CN204246228U - Orthopedic robot and intelligent reset system - Google Patents
Orthopedic robot and intelligent reset system Download PDFInfo
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- CN204246228U CN204246228U CN201420316902.1U CN201420316902U CN204246228U CN 204246228 U CN204246228 U CN 204246228U CN 201420316902 U CN201420316902 U CN 201420316902U CN 204246228 U CN204246228 U CN 204246228U
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Abstract
This utility model relates to a kind of orthopedic robot and intelligent reset system, for resetting to the suffering limb of long bone closed fracture or joint dislocation patient, comprise: orthopedic robot, its mechanical arm is provided with bionic mechanical hand, this mechanical hand comprises metacarpophalangeal joints, interphalangeal joint and thumb joint, and can cooperatively interact grasping suffering limb; Image system, for being taken pictures to described suffering limb by X-ray, with the image information of the fracture or dislocation position that obtain described suffering limb; And control station, for receiving and showing described image information, to make operator can control described orthopedic robot according to described image information, thus by the mechanical arm of described orthopedic robot, manual reduction is implemented to described suffering limb.Can implement to stretch to the suffering limb of long bone closed fracture or joint dislocation patient according to the orthopedic robot of this utility model embodiment and intelligent reset system, rotate, lift and the manual reduction such as docking, achieve no-wound mechanicalization reset.
Description
Technical field
This utility model relates to human body long bone fracture or joint dislocation reduction field, and particularly relate to a kind of orthopedic robot and intelligent reset system, wherein this orthopedic robot and intelligent reset system also can be used as the assistant of bone surgery operating doctor.
Background technology
Fracture is frequently-occurring disease, commonly encountered diseases in wound field, and wherein the extremity fracture of closure is particularly common.Traditional Chinese medical science bonesetting, manual reduction succession for many years, are one of rarities of Chinese medicine.But the reset effect of this traditional method reduction depends critically upon the clinical experience and technical capability etc. of doctor, and reset effect has very large uncertainty.
Thus, the anatomy reduction that increasing doctor and patient select reset effect comparatively stable, is namely cut fracture outer skin by operation, then utilizes internal fixtion utensil auxiliary reset.But, the open reduction that this modern western scientific medical is praised highly, have because wholistic therapy needs second operation that the course of disease is long, problem costly, and operation may bring some unpredictable sequela such as shallow, the deep seated infections of soft tissue injury and wound surface.
In the face of the intrinsic defect of open reduction, domestic scholars starts to explore carries out mechanization reset to fracture or joint dislocation position under fluoroscopy, with expect can to realize when not carrying out open reduction to fracture or reduction of joint dislocation accurate.
Such as patent publication No. is that the Chinese invention patent application of CN 103505275A discloses a kind of Intelligent reduction system for long bone fracture, wherein computer operating system controls reposition machine mechanical arm according to the fluoroscopy images of fracture site, make five axis robot in reposition machine mechanical arm drive fracture site to carry out positive and negative two-direction moving, inclination and rotation on X-axis, Y-axis, Z axis, thus complete the homing action correcting various displacement fracture.
But, when utilizing this Intelligent reduction system for long bone fracture to reset, need to squeeze into 2-4 piece of locking pin respectively at the nearside of fracturing and distally bone section, and holds frame, with the displacement making five axis robot can be controlled fracture end by these two bone sections holding framves by two bone sections that bar pin folder and the connecting rod of exterior fixation bracket form nearly section, section far away separate.Obviously visible, this still may bring certain soft tissue injury to patient.
In other words, achieve the mechanization of perspective lower Wicresoft in prior art at the most and reset, and do not realize having an X-rayed the reset of lower no-wound mechanicalization.
Meanwhile, we find in clinical position, and except operating doctor, bone surgery also needs at least 1 ~ 2 doctors to draw suffering limb constantly usually, and this not only consumes quality time and the muscle power of doctor greatly, is also difficult to guarantee stable traction effect.
Utility model content
technical problem
In view of this, the technical problems to be solved in the utility model is, how to realize having an X-rayed lower no-wound mechanicalization and resets, can not only guarantee to reset accurately and reliably, also effectively reduce patient suffering.
solution
In order to solve the problems of the technologies described above, according to an embodiment of the present utility model, in first aspect, provide a kind of orthopedic robot, for resetting to the suffering limb of long bone closed fracture or joint dislocation patient, comprise fuselage and at least two mechanical arms, and each described mechanical arm comprises: shoulder joint 101, it is mounted to described fuselage via shoulder joint nodal axisn, can move horizontally relative to described fuselage and rotate around described shoulder joint nodal axisn; Upper arm 102, its upper end is mounted to the side of described shoulder joint 101, can rotate around described shoulder joint 101; Elbow joint 103, its upper end is arranged on the lower end of described upper arm 102; Forearm 104, its upper end is arranged on the lower end of described elbow joint 103, can with described elbow joint 103 for fulcrum rotates; Carpal joint 105, its side is arranged on the lower end of described forearm 104, can move horizontally relative to described forearm 104; And mechanical hand 106, it is arranged on the opposite side of described carpal joint 105, can with described carpal joint 105 for fulcrum rotates, wherein, described mechanical hand 106 comprises metacarpophalangeal joints 1063, interphalangeal joint 1062 and thumb joint 1064, and described metacarpophalangeal joints 1063, described interphalangeal joint 1062 and described thumb joint 1064 cooperatively interact and can grasp described suffering limb.
