CN117814920A - Series operation robot system for closed reduction of long bone fracture - Google Patents

Abstract

The invention discloses a serial surgical robot system for closed reduction of long bone fracture, which comprises a movable base module, a three-degree-of-freedom movable module, a three-degree-of-freedom rotary module, a broken bone distal holding module and a broken bone proximal fixing module. The structure can realize the fixation of the long-bone broken bone near end and the six-degree-of-freedom translation and rotation of the broken bone far end, the robot system is integrally arranged below the leg part of the human body, normal operation and perspective in operation are not influenced, the operation space resources are saved, meanwhile, the quick movement of the device can be realized through the movable base, the robot system is fixedly connected with the operation bed, a closed structure is formed, and the carrying capacity and the output load capacity of the robot system are improved. The serial operation robot system for the closed reduction of the long bone fracture has the advantages of high reduction precision, compact structure, simple control, convenient use, high flexibility and large load, and is suitable for accurate and complex closed reduction operation of the long bone fracture.

Description

Series operation robot system for closed reduction of long bone fracture

Technical Field

The invention relates to the technical field of medical equipment, in particular to a serial surgical robot system for closed reduction of long bone fracture.

Background

Along with the high-speed development of the modern society, traffic accidents and accidental injuries are continuously increased, the prevalence rate of long bone fracture is continuously increased, the recovery time of the long bone fracture is longer, the treatment difficulty is higher, the malformation and dyskinesia of the patient can be caused, and great burden is brought to the patient and families.

The traditional incision reduction operation has the problems of large incision and multiple bleeding, which can lead to the fracture healing wound of a patient to be large, the time is long, the closed reduction is a method with smaller wound and quicker recovery, but the reduction force required by the closed reduction is extremely large, generally 500-800N is required, the doctor experience is completely relied on, and the doctor is required to hold the surgical instrument to carry out the reduction and maintain, so that the reduction precision is lower and the difficulty is higher. With the development of robot technology and medical image navigation technology, the adoption of a robot for performing a closed reduction operation of long bone fracture has gained more attention and application.

The existing serial operation robot reformed by the industrial mechanical arm has the defects of larger size, lower rigidity and low effective load ratio, and the provided traction force is smaller, so that the force requirement in the closed reduction operation is difficult to be satisfied; the parallel operation robot with the Stewart parallel platform as a main body structure has limited reset motion space range and cannot be completely suitable for complicated and changeable long bone fracture conditions; the existing long bone fracture closed reduction surgical robot scheme lacks a real-time intraoperative reduction force detection device and a unified reference standard, and can not provide accurate quantitative mechanical data for reduction surgery. Therefore, the surgical robot system for closed reduction of the long bone fracture is designed, can meet the clinical requirements in the reduction operation, and has important significance.

Disclosure of Invention

The invention aims to provide a surgical robot system for closed reduction of long bone fracture, which aims to solve the problems of large occupied space, limited movement space, small effective load ratio, low rigidity, low precision and incapability of detecting reduction force in real time in mechanisms in related technologies.

In order to achieve the above purpose, the present invention provides the following technical solutions:

a tandem surgical robotic system for closed reduction of a long bone fracture, comprising: the surgical robot system comprises a movable base module, a three-degree-of-freedom movable module, a three-degree-of-freedom rotary module, a broken bone far-end holding module and a broken bone near-end fixing module, wherein the three-degree-of-freedom movable module is fixed on the movable base module, the three-degree-of-freedom movable module is connected with the three-degree-of-freedom rotary module, the three-degree-of-freedom rotary module is connected with the broken bone far-end holding module, and the broken bone near-end fixing module is fixedly connected with an operating table. The serial surgical robot system for closed reduction of long bone fracture can realize six-degree-of-freedom translation and rotation reduction operation of the tail end of the mechanism.

Further, the three-degree-of-freedom moving module comprises a first screw rod lifter module, a second screw rod module and a third screw rod module, and the moving of the whole device along the vertical direction, the long axis of the operating bed and the short axis of the operating bed is realized.

The first screw rod lifter module is vertically arranged, the reciprocating motion of the screw rod lifter can realize the movement of the whole device along the vertical direction, and the first screw rod lifter module is guided by the four groups of linear guide rails, so that the whole device can bear larger transverse force and does not overturn.

The second screw rod module is arranged along the long axis direction of the operating table and fixedly connected with the first screw rod lifter module, and the movement of the second screw rod module sliding table realizes the movement of the whole operating table along the long axis direction.

The third screw rod module is arranged along the short axis direction of the operating table and fixedly connected with the sliding table of the second screw rod module, and the movement of the sliding table of the third screw rod module realizes the movement of the whole device along the short axis direction of the operating table.

