CN1561923A - Robot assisted bone setting operation medical system with lock marrow internal nail - Google Patents
Robot assisted bone setting operation medical system with lock marrow internal nail Download PDFInfo
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- CN1561923A CN1561923A CNA2004100136296A CN200410013629A CN1561923A CN 1561923 A CN1561923 A CN 1561923A CN A2004100136296 A CNA2004100136296 A CN A2004100136296A CN 200410013629 A CN200410013629 A CN 200410013629A CN 1561923 A CN1561923 A CN 1561923A
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Abstract
A robot aided surgical system for the bone setting operation with the locking intramedullary nail is composed of multifunctional automatic operation bed, robot, bone setting regulator on said robot, bone fixing mechanism, high-accuracy full-automatic X-ray machine with C-shaped arm, navigation robot, robot controller, master hand control station, and slave hand control station.
Description
Technical field:
The present invention relates to the intramedullary nail with lock orthopedic operation by the auxiliary medical system of robot.
Background technology:
It is multiple that the position difference that traditional intramedullary nail with lock orthopedic operation is implemented according to operation is divided into femur, tibia etc., and operating difficulty also is not quite similar.With the femur orthopedic operation is example, and its basic process is: patient's upper body will be fixed on the operation table earlier, two doctors outwards stretch the femur top and the bottom that patient fractures, and are referred to as traction.Doctor's lateral fixation patient's fracture makes it to keep a fixed position then, is referred to as to reset.Traction, reset and finish the back doctor in charge and earlier make a call to a hole at the joint end of femur one end, so that implant length and the similar intramedullary pin of femur length, then in distal femur and near-end percutaneous perforation (general 4), so that intramedullary pin is fixed on the skeleton with pinning.In the intramedullary pin locking process, mainly adopt clinically at present: free-hand aiming locking under the C arm machine, mechanical type far-end locking sight, laser beam guiding, active tracking mode computer navigation surgery systems etc.Free-hand aiming locking not only needs the doctor to have very high operation skill and abundant clinical experience under the C arm machine, and need use C arm machine to take pictures continually, and radiation damage is big, and the factor of artificial disturbance simultaneously is many.The doctor in charge uses electric hand drill to punch on femur during operation, because more, the complex contour of femoral component muscle, the doctor in charge can not with the naked eye directly observe the position that electric hand drill pierces, must often electric hand drill be withdrawn, use X-ray machine to observe the situation of boring, determine the direction and the degree of depth of creeping into next time according to the photograph situation.Therefore operating time doctor long, that participate in is more, and the doctor can be subjected to the irradiation of X-ray for a long time.Because anaesthetic can't arrive medullary cavity inside, electric hand drill repeatedly passes in and out medullary cavity, has increased patient's misery greatly in addition.Be to reduce radiation damage, few with or without C arm machine, mechanical type far-end locking sight has obtained using widely.But mechanical type locking sight is generally installed complexity, and deformation takes place easily, cause sight and intramedullary pin position relation to change, be difficult to find accurately the position of distal lockhole, increase the difficulty and the additional injuries of operation, got back to free-hand aiming locking under the C arm machine sometimes even again.And the sight of different manufacturers can only lock the intramedullary pin of own producer, do not possess versatility.Computer navigation system under the optical alignment needs large-scale Computer Image Processing hardware, software and special-purpose operating theater instruments, needs engineers and technicians' guidance, has limited doctor's subjective initiative, and has cost an arm and a leg, and is difficult to promote.