For above-mentioned orthopedic robot, in a kind of possible implementation, the palm medial surface of described metacarpophalangeal joints 1063, interphalangeal joint 1062 and thumb joint 1064 is provided with sliding pressure sensor.
For above-mentioned orthopedic robot, in a kind of possible implementation, the palm medial surface of described metacarpophalangeal joints 1063, interphalangeal joint 1062 and thumb joint 1064 is provided with flexible material, described flexible material comprises air bag, silica gel, and described sliding pressure sensor is arranged on described flexible material.
For above-mentioned orthopedic robot, in a kind of possible implementation, described at least two mechanical arms comprise two main frame mechanical arm at the fracture for grasping described suffering limb or two ends of dislocating.
For above-mentioned orthopedic robot, in a kind of possible implementation, described at least two mechanical arms also comprise at least one subsidiary engine mechanical arm at the fracture for gripping described suffering limb or position of dislocating.
For above-mentioned orthopedic robot, in a kind of possible implementation, described fuselage comprises: head 111, and it is for carrying each described mechanical arm; Machine dry 112, it is connected with described head 111 one-tenth spin-orbit-type, for supporting described head 111; And support 113, it is connected with the dry 112 one-tenth slide rail types of described machine, for supporting described machine dry 112.
For above-mentioned orthopedic robot, in a kind of possible implementation, in described machine dry 112, be provided with lift cylinder and radial rotary part, make described head 111 can carry out being elevated and rotary motion relative to described machine dry 112.
For above-mentioned orthopedic robot, in a kind of possible implementation, described support 113 is at least two point form brace type design along the longitudinal direction, and the rear point of described support 113 is configured with universal caster wheel 113a.
In order to solve the problems of the technologies described above, according to another embodiment of the present utility model, in second aspect, provide a kind of intelligent reset system, for resetting to the suffering limb of long bone closed fracture or joint dislocation patient, comprising: the orthopedic robot according to this utility model any embodiment; Image system, for being taken pictures to described suffering limb by X-ray, with the image information of the fracture or dislocation position that obtain described suffering limb; And control station, for receiving and showing described image information, to make operator can control described orthopedic robot according to described image information, thus by the mechanical arm of described orthopedic robot, manual reduction is implemented to described suffering limb.
For above-mentioned intelligent reset system, in a kind of possible implementation, on the fuselage of described orthopedic robot with described mechanical arm homonymy be provided with C shape track 111a, described image system releasably can be installed on described C shape track 111a via C-arm 121.
For above-mentioned intelligent reset system, in a kind of possible implementation, described control station is cabinet type, and is arranged with x-ray protection device.
For above-mentioned intelligent reset system, in a kind of possible implementation, described operation table comprises: bed surface 131; Base 132; And column 133, connect described bed surface 131 and described base 132, and be built-in with lifting shaft 133a and the cylinder for controlling described lifting shaft 133a.
For above-mentioned intelligent reset system, in a kind of possible implementation, described base 132 is provided with castor 132a and locker 132b.
For above-mentioned intelligent reset system, in a kind of possible implementation, described bed surface 131 combines integrally mounted by headrest-plate, upper limb plate, torso plates, hip-laying plate and lower limb plate, and is provided with the mobile adjustment of different angles between each described plate.
beneficial effect
By being provided with bionic mechanical hand on the mechanical arm of orthopedic robot, and this mechanical hand comprises metacarpophalangeal joints, interphalangeal joint and thumb joint, thus can suffering limb be grasped, manual reduction can be implemented to the suffering limb of long bone closed fracture or joint dislocation patient according to the orthopedic robot of this utility model embodiment and intelligent reset system, achieve no-wound mechanicalization to reset, can not only guarantee to reset accurately and reliably, also effectively reduce the misery of patient.
In addition, also can be used as the assistant of operating doctor in bone surgery according to the orthopedic robot of this utility model embodiment and intelligent reset system, to draw the suffering limb of long bone fracture patient constantly, can not only guarantee that traction effect is stablized, also make only to need an operating doctor just can complete most operation techniques.In addition, in a kind of possible application, also can draw patient according to the orthopedic robot of this utility model embodiment and intelligent reset system, to treat the disease of the dorsal column systems such as intervertebral disk hernia.
According to below with reference to the accompanying drawings to detailed description of illustrative embodiments, further feature of the present utility model and aspect will become clear.
Accompanying drawing explanation
Comprise in the description and form the accompanying drawing of a part for description and description together illustrates exemplary embodiment of the present utility model, characteristic sum aspect, and for explaining principle of the present utility model.
