CN209422090U - A kind of bionical digitlization long bone shaft fracture reset robot and bionical reset arm - Google Patents
A kind of bionical digitlization long bone shaft fracture reset robot and bionical reset arm Download PDFInfo
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- CN209422090U CN209422090U CN201821917966.1U CN201821917966U CN209422090U CN 209422090 U CN209422090 U CN 209422090U CN 201821917966 U CN201821917966 U CN 201821917966U CN 209422090 U CN209422090 U CN 209422090U
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Abstract
A kind of bionical digitlization long bone shaft fracture reset robot and bionical reset arm, comprising: upper computer module, operation handle, master board, motor drive module, mechanical execution module, position monitoring feedback module and cabinet；Mechanical execution module includes the bionical reset arm of the bionical reset arm in left side and right side；Operation handle includes left side handle and dextral handle, respectively corresponds the bionical reset arm in control left side and the bionical reset arm in right side；The extreme position of each freedom degree movement of the bionical reset arm of the bionical reset arm in left side and right side of mechanical execution module is arranged in position monitoring feedback module；Master board respectively with upper computer module, operation handle, motor drive module and position monitoring feedback module connection communication.The utility model realizes the quantitative control of digitlization, reduces the radiation injury and physical strength expenditure of operative doctor, reducing operator's individual difference influences reseting precision bring, has clinical value.
Description
Technical field
The utility model belongs to surgical medical equipment field, and in particular to a kind of bionical digitlization long bone shaft fracture reset
Robot and bionical reset arm.
Background technique
With the development of fractures theory, intramedullary nail internal fixation treatment long bone shaft fracture has become goldstandard treatment
Method, operation are broadly divided into reset and fix two steps.Wherein, it resets and mostly uses closed reduction, by simply leading manually
Drawing device or manpower drawing are resetted, can not precise quantification, need the guidance drawing operation of multiple fluoroscopic examination, reseting precision it is low and
It is easy the relative positional relationship, personnel's physical demand at the loss fracture both ends in fixation procedure greatly and keeps personnel sudden and violent in X-ray
Reveal overlong time.
Summary of the invention
Aiming at the problems existing in the prior art or defect, the purpose of this utility model is that proposing a kind of bionical number
Change long bone shaft fracture and resets robot and bionical reset arm, controlled with solving existing homing action shortage precise quantification,
Reset relationship is easy to be lost, X-ray exposure duration is too long and the problems such as personnel's physical strength expenditure is big in art.
To achieve the goals above, the utility model adopts the following technical solution:
A kind of bionical digitlization long bone shaft fracture reset robot, comprising: upper computer module, operation handle, main control
Plate, motor drive module, mechanical execution module, position monitoring feedback module and cabinet；
The upper computer module is arranged on cabinet；
The machinery execution module includes the bionical reset arm of the bionical reset arm in left side and right side, described imitative including left side
Raw reset arm and the bionical reset arm in right side are separately positioned on enclosure top；
The operation handle is arranged on cabinet, including left side handle and dextral handle, and it is bionical to respectively correspond control left side
Reset arm and the bionical reset arm in right side；
The motor drive module includes multiple servo motors, and the multiple servo motor is arranged in mechanical execution module
It is interior；
The bionical reset arm in left side of the mechanical execution module is arranged in the position monitoring feedback module and right side is imitated
The extreme position of the raw each freedom degree movement for resetting arm；
The master board is arranged in cabinet, respectively with upper computer module, operation handle, motor drive module and position
Monitor feedback module connection communication.
Further, the bionical reset arm in the left side includes vertical part and the horizontal part, and the vertical portion includes that setting exists
What left side No.1 screw slide and No. seven servo motors on the left of cabinet drove is arranged in the left side No.1 screw slide
Left side Z axis movable joint；
The horizontal part includes being vertically mounted on the screw slide of left side two of vertical portion bottom and by No. three servo electricity
The left Y-axis movable joint of machine driving being connected in No. two screw slides in left side, the horizontal part further include that fracture proximal end is solid
Dead axle, the left Y-axis movable joint are rigidly fixed with fracture proximal end fixing axle by T-type steel plate structure.