Summary of the invention:
The purpose of this invention is to provide a kind of robot auxiliary band lock intramedullary nail orthopedic operation medical system, it has highly versatile, good operation effect, reduce surgery cost, alleviate patient's misery, reduce doctor's radiation damage, realize the simulation teaching training of orthopedic operation and the characteristics of teletherapy.The present invention is by forming from hands end 80 and main hands end 70, from hands end 80 by medical reduction by traction parallel robot 1, bonesetting guiding mechanism 2, bonesetting resetting-mechanism 3, the full-automatic C shape of high accuracy arm X-ray machine 4, navigating robot 5, ccd video camera 6, high speed image acquisition board 7, graphics processing unit 8, mechanism controls unit 9, position sensor 10, force transducer 11, position data acquisition card 12, robot controller 13, servo, power control unit 14, multi-functional automatic operation table 15, from hand control station 16, position sensor 10 ', force transducer 11 ', position data acquisition card 12 ', robot controller 13 ', servo, power control unit 14 ' composition; Main hands end 70 is by main hand control station 17, virtual operation artificial system 18, monitor 19, distant operation main hands 20 in parallel, force transducer 11 ", position data acquisition card 12 ", robot controller 13 ", servo, power control unit 14 ", position sensor 10 ", graphics processing unit 8 ' form; Be arranged on the distolateral of multi-functional automatic operation table 15 from the medical reduction by traction parallel robot 1 of hands end 80, bonesetting guiding mechanism 2 is arranged on the medical reduction by traction parallel robot 1, bonesetting fixed mechanism 3 is arranged on the side on the multi-functional automatic operation table 15, the full-automatic C shape of high accuracy arm X-ray machine 4 is located at the avris of multi-functional automatic operation table 15, navigating robot 5 is located at another avris of multi-functional automatic operation table 15, the outfan of the full-automatic C shape of high accuracy arm X-ray machine 4 is connected with the input a of high speed image acquisition board 7, the outfan of ccd video camera 6 is connected with the input b of high speed image acquisition board 7, the outfan of high speed image acquisition board 7 is connected with the input of graphics processing unit 8, the outfan of graphics processing unit 8 is connected with input z from hand control station 16, the bidirectional port C of mechanism controls unit 9 is connected with the bidirectional port of CCD photographic head 6, the bidirectional port d of mechanism controls unit 9 is connected with the bidirectional port of the full-automatic C shape of high accuracy arm X-ray machine 4, the bidirectional port y of mechanism controls unit 9 is connected with bidirectional port k from hand control station 16, the outfan of position sensor 10 is connected with the input e of position data acquisition card 12, the Ausgang of position sensor 10 is connected with the input of navigating robot 5, the outfan of navigating robot 5 is connected with the input of force transducer 11, the outfan of force transducer 11 is connected with the input of position data acquisition card 12, the outfan of position data acquisition card 12 is connected with the input h of robot controller 13, the outfan of robot controller 13 and servo, the input of power control unit 14 is connected, servo, the outfan of power control unit 14 is connected with the input g of navigating robot 5, the bidirectional port j of robot controller 13 is connected with bidirectional port m from hand control station 16, medical reduction by traction and connect outfan and position sensor 10 in the robot 1 ' input be connected, position sensor 10 ' outfan and position data acquisition card 12 ' input be connected, position data acquisition card 12 ' outfan and robot controller 13 ' input be connected, robot controller 13 ' outfan and servo, power control unit 14 ' input be connected, servo, power control unit 14 ' outfan be connected with the input of medical reduction by traction parallel robot 1, the outfan o of medical reduction by traction parallel robot 1 and force transducer 11 ' input be connected, force transducer 11 ' outfan and position data acquisition card 12 ' input p be connected, the bidirectional port q of robot controller 13 is connected with bidirectional port n from hand control station 16; The outfan and force transducer 11 of the distant operation main hands 20 in parallel of main hands end 70 " input