Fig. 1 illustrates the overall construction drawing of the intelligent reset system according to this utility model one embodiment;
Fig. 2 illustrates the structure chart of the members of the orthopedic robot according to this utility model one embodiment; And
Fig. 3 illustrates the structure chart of the another members of the orthopedic robot according to this utility model one embodiment.
reference numerals list
101: shoulder joint 102: upper arm 103: elbow joint 104: forearm
105: carpal joint 106: mechanical hand 1062: interphalangeal joint 1064: thumb joint
111: head 111a:C shape track 112: machine dry 113: support
113a: universal caster wheel 121:C arc 122a, 122b:X ray camera shooting device
123:X ray generator 131: bed surface 132: base 132a: castor
132b: locker 133: column 133a: lifting shaft 1011: shoulder axle
1011a: shoulder cylinder 1012: bearing 1013: central shaft 1014: telescopic shaft
1014a: shoulder axle cylinder 1015: pedestal 1016: shoulder shell 1021: upper arm axle
1022: spindle nose 1023: support bar 1024: stretch
1031: stretch connector 1032: ancon connector 1033: elbow joints
1034: forearm connector 1041: front knee-joint hole 1042: joint backplate
1043: rotate footstalk 1044: rotating shaft 1044a, 1044b: cylinder
1045: outer shaft 1046: adnexa frame plate 1051: cantilevered axle
1052: sliding axle 1052a: motor 1052b: sensor
1053: wrist axle sleeve 1054: shaft-cup 1061: palm palm frame
1061a: cylinder 1063: metacarpophalangeal joints 1065: palm thumb connecting axle
Detailed description of the invention
The purpose of this utility model is to improve constantly and improve for the Therapeutic Method of limbs long bone closed fracture or joint dislocation and therapeutic effect in field of orthopaedics, and makes it reach a desirable standardized medical skill.
This utility model provides a kind of intelligent reset system, i.e. a kind of standardization reduction system for resetting to the suffering limb of long bone closed fracture or joint dislocation patient, novelty by gas, electricity, machine, the multidisciplinary pooled applications of shadow to Medical orthopaedic field, this system comprises: orthopedic robot, image system and control station.Wherein, described orthopedic robot is for implementing manual reduction, described image system is used for being taken pictures to described suffering limb by X-ray, with the image of the fracture or dislocation position that obtain described suffering limb and morphologic information, described control station is used for receiving and showing described image information, to make operator can control described orthopedic robot according to described image information, thus by the mechanical arm of described orthopedic robot, manual reduction is implemented to described suffering limb.
According to intelligent reset system of the present utility model for human limb particularly long bone closed fracture (comminuted fracture except serious) or joint dislocation, good Diagnosis and Treat can be obtained, fracture or joint dislocation reduction accuracy rate high, really achieve no-wound mechanicalization reset.And whole diagnosis and treatment process is simplified, and decreases repetitive operation, easy to utilize.Compared with resetting with internal fixation operation, the expense of patient, Shorten the Treatment Process reduce the misery of patient can be reduced.
Various exemplary embodiment of the present utility model, characteristic sum aspect is described in detail below with reference to accompanying drawing.The same or analogous element of Reference numeral presentation function identical in accompanying drawing.Although the various aspects of embodiment shown in the drawings, unless otherwise indicated, accompanying drawing need not be drawn in proportion.
Word " exemplary " special here means " as example, embodiment or illustrative ".Here need not be interpreted as being better than or being better than other embodiment as any embodiment illustrated by " exemplary ".
In addition, in order to better this utility model is described, in detailed description of the invention hereafter, give numerous details.It will be appreciated by those skilled in the art that do not have some detail, this utility model can be implemented equally.In some instances, the method known for those skilled in the art, means, element and circuit are not described in detail, so that highlight purport of the present utility model.
Fig. 1 is the overall construction drawing of the intelligent reset system according to this utility model one embodiment, as shown in Figure 1, the described orthopedic robot for resetting to the suffering limb of long bone closed fracture or joint dislocation patient can comprise fuselage and at least two mechanical arms, and each described mechanical arm comprises: shoulder joint 101, upper arm 102, elbow joint 103, forearm 104, carpal joint 105 and mechanical hand 106.Wherein, upper arm 102 is connected with described fuselage via shoulder joint 101, can praise, translational motion relative to described fuselage; Forearm 104 is connected with described upper arm 102 via elbow joint 103, can do flexion and extension relative to described upper arm 102; Mechanical hand 106 is connected with described forearm 104 via carpal joint 105, can bend and stretch relative to described forearm 104, fine motion translation, rotary motion, and can to grasp.