Further, the first screw rod lifter module comprises a supporting frame, a lifter mounting plate, a screw rod lifter, a first servo motor, a guide rail fixing plate, a linear guide rail, a connecting plate and a limiting block. The support frame is fixedly connected with the lifter mounting plate, the screw rod lifter is fixedly connected with the lifter mounting plate, and the screw rod lifter is driven by power through the first servo motor; the guide rail fixing plate is fixedly connected with the support frame through screws, the four groups of linear guide rails are respectively fixedly connected with the guide rail fixing plate, the connecting plate is respectively connected with the four groups of linear guide rail sliding tables and is fixedly connected with the flange of the screw rod lifter, so that synchronous movement of the screw rod lifter and the linear guide rails is realized; the limiting block is fixedly connected with the connecting plate, the linear guide rail is provided with a limiting stop, and mechanical limiting is realized through the limiting block and the guide rail limiting stop.

Further, the second and third screw rod modules comprise screw rod bases, tapered roller bearings, screw rods, sliding tables, synchronous belt commutators, plum blossom couplings, servo motors and cover plates. The tapered roller bearings are arranged in front of and behind the screw base, two ends of the screw are supported by the tapered roller bearings, and the sliding table is arranged on the screw to realize linear motion; the input end of the synchronous belt commutator is parallel to the output end and is connected with the screw base, the output end of the synchronous belt commutator is connected with one end of the screw through the plum blossom coupler, and the input end of the synchronous belt commutator is connected with the servo motor, so that the motor is bent, the length of the screw module is effectively reduced, and the structure is more compact; the cover plate is placed on the screw base and plays a certain role in dust prevention and water prevention.

Further, the three-degree-of-freedom rotating module comprises a U-shaped rotating frame module, a rectangular rotating frame module and a supporting column rotating module, wherein the three-dimensional rotating module is fixed on a sliding table of the third screw rod module through a base, and the U-shaped rotating frame module is fixedly connected with a three-dimensional moving module sliding table; the rectangular rotating frame module is connected with the inner side of the U-shaped rotating frame module through a rotating shaft, one side of the rectangular rotating frame module is connected with the joint module, and the other side of the rectangular rotating frame module is passively rotated through the rotating shaft; the support column rotating module is connected with the inner side of the rectangular rotating frame module, one end of the support column rotating module is connected with the joint module, and the other side of the support column rotating module is passively rotated through a rotating shaft; the rotation axes of the U-shaped rotating frame module, the rectangular rotating frame module and the supporting upright column rotating module intersect at one point, and the intersection point is the rotation center of the three-degree-of-freedom rotating module, so that the three-degree-of-freedom rotating module can realize the rotation motion in three directions.

Further, the three-degree-of-freedom rotation module adopts the robot joint module as a driving element, has the advantages of large moment, low rotating speed and stable operation, and is suitable for long bone fracture closed reduction operation with large reduction force and high precision requirement.

Further, the U-shaped rotating frame module comprises a supporting seat, a first joint module, a first output shaft, a first angular contact ball bearing, a first bearing retainer ring, a U-shaped rotating frame, an end cover and a locking screw. The supporting seat is provided with a first joint module, the first joint module is connected with a first output shaft, a first angular contact ball bearing and a first bearing retainer ring, and is connected with the U-shaped rotating frame through keys, and the first joint module and the U-shaped rotating frame are fixedly connected through the end cover and the locking screw.

The rectangular rotating frame module comprises a rectangular rotating frame, a second joint module, a second output shaft, a second angular contact ball bearing and a second bearing retainer ring. The second joint module is arranged on one side of the U-shaped rotating frame module, one side of the rectangular rotating frame is connected with the second joint module through the second output shaft, and the other side of the rectangular rotating frame is connected with the U-shaped rotating frame through a rotating shaft to perform passive rotation; the connection part of the rectangular rotating frame and the second joint module is provided with the second angular contact ball bearing and the second bearing retainer ring, so that friction among parts is reduced.

The support column rotating module comprises a support column, a third joint module, a third output shaft, a third angular contact ball bearing and a third bearing retainer ring. The third joint module is arranged on one side of the rectangular rotating frame module, one side of the supporting upright post is connected with the third joint module through the third output shaft, and the other side of the supporting upright post is connected with the rectangular rotating frame through a rotating shaft to perform passive rotation; the joint of the support upright post and the third joint module is provided with the third angular contact ball bearing and the third bearing retainer ring, so that friction between parts is reduced.