be connected; the input S of force transducer 11 " outfan and position data acquisition card 12 " is connected; the outfan r of distant operation main hands 20 in parallel and position sensor 10 " input be connected, the input of position sensor 10 " outfan and position data acquisition card 12 " is connected, the input of position data acquisition card 12 " outfan and robot controller 13 " is connected, robot controller 13 " outfan and servo; power control unit 14 " input be connected, servo, power control unit 14 " outfan be connected with the input of distant operation main hands 20 in parallel; robot controller 13 " bidirectional port be connected with the bidirectional port at main hand control station 17, the outfan w at main hand control station 17 is connected with the input of virtual operation artificial system 18, the outfan t at main hand control station 17 and graphics processing unit 8 ' input be connected, graphics processing unit 8 ' outfan and the outfan of virtual operation artificial system 18 insert monitor 19 jointly; Be connected by network 90 between hand control station 16 and the main hand control station 17.The present invention has following advantage: the protection medical personnel; The doctor needn't work under the irradiation of X-ray, has reduced " being subjected to line " chance.Have versatility, be fit to the intramedullary pin operation of any producer, good operation effect.More effective by the surgery planning result that computer expert system is determined according to image information than the surgery planning that human brain rule of thumb forms, and the location of robot and kinematic accuracy be than the high several magnitude of staff, operation precision height.Reduce surgery cost: patient's postoperative rehabilitation cycle is short, and the patient in strange land avoided round travelling expenses, has saved expense greatly.Alleviate patient's misery: operation wound is little, and a reduction just can meet the demands the misery of having avoided second operation to bring to patient.Remote intervention: mutual by the network information, even the patient of remote districts also can obtain long-range expert's diagnosis and treatment, local doctor also can obtain expert's indication.The operation teaching and training; 80% operation error is that anthropic factor causes, so operative training is of crucial importance.The doctor can be on system of virtual operation the expert viewer operation process, also can repeat practice, make the time of operation training shorten dramatically, reduced demand simultaneously to the expensive experimental object.
Description of drawings:
Fig. 1 is a structural representation of the present invention, Fig. 2 is the operating position sketch map of medical reduction by traction parallel robot 1 and the full-automatic C shape of high accuracy arm X-ray machine 4 and multi-functional automatic operation table 15 and navigating robot 5, Fig. 3 is the structural representation of medical reduction by traction parallel robot 1, Fig. 4 is the structural representation of the full-automatic C shape of high accuracy arm X-ray machine 4, and Fig. 5 is the structural representation of multi-functional automatic operation table 15.
The specific embodiment:
(referring to Fig. 1, Fig. 2) present embodiment is by forming from hands end 80 and main hands end 70, from hands end 80 by medical reduction by traction parallel robot 1, bonesetting guiding mechanism 2, bonesetting resetting-mechanism 3, the full-automatic C shape of high accuracy arm X-ray machine 4, navigating robot 5, ccd video camera 6, high speed image acquisition board 7, graphics processing unit 8, mechanism controls unit 9, position sensor 10, force transducer 11, position data acquisition card 12, robot controller 13, servo, power control unit 14, multi-functional automatic operation table 15, from hand control station 16, position sensor 10 ', force transducer 11 ', position data acquisition card 12 ', robot controller 13 ', servo, power control unit 14 ' composition; Main hands end 70 is by main hand control station 17, virtual operation artificial system 18, monitor 19, distant operation main hands 20 in parallel, force transducer 11 ", position data acquisition card 12 ", robot controller 13 ", servo, power control unit 14 ", position sensor 10 ", graphics processing unit 8 ' form; Be arranged on the distolateral of multi-functional automatic operation table 15 from the medical reduction by traction parallel robot 1 of hands end 80, bonesetting guiding mechanism 2 is arranged on the medical reduction by traction parallel