In a kind of possible implementation, shoulder joint 101 is mounted to described fuselage via shoulder joint nodal axisn, can move horizontally relative to described fuselage.Particularly, as shown in Figure 2, described shoulder joint 101 can comprise shoulder axle 1011, bearing 1012, central shaft 1013 and telescopic shaft 1014, wherein, described shoulder axle 1011 close-fitting is installed on described bearing 1012, described bearing 1012 and described central shaft 1013 close-fitting are installed on pedestal 1015, described shoulder axle 1011 rotates around described shoulder joint nodal axisn under the effect of shoulder cylinder 1011a, thus drive the relatively described fuselage of upper arm 102 to praise motion, described telescopic shaft 1014 is built-in with shoulder axle cylinder 1014a or micro motor, thus described shoulder joint 101 is moved horizontally relative to fuselage.In addition, shoulder joint 101 can comprise shoulder shell 1016, and close-fitting is installed on described bearing 1012, and the electronic or pneumatic element controlling shoulder joint 101 motion can be built in shoulder shell 1016.
In a kind of possible implementation, upper arm 102 upper end is mounted to the side of described shoulder joint 101, can rotate around described shoulder joint 101.Particularly, as shown in Figure 2, described upper arm 102 can comprise arm axle 1021, spindle nose 1022, support bar 1023 and stretch 1024, wherein, described upper arm axle 1021 forms as one with described shoulder axle 1011, thus can be praised by the upper arm axle 1021 that rotarily drives of shoulder axle 1011, described upper arm axle 1021 is connected with described spindle nose 1022 reducing, and the end face of described spindle nose 1022 is fixedly connected with described support bar 1023 and described stretch 1024.
In a kind of possible implementation, elbow joint 103 upper end is arranged on the lower end of described upper arm 102.Particularly, as shown in Figure 2, described elbow joint 103 can comprise stretch connector 1031, ancon connector 1032, elbow joints 1033 and forearm connector 1034, wherein said stretch connector 1031 is connected with described stretch 1024, described stretch connector 1031 is connected with described elbow joints 1033 via described ancon connector 1032, and described support bar 1023 can be connected with described forearm connector 1034 via described elbow joints 1033.
In a kind of possible implementation, forearm 104 upper end is arranged on the lower end of described elbow joint 103, can with described elbow joint 103 for fulcrum rotates.Particularly, as shown in Figure 3, described forearm 104 can comprise front knee-joint hole 1041, joint backplate 1042, rotate footstalk 1043 and rotating shaft 1044, wherein, described front knee-joint hole 1041 and described joint backplate 1042 are connected with described forearm connector 1034 orientation, described rotation footstalk 1043 and described rotating shaft 1044 are installed on adnexa frame plate 1046, described adnexa frame plate 1046 is also provided with cylinder 1044a, 1044b of controlling described rotating shaft 1044, outside described rotating shaft 1044, outer shaft 1045 can be provided with.
In a kind of possible implementation, carpal joint 105 side is arranged on the lower end of described forearm 104, can move horizontally relative to described forearm 104.Particularly, as shown in Figure 3, described carpal joint 105 can comprise cantilevered axle 1051 and sliding axle 1052, wherein, described cantilevered axle 1051 is connected with described rotating shaft 1044, described sliding axle 1052 is connected with motor 1052a and sensor 1052b, described motor 1052a can control the slip of described sliding axle 1052 based on the sensing result of described sensor 1052b, wrist axle sleeve 1053 can be provided with outside described sliding axle 1052, and be connected with described sliding axle 1052 close-fitting by shaft-cup 1054 with the link place of mechanical hand 106.
In a kind of possible implementation, mechanical hand 106 is arranged on the opposite side of described carpal joint 105, can with described carpal joint 105 for fulcrum rotates, described mechanical hand 106 comprises metacarpophalangeal joints (1063), interphalangeal joint (1062) and thumb joint (1064), described metacarpophalangeal joints (1063), interphalangeal joint (1062) and thumb joint (1064) can grasp described suffering limb, and interphalangeal joint 1062 can the company's of being designed to finger-like or digitate.
When the mechanical hand (preferably can have four) of described orthopedic robot similarly is conventional reset, the double-grip of two doctors is at the two ends at patients with fractures or joint dislocation position.In a kind of possible implementation, mechanical hand can be made up of two funtion parts, Part I is fixing mechanical hand (being positioned at two mechanical hands in outside shown in Fig. 1), two fixing gripper of manipulators are held in the two ends at patients with fractures or joint dislocation position, while playing fixing suffering limb, primary responsibility stretching and drawing, rotate, praise and the function such as docking.Part II is movable mechanical hand (being positioned at two mechanical hands of inner side shown in Fig. 1), movable mechanical hand can complete grasping, extruding, slightly the function such as wave, fracture or joint dislocation face is helped to form good touching, reset and docking, to ensure carrying out smoothly of fracture reduction operation.
Mechanical hand due to activity will complete the motion of grasping to suffering limb, torsion and in the vertical direction.Need when designing to consider that psychological correction (removes the sense of depression in space, fear or in order to pursue the psychological need such as attractive in appearance and the correction size done), the factors such as function correction (guarantee realizes a certain function of product and the correction size done the body dimension's percent as product design foundation) and the minimum functional dimension of product (guarantee realizes a certain function of product and the product minimum dimension set), diameter as the finger part (1062 and 1064) of mechanical hand can be set to 10mm ~ 20mm, substantially the needs of forearm fracture or dislocation can be met.Finger part can semicircular in shape, to be more conducive to grasp.Distance between fixing mechanical hand and the mechanical hand of activity can adjust arbitrarily.In actual applications, mechanical hand can be divided into Multiple Type according to the difference of size, and be designed to support the use with carpal joint.Preferably, as described in Figure 1, the geomery of four mechanical hands can be the same with mobility.