Further, the broken bone distal end holding module comprises a clamping plate component, a holding sleeve, bone needles and a locking hand wheel. The clamping plate assembly is connected with the holding sleeve, and the bone needle is connected with the holding sleeve and locked by the locking hand wheel; the clamping plate assembly is fixedly connected with the support upright post of the support upright post rotating module, so that the broken bone distal end holding module drives the broken bone distal end to translate and rotate, and six-degree-of-freedom translation and rotation of the broken bone distal end holding module are realized.

Further, the connecting part of the broken bone distal holding module and the supporting upright post is provided with a reset force detection device, the reset force detection device comprises a six-axis torque sensor and an adapter flange, and the reset force detection device can detect the change condition of the reset force in real time and provides reference and analysis for clinical application.

Further, the broken bone proximal end fixing module comprises a movable sliding block, a stand column support, a support column, a carbon fiber support rod, a fixed bone needle, a cross connecting piece and a sliding block locking hand wheel. The upright post support is fixedly connected with the movable sliding block, the support columns are connected with the upright post support, two groups of support columns are connected through the carbon fiber support rods, and the fixed spicules are connected with the carbon fiber support rods through the cross connecting pieces; the broken bone proximal end fixing module is connected with a guide rail beside an operating table through a movable sliding block and locked through a sliding block locking hand wheel, so that the broken bone proximal end fixing module is held and fixed.

Further, the movable base module is provided with a box body, a three-degree-of-freedom movable module and a three-degree-of-freedom rotary module controller are placed in the box body, a power-on button, a switch button and an emergency stop button are arranged in the box body, and an opening is formed in the side face of the box body, so that an inspection controller can be conveniently arranged.

The movable base module is provided with a base, four universal casters and four fixed foot cups are arranged below the base, and the robot system can be quickly moved.

The movable base module is provided with a connecting frame, the movable base module can be fixedly connected with an operating table through bolt connection, the robot reset mechanism and the broken bone proximal end fixing mechanism are respectively and fixedly connected with the operating table and a guide rail beside the operating table, a closed structure is formed, and the bearing capacity and the output load capacity of the robot system are improved.

Compared with the prior art, the invention has the beneficial effects that:

the three-degree-of-freedom rotating module of the robot adopts a U-shaped frame and rectangular frame structure, has compact structure and small occupied space, has larger rigidity and stability compared with the traditional serial mechanical arm, and has the advantages that the rotating axis intersects at one point, the intersection point is the rotating center of the three-degree-of-freedom rotating module, the space can be rotated randomly, the flexibility is high, and the working space is large; meanwhile, the screw rod module is adopted to realize three-degree-of-freedom movement in space, so that the working space of the robot is greatly improved, and the defect of limited working space of the traditional parallel operation robot is overcome; the robot is provided with six force sensors, so that the change of the reset force can be monitored in real time, and the safety in operation is ensured.

The robot system is integrally arranged below the lower leg of the human body, does not shade the broken bone fracture part of the patient, greatly saves operation space resources, reserves enough space for C-arm intraoperative perspective and operation, meets the requirements of fracture displacement measurement and intraoperative navigation, and simultaneously can realize quick movement of the device through a movable base, thereby being convenient to use; the robot reset mechanism and the broken bone proximal end fixing mechanism are respectively and fixedly connected with the operating table and the guide rail beside the operating table to form a closed structure, so that the carrying capacity and the output load capacity of the robot system are greatly improved; the robot system is in modularized design, is provided with a quick connection structure, is simple in structure, convenient to assemble and disassemble, convenient to carry, install and sterilize and spread sheets before operation, can shorten operation time, reduce operation difficulty, and provides convenience and guarantee for long bone fracture closed reduction operation.

Drawings

FIG. 1 is a front view of a tandem surgical robotic system for closed reduction of long bone fractures of the present invention

FIG. 2 is a schematic diagram of a three-degree-of-freedom mobile module

FIG. 3 is a schematic view of an internal mounting structure of a screw module

FIG. 4 is a schematic diagram of a three degree of freedom rotary module and its internal structure

Fig. 5 is a schematic structural view of a broken bone distal holding module

FIG. 6 is a schematic structural diagram of a restoring force detecting device

FIG. 7 is a schematic diagram of a mechanism of a broken bone proximal fixation module