robot 1, bonesetting fixed mechanism 3 is arranged on the side on the multi-functional automatic operation table 15, the full-automatic C shape of high accuracy arm X-ray machine 4 is located at the avris of multi-functional automatic operation table 15, navigating robot 5 is located at another avris of multi-functional automatic operation table 15, the outfan of the full-automatic C shape of high accuracy arm X-ray machine 4 is connected with the input a of high speed image acquisition board 7, the outfan of ccd video camera 6 is connected with the input b of high speed image acquisition board 7, the outfan of high speed image acquisition board 7 is connected with the input of graphics processing unit 8, the outfan of graphics processing unit 8 is connected with input z from hand control station 16, the bidirectional port C of mechanism controls unit 9 is connected with the bidirectional port of CCD photographic head 6, the bidirectional port d of mechanism controls unit 9 is connected with the bidirectional port of the full-automatic C shape of high accuracy arm X-ray machine 4, the bidirectional port y of mechanism controls unit 9 is connected with bidirectional port k from hand control station 16, the outfan of position sensor 10 is connected with the input e of position data acquisition card 12, the Ausgang of position sensor 10 is connected with the input of navigating robot 5, the outfan of navigating robot 5 is connected with the input of force transducer 11, the outfan of force transducer 11 is connected with the input of position data acquisition card 12, the outfan of position data acquisition card 12 is connected with the input h of robot controller 13, the outfan of robot controller 13 and servo, the input of power control unit 14 is connected, servo, the outfan of power control unit 14 is connected with the input g of navigating robot 5, the bidirectional port j of robot controller 13 is connected with bidirectional port m from hand control station 16, medical reduction by traction and connect outfan and position sensor 10 in the robot 1 ' input be connected, position sensor 10 ' outfan and position data acquisition card 12 ' input be connected, position data acquisition card 12 ' outfan and robot controller 13 ' input be connected, robot controller 13 ' outfan and servo, power control unit 14 ' input be connected, servo, power control unit 14 ' outfan be connected with the input of medical reduction by traction parallel robot 1, the outfan o of medical reduction by traction parallel robot 1 and force transducer 11 ' input be connected, force transducer 11 ' outfan and position data acquisition card 12 ' input p be connected, the bidirectional port q of robot controller 13 is connected with bidirectional port n from hand control station 16; The outfan and force transducer 11 of the distant operation main hands 20 in parallel of main hands end 70 " input be connected; the input S of force transducer 11 " outfan and position data acquisition card 12 " is connected; the outfan r of distant operation main hands 20 in parallel and position sensor 10 " input be connected, the input of position sensor 10 " outfan and position data acquisition card 12 " is connected, the input of position data acquisition card 12 " outfan and robot controller 13 " is connected, robot controller 13 " outfan and servo; power control unit 14 " input be connected, servo, power control unit 14 " outfan be connected with the input of distant operation main hands 20 in parallel; robot controller 13 " bidirectional port be connected with the bidirectional port at main hand control station 17, the outfan w at main hand control station 17 is connected with the input of virtual operation artificial system 18, the outfan t at main hand control station 17 and graphics processing unit 8 ' input be connected, graphics processing unit 8 ' outfan and the outfan of virtual operation artificial system 18 insert monitor 19 jointly; Be connected by network 90 between hand control station 16 and the main hand control station 17.(referring to Fig. 3) medical reduction by traction parallel robot 1 is by upper mounting plate 21, Hooke's hinge side chain 22, Hooke's hinge 23, ball-screw apparatus 24, shaft coupling 25, connect platform 26, bracing frame 27, lower platform 28, motor 29 is formed, bracing frame 27 is fixed on and connects between platform 26 and the lower platform 28, motor 29 is fixed on the downside of lower platform 28, the lower end of shaft coupling 25 is connected with the output shaft of motor 29, the upper end of shaft coupling 25 is connected with the lower end of ball-screw apparatus 24, the upper end of ball-screw apparatus 24 is connected with the lower end of Hooke's hinge 23, the top of Hooke's hinge 23 is connected with the lower end of Hooke's hinge side chain 22, and the downside of the top of Hooke's hinge side chain 22 and upper mounting plate 21 is hinged.