The mechanism that the movement of fixing mechanical hand in the vertical direction is connected with spline housing by spline can realize, the mechanism being connected to fixing mechanical hand is similar with the structure of movable mechanical hand, but the length of stretching out is longer than the latter, to ensure when completing synthetism action, the axis of the axis of the finger semicircle of fixing mechanical hand and the finger semicircle of movable mechanical hand is basic coincidence, occurs that little deviation can be finely tuned by electric pushrod and the motor be connected with leading screw.
In a kind of possible implementation, as shown in Figure 3, described mechanical hand 106 can also comprise palm frame 1061 and palm thumb connecting axle 1065, wherein, described palm frame 1061 and described wrist axle sleeve 1053 one-tenth fast-connecting types even fill, described interphalangeal joint 1062 is connected to described palm frame 1061 via described metacarpophalangeal joints 1063, described thumb joint 1064 is connected to described palm frame 1061 via described palm thumb connecting axle 1065, described palm frame 1061 is also provided with the cylinder 1061a controlling described interphalangeal joint 1062 and described thumb joint 1064.
Fixing mechanical hand can be consistent with the cylinder selected by movable mechanical hand, preferably, the double-acting cylinder that cylinder bore is the CM2 series of 32mm can be chosen, the cylinder of this model is compact, light-duty, rustless steel cylinder barrel series cylinder, has that cost is low, efficiency is high, pollute less, be convenient to the features such as control.
The power of mechanical hand 106 when grasping suffering limb and reversing is unsuitable excessive, grasping demand can be met, grip is provided by cylinder 1061a, the size of grip is determined by the atmospheric pressure of cylinder diameter and work, cylinder the position difference residing for fracture or joint dislocation can regulate grip, the counteracting force that fracture or joint dislocation position provide simultaneously also can feed back cylinder, make the grip of mechanical hand can control in suitable scope, both can not due to grip too small and cause grasp insecure, patient will be made to produce pain because grip is too large again.
Therefore, in a kind of possible implementation, the palm medial surface of described metacarpophalangeal joints (1063), interphalangeal joint (1062) and thumb joint (1064) is provided with the control set for adjusting such as sliding pressure sensor, intelligent display instrument.When specifically carrying out synthetism operation, first the size of the required power applied tentatively is determined according to fracture or the factor such as the situation of joint dislocation and patient age, then the size of mechanical hand applied force is sensed by described sliding pressure sensor, when sliding pressure sensor sense mechanical hand to have a relative motion with suffering limb time, mechanical hand to occur to slide time, then need control cylinder to increase the grip of mechanical hand; When the pressure that sliding pressure sensor senses fracture or joint dislocation position is excessive, then control cylinder reduces the grip of mechanical hand.
In a kind of possible implementation, the side that the palm medial surface of described metacarpophalangeal joints (1063), interphalangeal joint (1062) and thumb joint (1064) namely grasps suffering limb is provided with air bag or silica gel or other soft elastic material, the pain of suffering limb can be alleviated so to a certain extent, improve the comfort level of patient.Sliding pressure sensor under this implementation can be arranged on described air bag or other soft elastic material.
In a kind of possible implementation, described at least two mechanical arms comprise two main frame mechanical arm at the fracture for grasping described suffering limb or two ends of dislocating, and in two main frame mechanical arm, can arrange movable mechanical hand and fixing mechanical hand respectively.
In a kind of possible implementation, described at least two mechanical arms also can comprise at least one subsidiary engine mechanical arm at the fracture for gripping described suffering limb or position of dislocating, preferably, can arrange in main frame mechanical arm and mainly realize drawing, rotate, lift and the fixing mechanical hand (outside) of the reduction function such as docking, subsidiary engine mechanical arm is arranged mainly realize grasping, extruding and the mechanical hand (inner side) of activity of auxiliary reduction function such as slightly to wave.
In a kind of concrete implementation, as shown in Figure 1, described at least two mechanical arms comprise two main frame mechanical arm and two subsidiary engine mechanical arm.These four mechanical arms can be designed as or nonsynchronous electricity synchronous by action, gas circuit controls, minitype cylinder, micro machine can refer to the action control end of connecting axle and palm thumb connecting axle as shoulder, elbow, carpal joint and the palm, each joint and connecting axle adopt precision bearing to be connected.Particularly the mechanical hand of mechanical arm and carpal joint are designed with parallel-moving type stretch function, automatically can control stroke.
In a kind of possible implementation, as shown in Figure 1, described fuselage comprises: head 111, machine dry 112 and support 113, wherein, head 111 is for carrying each described mechanical arm, and machine dry 112 is connected, for supporting described head 111 in spin-orbit-type with described head 111, support 113 is connected in slide rail type with described machine dry 112, for supporting described machine dry 112.