FIG. 8 is a schematic view of a mounting structure of the mobile base module

Reference numerals illustrate:

the three-degree-of-freedom moving base module 1, the three-degree-of-freedom moving module 2, the three-degree-of-freedom rotating module 3, the broken bone far-end holding module 4, the broken bone near-end fixing module 5, the operating table side guide rail 6, the operating table 7, the connecting frame 8, the first screw rod lifter module 9, the second screw rod module 10, the third screw rod module 11, the screw rod lifter 12, the supporting frame 13, the lifter mounting plate 14, the guide rail fixing plate 15, the linear guide rail 16, the connecting plate 17, the limiting block 18, the screw rod base 19, the tapered roller bearing 20, the screw rod 21, the sliding table 22, the synchronous belt reverser 23, the plum blossom coupling 24, the servo motor 25, the cover plate 26, the U-shaped rotating frame module 27, the rectangular rotating frame module 28, the supporting column rotating module 29, the supporting seat 30, the first joint module 31, the first output shaft 32, the first angular contact ball bearing 33 the bearing assembly comprises a first bearing retainer 34, a U-shaped rotating frame 35, an end cover 36, a rectangular rotating frame 37, a second joint module 38, a second output shaft 39, a second angular ball bearing 40, a second bearing retainer 41, a supporting column 42, a third joint module 43, a third output shaft 44, a third angular ball bearing 45, a third bearing retainer 46, a clamping plate assembly 47, a holding sleeve 48, spigots 49, a locking hand wheel 50, a restoring force detection device 51, a six-axis moment sensor 52, an adapter flange 53, a movable sliding block 54, a column support 55, a supporting column 56, a carbon fiber supporting rod 57, a fixed spigots 58, a cross connecting piece 59, a sliding block locking hand wheel 60, a box 61, a power-on button 62, a switch button 63, a scram button 64, a handle 65, a base 66, a universal caster 67 and a fixed foot cup 68.

Detailed Description

The present invention will be described in detail below with reference to the embodiments shown in the drawings, but it should be understood that the embodiments are not limited to the invention, and functional, method, or structural equivalents and alternatives thereof, which are apparent to one skilled in the art from the embodiments, are intended to be included in the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the present application described herein.

In this application, the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, steps, operations, devices, components, and/or groups thereof. In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, are merely relational terms determined for convenience in describing structural relationships of the various components or elements of the present disclosure, and do not denote any one of the components or elements of the present disclosure, and are not to be construed as limiting the present disclosure. In the present disclosure, terms such as "fixedly coupled," "connected," "provided with," "equipped with," and the like are to be construed broadly and refer to either a fixed connection or an integral or removable connection; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the terms in the disclosure may be determined according to circumstances, and should not be interpreted as limiting the disclosure, for relevant scientific research or a person skilled in the art.

Referring to fig. 1 to 8, a front view of the serial surgical robot system for closed reduction of long bone fracture of the present invention of fig. 1, a schematic structure of a three-degree-of-freedom moving module of fig. 2, a schematic internal installation structure of a screw module of fig. 3, a schematic structure of a three-degree-of-freedom rotating module and its internal structure of fig. 4, a schematic structure of a broken bone distal holding module of fig. 5, a schematic structure of a restoring force detecting device of fig. 6, a schematic structure of a broken bone proximal fixing module of fig. 7, and a schematic installation structure of a moving base module of fig. 8 are shown.

The embodiment provides a serial operation robot system for closed reduction of long bone fracture, and referring to fig. 1 to 8, the robot system comprises a movable base module 1, a three-degree-of-freedom movable module 2, a three-degree-of-freedom rotary module 3, a broken bone distal holding module 4, a broken bone proximal fixing module 5, an operation bed side guide rail 6, an operation bed 7 and a connecting frame 8; the three-degree-of-freedom moving module 2 is fixed on the moving base module 1, the three-degree-of-freedom rotating module 3 is connected to the three-degree-of-freedom moving module 2, and the broken bone distal holding module 4 is connected to the three-degree-of-freedom rotating module 3; the broken bone proximal end fixing module 5 is fixedly connected with the operating table side guide rail 6, the movable base module 1 is fixedly connected with the operating table 7 through the connecting frame 8 to form a closed structure, and the carrying capacity and the output load capacity of the robot system are improved; the translation and rotation reset operation of the tail end of the mechanism can be realized by adjusting the translation of the three-degree-of-freedom moving module 2 and the fixed axis rotation angle of the three-degree-of-freedom rotating module 3.

In this embodiment, referring to fig. 2, the three-degree-of-freedom moving module 2 includes a first screw rod lifter module 9, a second screw rod module 10, and a third screw rod module 11, where the first screw rod lifter module 9 is vertically disposed, and the movement of the whole device in the vertical direction is implemented by the linear reciprocating motion of the screw rod lifter, and the first screw rod lifter module 9 is guided by a linear guide rail, so that the whole device can bear a larger transverse force and no overturning occurs; the second screw rod module 10 is arranged along the long axis direction of the operating table and fixedly connected with the first screw rod lifter module 9, and the sliding table of the second screw rod module 10 moves to realize the movement of the whole device along the long axis direction of the operating table; the third screw rod module 11 is arranged along the short axis direction of the operating table and fixedly connected with the sliding table of the second screw rod module 10, and the sliding table of the third screw rod module 11 moves to realize the movement of the whole device along the short axis direction of the operating table.