(referring to Fig. 4), the full-automatic C shape of high accuracy arm X-ray machine 4 by y to driving mechanism 30, y to drive mechanism 31, guard shield 32, z to drive mechanism 33, z to driving mechanism 34, horizontally rotate driving mechanism 35, vertical rotary drive mechanism 36, C shape arm bracing frame 37, C shape arm 38, C shape guide rail 39, X-ray discharger 40, C shape arm driving mechanism 41, X-ray receiving system 42, elevating translational mechanism 43, line slideway 44, base 45, x and form to driving mechanism 46.Line slideway 44 is located on the base 45, y is arranged on the line slideway 44 to drive mechanism 31, y is fixed on y on a side of drive mechanism 31 to driving mechanism 30, x is fixed on the bottom of y to drive mechanism 31 to driving mechanism 46, z is fixed on the top of y to drive mechanism 31 to drive mechanism 33, z is fixed on the outer upper of z to drive mechanism 33 to driving mechanism 34, elevating translational mechanism 43 is fixed on z to the y of the drive mechanism 33 1 sides top to drive mechanism 31, z is provided with guard shield 32 to drive mechanism 33 and z to the outside of driving mechanism 34, horizontally rotate driving mechanism 35 and be arranged on the top of elevating translational mechanism 43, vertical rotary drive mechanism 36 is arranged on the top that horizontally rotates driving mechanism 35, C shape arm bracing frame 37 is fixed on the side that horizontally rotates driving mechanism 35, C shape arm driving mechanism 41 is fixed in the C shape arm bracing frame 37, C shape arm 38 is located on the outside of C shape arm bracing frame 37 and C shape arm driving mechanism 41, C shape guide rail 39 is fixed on the C shape arm 38, X-ray discharger 40 is fixed on the upper end of C shape arm 38, and X-ray receiving system 42 is fixed on the lower end of C shape arm 38.(referring to Fig. 5) multi-functional automatic operation table 15 is by a backboard 47, traction bumping post 48, switching mechanism 49, thigh plate 50, calf plate 51, turning mechanism 52 under the calf plate, bed surface switching mechanism 53, y is to translation mechanism 54, x is to translation mechanism 55, base 56, motor 58, support 59, z forms to translation mechanism 60, x is fixed on base 56 upsides to translation mechanism 55, y is fixed on the side of x to translation mechanism 55 tops to translation mechanism 54, z is fixed on the top of y to translation mechanism 54 to translation mechanism 60, z has support 59 to the external stability of translation mechanism 60, z is fixed with motor 58 to the bottom of translation mechanism 60, backboard 47 is located at the upper end of support 59, one side of thigh plate 50 is connected with an end of a backboard 47 by switching mechanism 49, the opposite side of thigh plate 50 is connected with calf plate 51 by turning mechanism under the calf plate 52, traction bumping post 48 is fixed on the last plane of a backboard 47 of thigh plate 50 1 sides, and bed surface switching mechanism 53 is fixed on the support 59 of thigh plate 50 1 sides and with the bottom of a backboard 47 and is connected.
Surgical procedure:
1, by auxiliary equipment such as bonesetting guiding mechanism 2, bonesetting fixed mechanisms 3, the patient is fixed on the multi-functional automatic operation table 15.
2, the relative position relation between multi-functional automatic operation table 15 of adjustment and the medical reduction by traction parallel robot 1, pretension.
3, the doctor is in main hands end distant control mechanism controls unit 9, the x-ray image of patient's knochenbruch is taken in driving from the full-automatic C shape of the high accuracy of hands end arm X-ray machine 4, after high speed image acquisition board 7 is gathered, delivering to graphics processing unit 8 handles, obtain the information at the disconnected place of bone, and digitized, then by from hand control station 16 by network delivery to main hand control station 17, be presented on the monitor 19.
4, the doctor is according to digital information and x-ray image, and operation plan is determined in the planning that undergos surgery.
5, the doctor according to simulation result, makes amendment to operation plan, till satisfaction by the whole process of virtual operation artificial system 18 demonstration operations.