In a kind of possible implementation, as shown in Figure 1, described machine dry 112 adopts metal or nonmetallic materials molding, is provided with lift cylinder and radial rotary part in it, makes described head 111 can carry out being elevated and rotary motion relative to described machine dry 112.
In a kind of possible implementation, as shown in Figure 1, described support 113 is at least two point form brace type design along the longitudinal direction, and the rear point of described support 113 is configured with universal caster wheel 113a.
It should be noted that, above-mentioned cylinder, motor or the motor mentioned, except needs are connected with control element and pneumatic auxiliary, is also connected with pneumatic logic element for completing certain logic function and sensing, conversion, the pneumatic transmitter of process pneumatic signal and signal processing apparatus.
More than the specific descriptions of the orthopedic robot to the intelligent reset system according to this utility model one embodiment, this orthopedic robot comprises multiarticulate universal mechanical arm, bionic mechanical hand, portable support etc. under electric driving force regulation and control, is the body design of intelligent reset system.By being provided with bionic mechanical hand on the mechanical arm of orthopedic robot, and this mechanical hand comprises the palm and refers to and scratch finger, thus can suffering limb be grasped, and then can implement to stretch to the suffering limb of long bone closed fracture or joint dislocation patient, rotate, praise, the manual reduction such as docking, achieve no-wound mechanicalization to reset, can not only guarantee to reset accurately and reliably, effectively can also reduce the misery of patient.
Intelligent reset system according to this utility model one embodiment also comprises image system and control station.Wherein, image system is used for being taken pictures to described suffering limb by X-ray, with the image information of the fracture or dislocation position that obtain described suffering limb.In a kind of possible implementation, on the fuselage of described orthopedic robot with described mechanical arm homonymy be provided with C shape track 111a, described image system releasably can be installed on described C shape track 111a via C-arm 121.Particularly, as shown in Figure 1, described image system comprises X-ray image-pickup device 122a, 122b and x ray generator 123, described C shape track 111a and described mechanical arm are positioned at the homonymy of described fuselage, for installing C-arm 121, described X-ray image-pickup device 122a, 122b are movably installed in the upper end of described C-arm 121, and described x ray generator 123 is installed on the lower end of described C-arm 121.
Above-mentioned image system can instruct the diagnosis of fracture or joint dislocation and fracture or joint dislocation position in location, thus makes doctor's controller mechanical arm of control station side do the relevant motion of reduction, ensure that the accuracy of reset.Particularly, when treating fracture or joint dislocation patient, first can check fracture fracture position or joint dislocation position, type and other concrete conditions by X-ray image-pickup device film making, according to such as two views obtained just, lateral projection, determine the plane of disruption of fracture or the position at joint dislocation position, and the direction of synthetism can be determined with this.
Control station is for receiving and showing the image information that described image system obtains, to make operator can control described orthopedic robot according to described image information, thus by the mechanical arm of described orthopedic robot to described suffering limb enforcement manual reduction.Control station can comprise Electronic control plate, pneumatic control plate, image video output device, export printing equipment, linguistic information plate, aid system, can integrate diagnoses and treatment.Wherein, Electronic control plate and pneumatic panel block are mainly used in controller mechanical arm and do the relevant motion of reduction, image video output device can be display, also can be printer, for the image that the X-ray image-pickup device shown or print described image system obtains.
In a kind of possible implementation, described control station is cabinet type, is arranged with x-ray protection device and can moves, thus can avoid the radiation injury that X-ray causes doctor.
In a kind of possible implementation, as shown in Figure 1, according to fracture or the joint dislocation position difference of patient, patient can be seated at by bed, also can lie low on operation table, be beneficial to carry out reconstructive therapy, can comprise for the described operation table making fracture or joint dislocation patient lie low: bed surface 131, base 132 and column 133.Wherein, column 133 for connecting described bed surface 131 and described base 132, and is built-in with lifting shaft 133a and the cylinder for controlling described lifting shaft 133a, thus controls the distance on bed surface 131 and ground.
In a kind of possible implementation, as shown in Figure 1, described base 132 also can be provided with castor 132a and locker 132b, operation table can be made to move or lock.
In a kind of possible implementation, described bed surface 131 is groundwork district, so be block design without X-ray, described bed surface 131 combines integrally mounted by headrest-plate, upper limb plate, torso plates, hip-laying plate and lower limb plate, and according to reduction work and conventional reduction position, the mobile of different angles can be carried out between each described plate and regulate.Particularly, upper limb plate can have the abduction scope of 0 ° ~ 90 °, and lower limb slab integral can abduction 0 ° ~ 45 °, can flexing 0 ° ~ 90 ° between calf plate and thigh plate.