The first screw elevator module 9 comprises a screw elevator 12, a supporting frame 13, an elevator mounting plate 14, a guide rail fixing plate 15, a linear guide rail 16, a connecting plate 17 and a limiting block 18; the screw rod lifter 12 is vertically arranged, the supporting frame 13 is fixedly connected with the lifter mounting plate 14, and the screw rod lifter 12 is fixedly connected with the lifter mounting plate 14; the guide rail fixing plate 15 is fixedly connected with the support frame 13 through screws, the four groups of linear guide rails 16 are respectively fixedly connected with the guide rail fixing plate 15, the connecting plates 17 are respectively connected with sliding tables of the four groups of linear guide rails 16 and are fixedly connected with the screw rod lifter 12, so that synchronous movement of the screw rod lifter 12 and the linear guide rails 16 is realized; the limiting block 18 is fixedly connected with the connecting plate 17, the linear guide rail is provided with a limiting stop, and mechanical limiting is realized through the limiting block 18 and the guide rail limiting stop.

In this embodiment, referring to fig. 3, the second screw module 10 and the third screw module 11 include a screw base 19, a tapered roller bearing 20, a screw 21, a sliding table 22, a synchronous belt commutator 23, a plum coupling 24, a servo motor 25, and a cover plate 26; the tapered roller bearings 20 are arranged on the front and back of the screw base 19, two ends of the screw 21 are supported by the tapered roller bearings 20, and the sliding table 22 is arranged on the screw 21 to realize linear motion; the input end of the synchronous belt reverser 23 is parallel to the output end and is connected with the screw base 19, the output end of the synchronous belt reverser is connected with one end of the screw 21 through the plum coupling 24, and the input end of the synchronous belt reverser is connected with the servo motor 25, so that the motor is bent, the length of the screw module is effectively reduced, and the structure is more compact; the cover plate 26 is placed on the screw base 19 and plays a role in dust prevention and water prevention.

In this embodiment, referring to fig. 4, the three-degree-of-freedom rotation module 3 includes a U-shaped rotation frame module 27, a rectangular rotation frame module 28, and a support column rotation module 29, where the rectangular rotation frame module 28 is connected to the inner side of the U-shaped rotation frame module 27 through a rotation shaft, and the support column rotation module 29 is connected to the inner side of the rectangular rotation frame module 28; the rotation axes of the U-shaped rotating frame module 27, the rectangular rotating frame module 28 and the supporting upright column rotating module 29 intersect at a point, and the intersection point is the rotation center of the three-degree-of-freedom rotating module 3, so that the three-degree-of-freedom rotating module 3 can realize the rotation motion in three directions; the robot joint module is selected as a driving element, has the advantages of large moment and stable operation, and is suitable for the long bone fracture closed reduction operation with large reduction force and high precision requirement.

The U-shaped rotating frame module 27 comprises a supporting seat 30, a first joint module 31, a first output shaft 32, a first angular contact ball bearing 33, a first bearing retainer ring 34, a U-shaped rotating frame 35 and an end cover 36; the supporting seat 30 is provided with the first joint module 31, the first joint module 31 is connected with the output shaft 32, the first angular contact ball bearing 33 and the first bearing retainer ring 34, and is connected with the U-shaped rotating frame 35 through keys, and the first joint module 31 and the U-shaped rotating frame 35 are fixedly connected through the end cover 36 and the locking screw.

The rectangular rotating frame module 28 includes a rectangular rotating frame 37, a second joint module 38, a second output shaft 39, a second angular ball bearing 40, and a second bearing retainer 41. The second joint module 38 is installed on one side of the U-shaped rotating frame 35, one side of the rectangular rotating frame 37 is connected with the second joint module 38 through the second output shaft 39, and the other side is connected with the U-shaped rotating frame 35 through a rotating shaft to perform passive rotation; the second angular ball bearings 40 and the second bearing retainer 41 are arranged at the joint of the rectangular rotating frame 37 and the second joint module 38, so that friction between parts is reduced.