Further, the bionical reset arm in the right side includes vertical part and the horizontal part, and the vertical portion includes that setting exists
Right side No.1 screw slide on the right side of cabinet and the setting driven by No. eight servo motors are in the right side No.1 screw slide
On right side Z axis movable joint, the bottom of the right side No.1 screw slide be provided with right side No. two screw slides, the right side
The right side X-axis movable joint of No. two servo motors driving is provided in No. two screw slides；
The horizontal part includes being vertically mounted on the screw slide of right side three of vertical portion bottom and by No.1 servo electricity
The right Y-axis movable joint of machine driving being connected in No. three screw slides in right side, the horizontal part are also wrapped far from cabinet one end
It includes through motor from top to bottom sequentially connected Z axis rotary module, Y-axis rotary module and X-axis rotary module.
Further, the Z axis rotary module includes that No. four servo motors, No.1 end screw rod, Z axis screw rod and Z axis connect
Mandrel, No.1 end screw rod and Z axis screw rod group are orthogonal screw structure, and the Z axis axis that connects with the heart is rigidly fixed with Y-axis rotary module；
Y-axis rotary module includes that No. five servo motors, No. two end screw rods, Y-axis screw rod and Y-axis connect with the heart axis, No. two ends
Screw rod and Y-axis screw rod group are orthogonal screw structure, and the Y-axis axis that connects with the heart is rigidly fixed with X-axis rotary module；
X-axis rotary module includes that No. six servo motors, No. three end screw rods, X-axis screw rod and X-axis connect with the heart axis, No. three ends
Screw rod and X-axis screw rod group are orthogonal screw structure, and X-axis connects with the heart the fixed fracture distal end fixing axle of axis lower rigid.
Further, there are four the universal wheels for having brake function for setting below the cabinet.
Further, the motion control parameter setting in master board are as follows:
Axial reciprocating moving range: 0mm-120mm, mobile accuracy 0.1mm；
Rotation angle range: ± 30 degree, 0.1 degree of precision；
Maximum drawbar pull: greater than be equal to 500N.
A kind of bionical reset arm resetting robot applied to the bionical digitlization long bone shaft fracture of master-slave mode both arms, packet
Include the bionical reset arm in left side and the bionical reset arm in right side.
Further, the bionical reset arm in the left side includes vertical part and the horizontal part, and the vertical portion includes that setting exists
What left side No.1 screw slide and No. seven servo motors on the left of cabinet drove is arranged in the left side No.1 screw slide
Left side Z axis movable joint；
The horizontal part includes being vertically mounted on the screw slide of left side two of vertical portion bottom and by No. three servo electricity
The left Y-axis movable joint of machine driving being connected in No. two screw slides in left side, the horizontal part further include that fracture proximal end is solid
Dead axle, the left Y-axis movable joint are rigidly fixed with fracture proximal end fixing axle by T-type steel plate structure.
Further, the bionical reset arm in the right side includes vertical part and the horizontal part, and the vertical portion includes that setting exists
Right side No.1 screw slide on the right side of cabinet and the setting driven by No. eight servo motors are in the right side No.1 screw slide
On right side Z axis movable joint, the bottom of the right side No.1 screw slide be provided with right side No. two screw slides, the right side
The right side X-axis movable joint of No. two servo motors driving is provided in No. two screw slides；
The horizontal part includes being vertically mounted on the screw slide of right side three of vertical portion bottom and by No.1 servo electricity
The right Y-axis movable joint of machine driving being connected in No. three screw slides in right side, the horizontal part are also wrapped far from cabinet one end
It includes through motor from top to bottom sequentially connected Z axis rotary module, Y-axis rotary module and X-axis rotary module.
Further, the Z axis rotary module includes that No. four servo motors, No.1 end screw rod, Z axis screw rod and Z axis connect
Mandrel, No.1 end screw rod and Z axis screw rod group are orthogonal screw structure, and the Z axis axis that connects with the heart is rigidly fixed with Y-axis rotary module；
Y-axis rotary module includes that No. five servo motors, No. two end screw rods, Y-axis screw rod and Y-axis connect with the heart axis, No. two ends
Screw rod and Y-axis screw rod group are orthogonal screw structure, and the Y-axis axis that connects with the heart is rigidly fixed with X-axis rotary module；
X-axis rotary module includes that No. six servo motors, No. three end screw rods, X-axis screw rod and X-axis connect with the heart axis, No. three ends
Screw rod and X-axis screw rod group are orthogonal screw structure, and X-axis connects with the heart the fixed fracture distal end fixing axle of axis lower rigid.