The intelligent reset system of this utility model embodiment, the point bit instruction of each action can be exported by control station, the each assembly of native system can be commanded first to be in suitable station according to different demand, i.e. quasi-operating status, then start diagnostic instruction, make the x ray generator of image system launch X-ray and via after video conversion by image display or print.The doctor of control station side diagnoses according to the image shown or print, and then starts the reduction that biomimetic manipulator carries out bionical maneuver, and the motor function of biomimetic manipulator controls micro-cylinder to realize by the mode adopting gas, electricity combines.Therefore, the intelligent reset system of this utility model embodiment achieve gas, electricity, shadow instruct under quick diagnosis and the monommechanization for the treatment of.
The action that doctor takes back according to the plane of disruption of skeleton the skeleton split can be realized bionically according to the orthopedic robot of this utility model embodiment and intelligent reset system.The case that data show orthopaedics treatment every day fracture or joint dislocation in general general hospital can reach 25%, and doctor will spend long time and very large energy when doing fracture reduction operation, meanwhile, the misery that patient bears also is very huge.In contrast than, the work that orthopedic robot of the present utility model and intelligent reset system can continue, and duty is relatively stable, can provide one reliably grip ensure the completing of synthetism action, simultaneously, because apply low ray C-arm to monitor in real time, the accuracy of synthetism is higher than staff, the film that doctor can export by observing image system determines that whether the effect of synthetism is satisfactory, this alleviates the workload of doctor and the requirement to doctors experience in an aspect, improves the efficiency of synthetism.Time required for traditional fracture reduction operation is generally at about 30 minutes, under doctor and patient will be exposed to X-ray repeatedly during this period, certain injury can be caused to health, and the time using intelligent reset system of the present utility model to complete this action need is only about 10 minutes, substantially reduce the injury of X-ray to patient, and avoid the injury of X-ray to doctor, the accuracy of synthetism can also be ensured simultaneously.
In addition, superiority of the present utility model is also, it has wide range of applications, such as, can be applied in medical institutions at different levels, vehicle-mounted, boat-carrying, field work, military training or battlefield medical treatment etc.In addition, this Dynamic System is simple, easy to utilize, and compared with operating with internal fixation operation, can reduce the expense of patient thus reduce medical insurance spending.Motherland's medical science and modern science and technology organically combine by this utility model, make Traditional Chinese Medicine modernization and standardization, are suitable for promoting in the world.
The above; be only detailed description of the invention of the present utility model; but protection domain of the present utility model is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that this utility model discloses; change can be expected easily or replace, all should be encompassed within protection domain of the present utility model.Therefore, protection domain of the present utility model should be as the criterion with the protection domain of described claim.
Claims (14)
1. an orthopedic robot, for resetting to the suffering limb of long bone closed fracture or joint dislocation patient, is characterized in that, comprises fuselage and at least two mechanical arms, and each described mechanical arm comprises:
Shoulder joint (101), it is mounted to described fuselage via shoulder joint nodal axisn, can move horizontally relative to described fuselage and rotate around described shoulder joint nodal axisn;
Upper arm (102), its upper end is mounted to the side of described shoulder joint (101), can rotate around described shoulder joint (101);
Elbow joint (103), its upper end is arranged on the lower end of described upper arm (102);
Forearm (104), its upper end is arranged on the lower end of described elbow joint (103), can with described elbow joint (103) for fulcrum rotates;
Carpal joint (105), its side is arranged on the lower end of described forearm (104), can move horizontally relative to described forearm (104); And
Mechanical hand (106), it is arranged on the opposite side of described carpal joint (105), can with described carpal joint (105) for fulcrum rotates,
Wherein, described mechanical hand (106) comprises metacarpophalangeal joints (1063), interphalangeal joint (1062) and thumb joint (1064), and described metacarpophalangeal joints (1063), described interphalangeal joint (1062) and described thumb joint (1064) cooperatively interact and can grasp described suffering limb.
2. orthopedic robot according to claim 1, is characterized in that, the palm medial surface of described metacarpophalangeal joints (1063), interphalangeal joint (1062) and thumb joint (1064) is provided with sliding pressure sensor.
3. orthopedic robot according to claim 2, it is characterized in that, the palm medial surface of described metacarpophalangeal joints (1063), interphalangeal joint (1062) and thumb joint (1064) is provided with flexible material, described flexible material comprises air bag, silica gel, and described sliding pressure sensor is arranged on described flexible material.
4. orthopedic robot according to any one of claim 1 to 3, is characterized in that, described at least two mechanical arms comprise two main frame mechanical arm at the fracture for grasping described suffering limb or two ends of dislocating.
5. orthopedic robot according to claim 4, is characterized in that, described at least two mechanical arms also comprise at least one subsidiary engine mechanical arm at the fracture for gripping described suffering limb or position of dislocating.
6. orthopedic robot according to any one of claim 1 to 3, is characterized in that, described fuselage comprises:
Head (111), it is for carrying each described mechanical arm;
Machine does (112), and it becomes spin-orbit-type to be connected with described head (111), for supporting described head (111); And
Support (113), it becomes slide rail type to be connected with described machine dry (112), for supporting described machine dry (112).