6, the doctor is according to operation plan, by the medical reduction by traction parallel robot 1 of distant operation main hands 20 controls in parallel, medical reduction by traction parallel robot 1 finishes traction under the driving of robot controller 13 and servo, power control unit 14, reset etc., and bonesetting is moved at main hands end.Position sensor 10 on the medical reduction by traction parallel robot 1 of position data acquisition card 12 collections ' and force transducer 11 ' information, feed back to main hand control station 17, again by the position sensor 10 on the distant operation main hands 20 in parallel ", force transducer 11 ", position data acquisition card 12 ", robot controller 13 " and servo, power control unit 14 " acting on the distant operation main hands 20 in parallel; make the doctor have the sensation of power, just looks like that the operation that do it yourself is the same;
7, the full-automatic C shape of control high accuracy arm X-ray machine 4, take patient's knochenbruch place image, confirm traction, reset effect.
8, after traction, reset effect reached requirement, the doctor manually inserted medullary cavity with intramedullary nail with lock.
9, the full-automatic C shape of control high accuracy arm X-ray machine 4, take the photo that comprises intramedullary pin near-end and distal lockhole, after Flame Image Process, determine position and the spatial attitude of each lockhole at image space.
10, the Coordinate Conversion of image space, robot space, operative space.
11, according to the robot location and the attitude information that obtain, drive navigating robots 5 and move to the relevant position by the position sensor on the navigating robot 5 10, force transducer 11, position data acquisition card 12, robot controller 13 and servo, power control unit 14, (position and attitude) aims at each lockhole from the space to make the end effector of navigating robot 5.
12, the doctor finishes boring (or directly holed by robot) under the robot navigation.
13, the doctor inserts pinning, stitching, post surgery treatment.
14, operation finishes.
15, whole surgery is carried out under ccd video camera 6 monitors.
Claims (4)
1, robot auxiliary band lock intramedullary nail orthopedic operation medical system, it is by forming from hands end (80) and main hands end (70), from hands end (80) by medical reduction by traction parallel robot (1), bonesetting guiding mechanism (2), bonesetting resetting-mechanism (3), the full-automatic C shape of high accuracy arm X-ray machine (4), navigating robot (5), ccd video camera (6), high speed image acquisition board (7), graphics processing unit (8), mechanism controls unit (9), position sensor (10), force transducer (11), position data acquisition card (12), robot controller (13), servo, power control unit (14), multi-functional automatic operation table (15), from hand control station (16), position sensor (10 '), force transducer (11 '), position data acquisition card (12 '), robot controller (13 '), servo, power control unit (14 ') is formed; It is characterized in that main hands end (70) by main hand control station (17), virtual operation artificial system (18), monitor (19), distant operation main hands in parallel (20), force transducer (11 "), position data acquisition card (12 "), robot controller (13 "), servo, power control unit (14 "), position sensor (form by 10 "), graphics processing unit (8 '); Be arranged on the distolateral of multi-functional automatic operation table (15) from the medical reduction by traction parallel robot (1) of hands end (80), bonesetting guiding mechanism (2) is arranged on the medical reduction by traction parallel robot (1), bonesetting fixed mechanism (3) is arranged on the side on the multi-functional automatic operation table (15), the full-automatic C shape of high accuracy arm X-ray machine (4) is located at the avris of multi-functional automatic operation table (15), navigating robot (5) is located at another avris of multi-functional automatic operation table (15), the outfan of the full-automatic C shape of high accuracy arm X-ray machine (4) is connected with the input (a) of high speed image acquisition board (7), the outfan of ccd video camera (6) is connected with the input (b) of high speed image acquisition board (7), the outfan of high speed image acquisition board (7) is connected with the input of graphics processing unit (8), the outfan of graphics processing unit (8) is connected with input (z) from hand control station (16), the bidirectional port (C) of