By adopting the above technical scheme, the utility model have it is following the utility model has the advantages that
(1) the utility model integrated use material technology, structural mechanics technology, electronic technology, sensor technology and automatic
Control technology shortens in art personnel's X-ray exposure duration, reduces personnel's physical strength expenditure, realizes the quantitative control of digitlization,
The radiation injury and physical strength expenditure for reducing operative doctor, reduce operator's individual difference to reseting precision bring shadow
It rings, and further improves long bone shaft fracture reduction therapy precision, there is important practical significance and clinical value.
(2) the utility model is by structure optimization, using the bionical arm structure of integral type, is guaranteeing that homing action has enough
Freedom degree under conditions of, reduce unnecessary movable joint to greatest extent, to guarantee the accuracy of end homing action, fracture
Left and right ends can carry out accurate relative motion on six-freedom degree, increase reset operation freedom degree, effectively prevent
The few disadvantage of split type resetting structure operation freedom degree, opposite split type structure, motion control is more acurrate, easy to operate, opponent
Art bed adds fixed device without particular/special requirement, without additional, has not only improved the precision of homing action, but also increase and reset operation
Freedom degree.
(3) the utility model can be suitable for the long bones diaphyseal bones such as femur, shin bone, fibula, humerus, ulna, radius well
The reduction therapy of folding carries out image collection, deformation calibration and survey calculation by host computer, not only realizes principal and subordinate and simulates control
Mode, while can be sent out digitizing quantitative reset instruction, the experience difference bring for reducing different operation personnel resets
Resultant error shortens learning time, improves the precision for resetting operation, the Digital Control of realization.It is anti-by position monitoring
It presents module and realizes system security protection, both avoided the accidental injury to patient, in turn avoid the overload damage for resetting robot.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the work-based logic block diagram of the utility model；
Fig. 3 is the left and right both arms biomimetic features schematic diagram of the utility model；
Fig. 4 is right arm rotary module structural schematic diagram.
The meaning of each label in figure are as follows:
1- upper computer module, 2- handrail, bionical reset arm on the left of 7-, bionical reset arm on the right side of 8-, 9- universal wheel,
10- cabinet；No. tri- 21- left side handle, 22- dextral handle, 41- No.1 servo motor, No. bis- servo motors of 42-, 43- servo electricity
Machine, No. tetra- servo motors of 44-, No. five servo motors of 45-, No. six servo motors of 46-, the left side 71- Z axis movable joint, the left side 72-
Y-axis movable joint, 73- fracture proximal end fixing axle, the right side 81- Z axis movable joint, the right side 82- X-axis movable joint, the right side 83- Y
The fixed fracture distal end axis movable joint, 84-Z axis rotary module, 85-Y axis rotary module, 86-X axis rotary module, 87- is fixed
Axis；No.1 screw slide, No. two screw slides in the left side 702-, 721-T shape steel plate structure, the right side 801- No.1 silk on the left of 701-
Thick stick slide unit, No. two screw slides on the right side of 802-, on the right side of 803- No. three screw slides, 841-Z axial filament bar, 842-Z axis connect with the heart axis,
Connect with the heart axis, 861-X axial filament bar, 862-X axis of 851-Y axial filament bar, 852-Y axis connects with the heart axis.
Specific embodiment
Be given below specific embodiment of the present utility model, it should be noted that the utility model be not limited to it is following
Specific embodiment, all equivalent transformations made on the basis of the technical solutions of the present application each fall within the protection scope of the utility model.
In order to preferably describe the embodiments of the present invention, it is illustrated with reference to the accompanying drawing.In the utility model
In, in the absence of explanation to the contrary, the noun of locality used such as " upper and lower " typically refers on the basis of the drawing of respective drawings
Definition, " inside and outside " refers to the inner and outer of corresponding component profile.
In addition, " No.1 ", " No. two ", " No. three " in figure are used for description purposes only, and should not be understood as with priority
Or sequencing.