7. orthopedic robot according to claim 6, it is characterized in that, described machine is provided with lift cylinder and radial rotary part in dry (112), makes described head (111) can carry out being elevated and rotary motion relative to described machine dry (112).
8. orthopedic robot according to claim 6, is characterized in that, described support (113) is at least two point form brace type design along the longitudinal direction, and the rear point of described support (113) is configured with universal caster wheel (113a).
9. an intelligent reset system, for resetting to the suffering limb of long bone closed fracture or joint dislocation patient, is characterized in that, comprise:
Orthopedic robot according to any one of claim 1 to 8;
Image system, for being taken pictures to described suffering limb by X-ray, with the image information of the fracture or dislocation position that obtain described suffering limb; And
Control station, for receiving and showing described image information, to make operator can control described orthopedic robot according to described image information, thus implements manual reduction by the mechanical arm of described orthopedic robot to described suffering limb.
10. intelligent reset system according to claim 9, it is characterized in that, on the fuselage of described orthopedic robot with described mechanical arm homonymy be provided with C shape track (111a), described image system releasably can be installed on described C shape track (111a) via C-arm (121).
11. intelligent reset systems according to claim 9, it is characterized in that, described control station is cabinet type, and is arranged with x-ray protection device.
12. intelligent reset systems according to any one of claim 9 to 11, it is characterized in that, described operation table comprises:
Bed surface (131);
Base (132); And
Column (133), connects described bed surface (131) and described base (132), and is built-in with lifting shaft (133a) and the cylinder for controlling described lifting shaft (133a).
13. intelligent reset systems according to claim 12, is characterized in that, described base (132) are provided with castor (132a) and locker (132b).
14. intelligent reset systems according to claim 12, it is characterized in that, described bed surface (131) combines integrally mounted by headrest-plate, upper limb plate, torso plates, hip-laying plate and lower limb plate, and is provided with the mobile adjustment of different angles between each described plate.
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| CN201420316902.1U CN204246228U (en) | 2014-06-13 | 2014-06-13 | Orthopedic robot and intelligent reset system |
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| CN201420316902.1U CN204246228U (en) | 2014-06-13 | 2014-06-13 | Orthopedic robot and intelligent reset system |
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| CN204246228U true CN204246228U (en) | 2015-04-08 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104055563A (en) * | 2014-06-13 | 2014-09-24 | 朱红文 | Robot and intelligent repositing system |
| CN107028661A (en) * | 2017-05-16 | 2017-08-11 | 周国庆 | Full series connection upper and lower extremities pelvic fracture resets robot and remote real_time control system |
| CN107773257A (en) * | 2016-08-24 | 2018-03-09 | 南京普爱医疗设备股份有限公司 | A kind of C-arm for medical X ray machine dismounts transport establishment |
| WO2018209929A1 (en) * | 2017-05-13 | 2018-11-22 | 张荣峰 | Standalone multi-degree-of-freedom reduction robot |
| CN109545020A (en) * | 2018-11-01 | 2019-03-29 | 内蒙古医科大学 | Training device and training method for the reduction of the fracture |
| WO2019090694A1 (en) * | 2017-11-10 | 2019-05-16 | 唐佩福 | Orthopedic surgical robot |
| WO2020088430A1 (en) * | 2018-11-01 | 2020-05-07 | 内蒙古医科大学 | Training apparatus and method for fracture reduction |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104055563A (en) * | 2014-06-13 | 2014-09-24 | 朱红文 | Robot and intelligent repositing system |
| CN107773257A (en) * | 2016-08-24 | 2018-03-09 | 南京普爱医疗设备股份有限公司 | A kind of C-arm for medical X ray machine dismounts transport establishment |
| WO2018209929A1 (en) * | 2017-05-13 | 2018-11-22 | 张荣峰 | Standalone multi-degree-of-freedom reduction robot |
| CN107028661A (en) * | 2017-05-16 | 2017-08-11 | 周国庆 | Full series connection upper and lower extremities pelvic fracture resets robot and remote real_time control system |
| WO2019090694A1 (en) * | 2017-11-10 | 2019-05-16 | 唐佩福 | Orthopedic surgical robot |
| CN109545020A (en) * | 2018-11-01 | 2019-03-29 | 内蒙古医科大学 | Training device and training method for the reduction of the fracture |
| WO2020088430A1 (en) * | 2018-11-01 | 2020-05-07 | 内蒙古医科大学 | Training apparatus and method for fracture reduction |
| US20220020294A1 (en) * | 2018-11-01 | 2022-01-20 | Inner Mongolia Medical University | Training apparatus and method for fracture reduction |
| CN109545020B (en) * | 2018-11-01 | 2024-01-12 | 内蒙古医科大学 | Training device and training method for fracture reduction |
| CN113288436A (en) * | 2021-06-02 | 2021-08-24 | 上海卓昕医疗科技有限公司 | Bone tissue surgery system |
| CN113288436B (en) * | 2021-06-02 | 2022-10-14 | 上海卓昕医疗科技有限公司 | Bone tissue surgery system |
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