mechanism controls unit (9) is connected with the bidirectional port of CCD photographic head (6), the bidirectional port (d) of mechanism controls unit (9) is connected with the bidirectional port of the full-automatic C shape of high accuracy arm X-ray machine (4), the bidirectional port (y) of mechanism controls unit (9) is connected with bidirectional port (k) from hand control station (16), the outfan of position sensor (10) is connected with the input (e) of position data acquisition card (12), the outfan (f) of position sensor (10) is connected with the input of navigating robot (5), the outfan of navigating robot (5) is connected with the input of force transducer (11), the outfan of force transducer (11) is connected with the input of position data acquisition card (12), the outfan of position data acquisition card (12) is connected with the input (h) of robot controller (13), the outfan of robot controller (13) and servo, the input of power control unit (14) is connected, servo, the outfan of power control unit (14) is connected with the input (g) of navigating robot (5), the bidirectional port (j) of robot controller (13) is connected with bidirectional port (m) from hand control station (16), medical reduction by traction and the outfan that connects in the robot (1) are connected with the input of position sensor (10 '), the outfan of position sensor (10 ') is connected with the input of position data acquisition card (12 '), the outfan of position data acquisition card (12 ') is connected with the input of robot controller (13 '), the outfan of robot controller (13 ') and servo, the input of power control unit (14 ') is connected, servo, the outfan of power control unit (14 ') is connected with the input of medical reduction by traction parallel robot (1), the outfan (o) of medical reduction by traction parallel robot (1) is connected with the input of force transducer (11 '), the outfan of force transducer (11 ') is connected with the input (p) of position data acquisition card (12 '), and the bidirectional port (q) of robot controller (13) is connected with bidirectional port (n) from hand control station (16); (input of 11 ") is connected; the input (S) of the outfan of force transducer (11 ") and position data acquisition card (12 ") is connected; (input of 10 ") is connected the outfan of distant operation main hands in parallel (20) with position sensor for the outfan of the distant operation of main hands end (70) main hands in parallel (20) and force transducer, the input of the outfan of position sensor (10 ") and position data acquisition card (12 ") is connected, the input of the outfan of position data acquisition card (12 ") and robot controller (13 ") is connected, robot controller (the outfan of 13 ") and servo; (input of 14 ") is connected the power control unit, servo, (outfan of 14 ") is connected with the input of distant operation main hands in parallel (20) the power control unit; (bidirectional port of 13 ") is connected with the bidirectional port at main hand control station (17) robot controller, the outfan (w) at main hand control station (17) is connected with the input of virtual operation artificial system (18), the outfan (t) at main hand control station (17) is connected with the input of graphics processing unit (8 '), and the outfan of the outfan of graphics processing unit (8 ') and virtual operation artificial system (18) inserts monitor (19) jointly; Be connected by network (90) between hand control station (16) and the main hand control station (17).
2, robot according to claim 1 auxiliary band lock intramedullary nail orthopedic operation medical system, it is characterized in that medical reduction by traction parallel robot (1) is by upper mounting plate (21), Hooke's hinge side chain (22), Hooke's hinge (23), ball-screw apparatus (24), shaft coupling (25), connect platform (26), bracing frame (27), lower platform (28), motor (29) is formed, bracing frame (27) is fixed on and connects between platform (26) and the lower platform (28), motor (29) is fixed on the downside of lower platform (28), the lower end of shaft coupling (25) is connected with the output shaft of motor (29), the upper end of shaft coupling (25) is connected with the lower end of ball-screw apparatus (24), the upper end of ball-screw apparatus (24) is connected with the lower end of Hooke's hinge (23), the top of Hooke's hinge (23) is connected with the lower end of Hooke's hinge side chain (22), and the downside of the top of Hooke's hinge side chain (22) and upper mounting plate (21) is hinged.