A kind of bionical digitlization long bone shaft fracture reset robot, comprising: upper computer module 1, operation handle, main control
Plate, motor drive module, mechanical execution module, position monitoring feedback module and cabinet 10；
The upper computer module 1 is mounted on the panel zone on cabinet 10, is connect by serial port data line with master board,
Finishing man-machine interaction work, display, processing, measurement including fluoroscopy images and with the communication of master board, control function；
The operation handle is mounted in the handle fixing base on cabinet 10, has key and deflection, using module
Change design, powers on and afterwards periodically transmit handle key-press status and deflection state to main control according to the data packet format of agreement
Plate；
The machinery execution module includes the bionical reset arm 8 of the bionical reset arm 7 in left side and right side, the operation handle
The bionical reset arm 7 in control left side and the bionical reset arm 8 in right side are respectively corresponded including left side handle 21 and dextral handle 22,
The traction to fracture site is realized by controlling the two bionical reset arms generation relative position variations, is aligned to line, rotation
Turn to wait homing actions；
The motor drive module includes multiple servo motors, and the multiple servo motor is arranged in mechanical execution module
Mechanical execution module is driven to be moved；
Position monitoring feedback module is arranged in bionical multiple in the bionical reset arm 7 in the left side of mechanical execution module 5 and right side
The extreme position of each freedom degree movement of position arm 8 is periodically held machinery by shielding line and master board connection communication
The location information of row module 5 is sent to master board, when instrument execution module reaches pole in some or multiple directions of motion
When extreme position, the signal output in the corresponding direction of motion is closed in master board, while sending information to upper computer module 1, is updated
Human-computer interaction interface status information reminds operative doctor operation unreasonable, avoids mechanical execution module beyond normal operating range
It causes to damage to patient or equipment, belongs to safety protection module.
Preferably, the position monitoring feedback module is multichannel photosensitive sensor.
The master board is mounted on the fixed frame inside cabinet 10, respectively with upper computer module 1, operation handle, electricity
Machine drive module and position monitoring feedback module connection communication.
The long bone shaft fracture of the utility model resets robot, by structure optimization, using the bionical both arms knot of integral type
Structure reduces unnecessary movable joint under conditions of guaranteeing that homing action has enough freedom degrees to greatest extent, to guarantee end
The accuracy of homing action is held, fracture left and right ends can carry out accurate relative motion on six-freedom degree, increase multiple
Bit manipulation freedom degree effectively prevents the few disadvantage of split type resetting structure operation freedom degree, opposite split type structure, movement control
Make it is more acurrate, it is easy to operate, to operating bed without particular/special requirement, add fixed device without additional, both improve homing action
Precision, and increase the freedom degree for resetting operation.Process and feature are resetted by analysis and summary long bone shaft fracture, seeks common ground and deposits
Different, this system can be suitable for the reduction therapy of the long bones shaft fractures such as femur, shin bone, fibula, humerus, ulna, radius well.
Image collection, deformation calibration and survey calculation are carried out by host computer, not only realizes principal and subordinate's analog control mode, while may be used also
Quantitative reset instruction is digitized to issue, the experience difference bring for reducing different operation personnel resets resultant error, shortens
Learning time improves the precision for resetting operation, the Digital Control of realization.System is realized by position monitoring feedback module
Security protection had both avoided the accidental injury to patient, in turn avoided the overload damage for resetting robot.
The utility model resets robot as a kind of bionical digitlization long bone shaft fracture, integrated use material technology,
Structural mechanics technology, electronic technology, sensor technology and automatic control technology shorten in art personnel's X-ray exposure duration, drop
Low personnel's physical strength expenditure realizes the quantitative control of digitlization, reduces the radiation injury and physical strength expenditure of operative doctor, reduces
Operator's individual difference influences reseting precision bring, and further improves long bone shaft fracture reduction therapy essence
Degree has important practical significance and clinical value.
Specifically, the bionical reset arm 7 in left side includes vertical part and the horizontal part, the vertical portion includes being arranged in machine
The left side No.1 screw slide 701 in 10 left side of case and the setting driven by No. seven servo motors are sliding in the left side No.1 lead screw
Left side Z axis movable joint 71 on platform 701；The horizontal part includes the lead screw cunning of left side two for being vertically mounted on vertical portion bottom
Platform 702 and the left Y-axis movable joint being connected in No. two screw slides 702 in left side driven by No. three servo motors 43
72, the horizontal part further includes fracture proximal end fixing axle 73, and the left Y-axis movable joint 72 and fracture proximal end fixing axle 73 are logical
T shape steel plate structure 721 is crossed to rigidly fix.