The support column rotation module 29 comprises a support column 42, a third joint module 43, a third output shaft 44, a third angular contact ball bearing 45 and a third bearing retainer 46; the third joint module 43 is installed on one side of the rectangular rotating frame 37, one side of the supporting upright post 42 is connected with the third joint module 43 through the third output shaft 44, and the other side of the supporting upright post is connected with the rectangular rotating frame 37 through a rotating shaft to perform passive rotation; the joint of the support upright post 42 and the third joint module 43 is provided with the third angular contact ball bearing 45 and the third bearing retainer ring 46, so that friction between parts is reduced.

In this embodiment, referring to fig. 5, the broken bone distal holding module 4 includes a holding plate assembly 47, a holding sleeve 48, a bone needle 49, a locking hand wheel 50, and a restoring force detecting device 51, where the holding plate assembly 47 is connected to the holding sleeve 48, and the bone needle 49 is connected to the holding sleeve 48 and locked by the locking hand wheel 50; the clamping plate assembly 47 is fixedly connected with the support column 42 of the support column rotating module 29 and is provided with a reset force detecting device 51, so that translation and rotation of the broken bone distal holding module 4 are realized, and the reset operation in operation is realized.

In this embodiment, referring to fig. 6, the restoring force detecting device 51 includes a six-axis torque sensor 52 and an adapter flange 53, the adapter flange 53 is respectively and fixedly connected with the six-axis torque sensor 52 and the support post 42 through screws, the six-axis torque sensor 52 is fixedly connected with the clamping plate assembly 47, and the restoring force detecting device can detect the change condition of the restoring force in real time, so as to provide reference and analysis for clinical application.

In this embodiment, referring to fig. 7, the proximal broken bone fixing module 5 includes a moving slide block 54, a column support 55, a support column 56, a carbon fiber support rod 57, a fixing bone needle 58, a cross connecting piece 59, and a slide locking hand wheel 60, wherein the column support 55 is fixedly connected with the moving slide block 54, the support column 56 is connected with the column support 55, two groups of support columns are connected through the carbon fiber support rod 57, and the fixing bone needle 58 is connected with the carbon fiber support rod 57 through the cross connecting piece 59; the broken bone proximal end fixing module 5 is connected with the operating table side guide rail 6 through the movable slide block 54 and locked through the slide block locking hand wheel 60, so that the broken bone proximal end is fixed.

In this embodiment, referring to fig. 8, the mobile base module 1 includes a case 61, a power-on button 62, a switch button 63, a scram button 64, a handle 65, a base 66, a castor 67, and a fixed foot cup 68, wherein a controller is disposed in the case 61, the power-on button 62, the switch button 63, and the scram button 64 are disposed in the case 61, and an opening and the handle 65 are disposed on a side surface of the case 61; the mobile base module 1 is provided with a base 66, and four universal casters 67 and four fixed foot cups 68 are arranged below the base 66, so that the robot system can rapidly move; the movable base module 1 is fixedly connected with the operating table 7 through a connecting frame 8.

The working process of the invention is as follows:

after the clinical operation anesthesia is completed, the patient is placed in the proper position of the operation table 7 in the lateral or supine position, the operation robot system is pushed to move to the proper position right below the broken bones of the affected limb by the base 66, and the operation table 7 is adjusted to the proper operation position. Firstly, the movable slide block 54 of the broken bone proximal end fixing module 5 is fixed at a proper position of the guide rail 6 beside an operation table and locked, the fixed spicules 58 implanted into the broken bone proximal end of a patient are connected with the cross connecting piece 59 to finish the fixation of the broken bone proximal end, and secondly, the spicules 49 implanted into the broken bone distal end of the patient are connected with the holding sleeve 48 of the broken bone distal end holding module 4 and locked to finish the fixation of the broken bone distal end. After the fracture fixation is completed, the connecting frame 8 is fixedly connected with the operating table 7, the universal castor 67 is locked, the fixed foot cup 68 is fixed, and the connection and fixation of the whole device are completed.

After connection and fixation, a pre-operation CT three-dimensional model of the long bone fracture is established, fracture reduction path planning is carried out, the long bone fracture closed reduction operation is carried out through six-degree-of-freedom movement and rotation of the surgical robot system, reduction conditions are repeatedly observed through C-arm perspective, a robot is guided to adjust, the intra-operation reduction force detection device 51 monitors the change of the intra-operation reduction force in real time, and the intra-operation safety is guaranteed. Firstly, carrying out translation to finish rough reduction, then carrying out posture adjustment of the broken bone distal end, and finally carrying out position adjustment of an end effector to finish the closed reduction and accurate reduction of the long bone fracture.

