motion part, the third motion part is arranged on the linear motion mechanism, one end of the fourth motion part is connected with the third motion part through a revolute pair, so that the fourth motion part can extend around a second axis relative to the third motion part, and the second axis extends along the second direction; the other end of the fourth movement part is connected with the second connecting end through a ball pair; the third movement part is used for driving the fourth movement part to move along the second direction, and the fourth movement part is used for driving the second connecting end to move along the third direction.

6. The fracture reduction device of claim 1, wherein the linear motion mechanism comprises a slide rail, a slide table, and a transmission assembly, the transmission assembly is connected with the slide table, the transmission assembly is used for driving the slide table to move along the first direction, the slide table is slidably mounted on the slide rail along the first direction, and the first motion assembly, the second motion assembly, and the third motion assembly are all mounted on the slide table.

7. The fracture reduction device of claim 6, wherein the transmission assembly comprises a first drive assembly, a first lead screw, and a first slider, the first drive assembly in transmission connection with the first lead screw, the first lead screw in transmission connection with the first slider, and the first slider in transmission connection with the slip table.

8. The fracture reduction device of any one of claims 1-7, further comprising a housing to which the linear motion mechanism is mounted, the housing having a receiving cavity.

9. The fracture reduction device of claim 8, further comprising a plurality of moving wheels, the plurality of moving wheels being mounted at spaced apart intervals to the bottom of the chassis.

10. The fracture reduction device of claim 9, further comprising a foot mounted to the bottom of the chassis, the foot having a support surface, the distance between the support surface and the bottom surface of the chassis being adjustable, the foot supporting the chassis when the distance between the support surface of the foot and the bottom surface of the chassis is greater than the maximum distance between the bottom of the removal wheel and the bottom surface of the chassis; and/or the number of the groups of groups,

the movable wheel is provided with a brake structure.