Specifically, the bionical reset arm 8 in right side includes vertical part and the horizontal part, the vertical portion includes being arranged in machine
The right side No.1 screw slide 801 on 10 right side of case and the setting driven by No. eight servo motors are sliding in the right side No.1 lead screw
Right side Z axis movable joint 81 on platform 801, it is sliding that the bottom of the right side No.1 screw slide 801 is provided with the lead screw of right side two
Platform 802 is provided with the right side X-axis movable joint of No. two servo motors 42 driving in the screw slide 802 of the right side two
82；The horizontal part includes being vertically mounted on the screw slide 803 of right side three of vertical portion bottom and by No.1 servo motor
The right Y-axis movable joint 83 of 41 drivings being connected in No. three screw slides 803 in right side, the horizontal part is far from cabinet 10 1
End further includes by motor from top to bottom sequentially connected Z axis rotary module 84, Y-axis rotary module 85 and X-axis rotary module 86.
Specifically, the bionical reset arm 7 in left side can back and forth be moved in front and back (Y-axis), upper and lower (Z axis) two axis directions
Dynamic, the bionical reset arm 8 in right side can be moved back and forth in left and right (X-axis), front and back (Y-axis), upper and lower (Z axis) three axis directions,
Also can make clockwise or counterclockwise around three axis.
Z axis rotary module 84 includes that No. four servo motors 44, No.1 end screw rod, Z axis screw rod 841 and Z axis connect with the heart axis
842, No.1 end screw rod and 841 groups of screw structures that are orthogonal of Z axis screw rod, Z axis connect with the heart 85 rigidity of axis 842 and Y-axis rotary module
It is fixed.
Y-axis rotary module 85 includes that 45, No. two end screw rods of No. five servo motors, Y-axis screw rod 851 and Y axis connect with the heart axis
852, No. two end screw rods and 851 groups of screw structures that are orthogonal of Y-axis screw rod, Y-axis connect with the heart 86 rigidity of axis 852 and X-axis rotary module
It is fixed.
X-axis rotary module 86 includes that 46, No. three end screw rods of No. six servo motors, X-axis screw rod 861 and X axis connect with the heart axis
862, No. three end screw rods and 861 groups of screw structures that are orthogonal of X-axis screw rod, X-axis connect with the heart the fixed fracture of 862 lower rigid of axis far
Hold fixing axle 87.
Specifically, in order to preferably conduct spinning movement, fracture proximal end fixing axle 73 and fracture distal end fixing axle 87 are adopted
It is process with six-edged steel, this design enables fixing axle preferably to form rigid connection with fixator for orthopedics department tool.
Specifically, being arranged below the cabinet 10 there are four the universal wheel 9 for having brake function, facilitate adjustment equipment position
It sets, shift and fixes.It is additionally provided with handrail 2 on the cabinet 10, opens the brake of universal wheel 9, both hands hold the handrail 2 can be with
Meaning pushes adjustment position, and the brake that universal wheel 9 is stepped on after the completion of adjustment prevents voluntary activity.
Specifically, the bionical reset arm 8 of the bionical reset arm 7 in left side and right side is connected in cabinet 10 by rigid structure
It connects, is moved with guaranteeing that the two can drive fracture site completion accurately to reset in the case where overcoming muscle and soft tissue to pull loading condiction
Make.
Specifically, the vertical part and the horizontal part of the bionical reset arm 7 in left side of the machinery execution module and right side are imitative
The raw vertical part and the horizontal part for resetting arm 8 is all made of high strength steel, T-type structure is respectively welded into, to increase by two, structure
The rigidity of bionical reset arm horizontal part.
Preferably, each junction selects length in the steel rectangular cubic shape of 12mm-60mm, coincide tight, integral rigidity
Well, deformation is small under conditions of bearing larger load, can guarantee reseting precision.
Specifically, power module is mounted in cabinet 10, upper computer module 1, master board and motor driven mould are given respectively
Block provides stable power supply.
Specifically, motion control parameter setting are as follows: axial reciprocating moving range: 0mm-120mm, mobile accuracy 0.1mm；Rotation
Gyration range: ± 30 degree, 0.1 degree of precision；Maximum drawbar pull: greater than be equal to 500N.
The workflow of the utility model presented below:
After the completion of conventional Preoperative Method and anesthesia, the proximal end bone of long bone fracture and proximal end fixing axle 73 of fracturing in Fig. 3 are led to
It crosses fixed frame to be rigidly fixed, distal end fixing axle 87 of fracturing in the distal bone of long bone fracture and Fig. 3 is carried out by fixed frame
It rigidly fixes.