3, robot according to claim 1 auxiliary band lock intramedullary nail orthopedic operation medical system, it is characterized in that the full-automatic C shape of high accuracy arm X-ray machine (4) by y to driving mechanism (30), y is to drive mechanism (31), guard shield (32), z is to drive mechanism (33), z is to driving mechanism (34), horizontally rotate driving mechanism (35), vertical rotary drive mechanism (36), C shape arm bracing frame (37), C shape arm (38), C shape guide rail (39), X-ray discharger (40), C shape arm driving mechanism (41), X-ray receiving system (42), elevating translational mechanism (43), line slideway (44), base (45), x forms to driving mechanism (46), line slideway (44) is located on the base (45), y is arranged on the line slideway (44) to drive mechanism (31), y is fixed on y on a side of drive mechanism (31) to driving mechanism (30), x is fixed on the bottom of y to drive mechanism (31) to driving mechanism (46), z is fixed on the top of y to drive mechanism (31) to drive mechanism (33), z is fixed on the outer upper of z to drive mechanism (33) to driving mechanism (34), elevating translational mechanism (43) is fixed on z to the y of drive mechanism (33) the one sides top to drive mechanism (31), z is provided with guard shield (32) to drive mechanism (33) and z to the outside of driving mechanism (34), horizontally rotate driving mechanism (35) and be arranged on the top of elevating translational mechanism (43), vertical rotary drive mechanism (36) is arranged on the top that horizontally rotates driving mechanism (35), C shape arm bracing frame (37) is fixed on the side that horizontally rotates driving mechanism (35), C shape arm driving mechanism (41) is fixed in the C shape arm bracing frame (37), C shape arm (38) is located on the outside of C shape arm bracing frame (37) and C shape arm driving mechanism (41), C shape guide rail (39) is fixed on the C shape arm (38), X-ray discharger (40) is fixed on the upper end of C shape arm (38), and X-ray receiving system (42) is fixed on the lower end of C shape arm (38).
4, robot according to claim 1 auxiliary band lock intramedullary nail orthopedic operation medical system, it is characterized in that multi-functional automatic operation table (15) is by a backboard (47), traction bumping post (48), switching mechanism (49), thigh plate (50), calf plate (51), turning mechanism under the calf plate (52), bed surface switching mechanism (53), y is to translation mechanism (54), x is to translation mechanism (55), base (56), motor (58), support (59), z forms to translation mechanism (60), x is fixed on base (56) upside to translation mechanism (55), y is fixed on the side of x to translation mechanism (55) top to translation mechanism (54), z is fixed on the top of y to translation mechanism (54) to translation mechanism (60), z has support (59) to the external stability of translation mechanism (60), z is fixed with motor (58) to the bottom of translation mechanism (60), backboard (47) is located at the upper end of support (59), one side of thigh plate (50) is connected by the end of switching mechanism (49) with a backboard (47), the opposite side of thigh plate (50) is connected with calf plate (51) by turning mechanism under the calf plate (52), traction bumping post (48) is fixed on the last plane of a backboard (47) of thigh plate (50) one sides, and bed surface switching mechanism (53) is fixed on the support (59) of thigh plate (50) one sides and with the bottom of a backboard (47) and is connected.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2004100136296A CN1259891C (en) | 2004-03-17 | 2004-03-17 | Robot assisted bone setting operation medical system with lock marrow internal nail |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2004100136296A CN1259891C (en) | 2004-03-17 | 2004-03-17 | Robot assisted bone setting operation medical system with lock marrow internal nail |
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| CN1561923A true CN1561923A (en) | 2005-01-12 |
| CN1259891C CN1259891C (en) | 2006-06-21 |
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Cited By (56)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100336636C (en) * | 2005-06-29 | 2007-09-12 | 东南大学 | Motion control device for rehabilitation medical mechanism arm |
| CN100428917C (en) * | 2006-12-21 | 2008-10-29 | 南通大学 | Intramedullary lock pin machining system |
| CN101870107A (en) * | 2010-06-26 | 2010-10-27 | 上海交通大学 | Control system of auxiliary robot of orthopedic surgery |
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