The invention discloses a serial operation robot system for closed reduction of long bone fracture, which has the following beneficial effects:

1) The robot system is integrally arranged below the lower leg of the patient, does not shade the broken bone fracture part of the patient, saves the operation space resource, and is convenient for operation and perspective in operation.

2) The three-degree-of-freedom rotary module adopts a U-shaped frame and rectangular frame structure, has compact structure and small occupied space, has larger rigidity and stability compared with the traditional serial mechanical arm, and the rotation axes are mutually perpendicular and intersected at one point, so that the three-degree-of-freedom rotary module can realize random rotation in space, and has high flexibility and large working space.

3) The robot is provided with six force sensors, can monitor the change of the restoring force in the restoring operation in real time, ensures the safety in the operation, is provided with a quick connection structure, has a simple structure and convenient disassembly and assembly, is convenient for carrying and installing before the operation and sterilizing and paving a sheet, and provides convenience and guarantee for carrying out the closed restoring operation of the long bone fracture.

4) The robot reset mechanism and the broken bone proximal end fixing mechanism are respectively and fixedly connected with the operating table and the guide rail beside the operating table to form a closed structure, so that the bearing capacity and the output load capacity of the robot system are greatly improved.

The above list of detailed descriptions is only specific to practical embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent embodiments or modifications that do not depart from the spirit of the present invention should be included in the scope of the present invention.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Claims (7)

1. The serial surgical robot system for the closed reduction of the long bone fracture is characterized by comprising a movable base module, a three-degree-of-freedom movable module, a three-degree-of-freedom rotary module, a broken bone distal end holding module and a broken bone proximal end fixing module, wherein the three-degree-of-freedom movable module is fixed on the movable base module, the three-degree-of-freedom movable module is connected with the three-degree-of-freedom rotary module, the three-degree-of-freedom rotary module is connected with the broken bone distal end holding module, and the broken bone proximal end fixing module is fixedly connected with an operating table; the serial operation robot system for the closed reduction of the long bone fracture can realize the six-degree-of-freedom translation and rotation reduction operation of the tail end of the mechanism;

the three-degree-of-freedom moving module comprises a first screw rod lifter module, a second screw rod module and a third screw rod module, and realizes the movement of the whole device along the vertical direction, the long axis of the operating table and the short axis of the operating table;

the first screw rod lifter module is vertically arranged, and the movement of the whole device along the vertical direction can be realized through the reciprocating motion of the screw rod lifter, and the first screw rod lifter module is guided by four groups of linear guide rails, so that the whole device can bear larger transverse force and does not overturn;

the second screw rod module is arranged along the long axis direction of the operating table and fixedly connected with the first screw rod lifter module, and the movement of the second screw rod module sliding table realizes the movement of the whole device along the long axis direction of the operating table;

the third screw rod module is arranged along the short axis direction of the operating table and fixedly connected with the sliding table of the second screw rod module, and the movement of the sliding table of the third screw rod module realizes the movement of the whole device along the short axis direction of the operating table;

the first screw rod lifter module comprises a support frame, a lifter mounting plate, a screw rod lifter, a first servo motor, a guide rail fixing plate, a linear guide rail, a connecting plate and a limiting block; the support frame is fixedly connected with the lifter mounting plate, the screw rod lifter is fixedly connected with the lifter mounting plate, and the screw rod lifter is driven by power through the first servo motor; the guide rail fixing plate is fixedly connected with the support frame through screws, the four groups of linear guide rails are respectively fixedly connected with the guide rail fixing plate, the connecting plate is respectively connected with the four groups of linear guide rail sliding tables and is fixedly connected with the flange of the screw rod lifter, so that synchronous movement of the screw rod lifter and the linear guide rails is realized; the limiting block is fixedly connected with the connecting plate, the linear guide rail is provided with a limiting stop, and mechanical limiting is realized through the limiting block and the guide rail limiting stop;

the second and third screw rod modules comprise screw rod bases, tapered roller bearings, screw rods, sliding tables, synchronous belt commutators, plum blossom couplings, servo motors and cover plates; the tapered roller bearings are arranged in front of and behind the screw base, two ends of the screw are supported by the tapered roller bearings, and the sliding table is arranged on the screw to realize linear motion; the input end of the synchronous belt commutator is parallel to the output end and is connected with the screw base, the output end of the synchronous belt commutator is connected with one end of the screw through the plum coupling, and the input end of the synchronous belt commutator is connected with the servo motor.

2. A tandem surgical robotic system for closed reduction of long bone fractures according to claim 1, wherein: the three-degree-of-freedom rotating module comprises a U-shaped rotating frame module, a rectangular rotating frame module and a support column rotating module, wherein the three-dimensional rotating module is fixed on a sliding table of the third screw rod module through a base, and the U-shaped rotating frame module is fixedly connected with the three-dimensional moving module sliding table; the rectangular rotating frame module is connected with the inner side of the U-shaped rotating frame module through a rotating shaft, one side of the rectangular rotating frame module is connected with the joint module, and the other side of the rectangular rotating frame module is passively rotated through the rotating shaft; the support column rotating module is connected with the inner side of the rectangular rotating frame module, one end of the support column rotating module is connected with the joint module, and the other side of the support column rotating module is passively rotated through a rotating shaft; the rotation axes of the U-shaped rotating frame module, the rectangular rotating frame module and the supporting upright column rotating module intersect at one point, and the intersection point is the rotation center of the three-degree-of-freedom rotating module, so that the three-degree-of-freedom rotating module can realize the rotation motion in three directions.

3. A tandem surgical robotic system for closed reduction of long bone fractures according to claim 1, wherein: the U-shaped rotating frame module comprises a supporting seat, a first joint module, a first output shaft, a first angular contact ball bearing, a first bearing retainer ring, a U-shaped rotating frame, an end cover and a locking screw; the supporting seat is provided with the first joint module, the first joint module is connected with the first output shaft, the first angular contact ball bearing and the first bearing retainer ring, and is connected with the U-shaped rotating frame through keys, and the first joint module is fixedly connected with the U-shaped rotating frame through the end cover and the locking screw;

the rectangular rotating frame module comprises a rectangular rotating frame, a second joint module, a second output shaft, a second angular contact ball bearing and a second bearing retainer ring; the second joint module is arranged on one side of the U-shaped rotating frame module, one side of the rectangular rotating frame is connected with the second joint module through the second output shaft, and the other side of the rectangular rotating frame is connected with the U-shaped rotating frame through a rotating shaft to perform passive rotation; the second angular contact ball bearing and the second bearing retainer ring are arranged at the joint of the rectangular rotating frame and the second joint module, so that friction among parts is reduced;

the support column rotating module comprises a support column, a third joint module, a third output shaft, a third angular contact ball bearing and a third bearing retainer ring; the third joint module is arranged on one side of the rectangular rotating frame module, one side of the supporting upright post is connected with the third joint module through the third output shaft, and the other side of the supporting upright post is connected with the rectangular rotating frame through a rotating shaft to perform passive rotation; and the joint of the support upright post and the third joint module is provided with the third angular contact ball bearing and the third bearing retainer ring.

4. A tandem surgical robotic system for closed reduction of long bone fractures according to claim 1, wherein: the broken bone distal end holding module comprises a clamping plate component, a holding sleeve, a bone needle and a locking hand wheel; the clamping plate assembly is connected with the holding sleeve, and the bone needle is connected with the holding sleeve and locked by the locking hand wheel; the clamping plate assembly is fixedly connected with the support upright post of the support upright post rotating module, so that six-degree-of-freedom translation and rotation of the broken bone distal holding module are realized.

5. A tandem surgical robotic system for closed reduction of long bone fractures according to claim 1, wherein: the connecting part of the broken bone distal holding module and the supporting upright post is provided with a reset force detection device, and the reset force detection device comprises a six-axis torque sensor and an adapter flange.

6. A tandem surgical robotic system for closed reduction of long bone fractures according to claim 1, wherein: the broken bone proximal end fixing module comprises a movable slide block, a stand column support, a support column, a carbon fiber support rod, a fixed bone needle, a cross connecting piece and a slide block locking hand wheel; the upright post support is fixedly connected with the movable sliding block, the support columns are connected with the upright post support, two groups of support columns are connected through the carbon fiber support rods, and the fixed spicules are connected with the carbon fiber support rods through the cross connecting pieces; the broken bone proximal end fixing module is connected with a guide rail beside an operating table through a movable sliding block and locked through a sliding block locking hand wheel, so that the broken bone proximal end fixing module is held and fixed.

7. A tandem surgical robotic system for closed reduction of long bone fractures according to claim 1, wherein: the movable base module is provided with a box body, a three-degree-of-freedom movable module and a three-degree-of-freedom rotary module controller are arranged in the box body, a power-on button, a switch button and an emergency stop button are arranged in the box body, and an opening is formed in the side face of the box body; the movable base module is provided with a base, and four universal casters and four fixed foot cups are arranged below the base; the movable base module is provided with a connecting frame, the movable base module can be fixedly connected with an operating table through bolt connection, and the robot reset mechanism and the broken bone proximal end fixing mechanism are respectively and fixedly connected with the operating table and a guide rail beside the operating table to form a closed structure.