Operative doctor obtains positive side position fluoroscopy images by upper computer module 1 and analyzes measurement, passes through left and right two first
The left and right two that main operation handle controls mechanical execution module carries out preliminary reset operation from bionical reset arm, later again thoroughly
It is measured depending on analysis, quantitative reset instruction is sent by upper computer module 1, complete accurate reset, finally perspective confirmation is multiple again
Position effect.
The command information of master board real-time monitoring main operation handle in operating process, when the long period is without effective operation
It is judged to operating suspension, starts functions of child lock, if you need to operation handle again, it is necessary to first presses specific Macintosh unlock activation hand
Then handle can continue operation control and reset.
Claims (10)
1. a kind of bionical digitlization long bone shaft fracture resets robot characterized by comprising upper computer module (1), operation
Handle, master board, motor drive module, mechanical execution module, position monitoring feedback module and cabinet (10)；
The upper computer module (1) is arranged on cabinet (10)；
The machinery execution module includes the bionical reset arm (8) of the bionical reset arm (7) in left side and right side, and described includes left side
The bionical reset arm (8) of bionical reset arm (7) and right side is separately positioned at the top of cabinet (10)；
The operation handle is arranged on cabinet (10), including left side handle (21) and dextral handle (22), respectively corresponds control
The bionical reset arm (8) of the bionical reset arm (7) in left side and right side；
The motor drive module includes multiple servo motors, and the multiple servo motor is arranged in mechanical execution module；
The position monitoring feedback module be arranged in the mechanical execution module the bionical reset arm (7) in left side and right side it is bionical
Reset the extreme position of each freedom degree movement of arm (8)；
Master board setting in cabinet (10), respectively with upper computer module (1), operation handle (2), motor drive module
With position monitoring feedback module connection communication.
2. bionical digitlization long bone shaft fracture as described in claim 1 resets robot, which is characterized in that the left side is imitative
Raw reset arm (7) include vertical part and the horizontal part, and the vertical portion includes the left side No.1 silk being arranged on the left of cabinet (10)
Left side Z axis movement of the setting of thick stick slide unit (701) and the driving of No. seven servo motors on the left side No.1 screw slide (701)
Joint (71)；
The horizontal part includes being vertically mounted on the screw slide (702) of left side two of vertical portion bottom and by No. three servo electricity
The left Y-axis movable joint (72) of machine (43) driving being connected on No. two screw slides (702) in left side, the horizontal part also wrap
Fracture proximal end fixing axle (73) is included, the left Y-axis movable joint (72) is hardened by T-steel with fracture proximal end fixing axle (73)
Structure (721) rigidly fixes.
3. bionical digitlization long bone shaft fracture as described in claim 1 resets robot, which is characterized in that the right side is imitative
Raw reset arm (8) include vertical part and the horizontal part, and the vertical portion includes the right side No.1 silk being arranged on the right side of cabinet (10)
The right side Z axis of thick stick slide unit (801) and the setting driven by No. eight servo motors on the right side No.1 screw slide (801)
Movable joint (81), the bottom of the right side No.1 screw slide (801) is provided with No. two screw slides (802) in right side, described
The right side X-axis movable joint (82) of No. two servo motors (42) driving is provided on the screw slide (802) of right side two；
The horizontal part includes being vertically mounted on the screw slide (803) of right side three of vertical portion bottom and by No.1 servo electricity
The right Y-axis movable joint (83) of machine (41) driving being connected on No. three screw slides (803) in right side, the horizontal part are separate
Cabinet (10) one end further include by motor from top to bottom sequentially connected Z axis rotary module (84), Y-axis rotary module (85) and
X-axis rotary module (86).
4. bionical digitlization long bone shaft fracture as claimed in claim 3 resets robot, which is characterized in that the Z axis rotation
Revolving die block (84) includes that No. four servo motors (44), No.1 end screw rod, Z axis screw rod (841) and Z axis connect with the heart axis (842), No.1
End screw rod and Z axis screw rod (841) group are orthogonal screw structure, Z axis connect with the heart axis (842) and Y-axis rotary module (85) it is rigidly solid
It is fixed；
Y-axis rotary module (85) includes that No. five servo motors (45), No. two end screw rods, Y-axis screw rod (851) and Y-axis connect with the heart axis
(852), No. two end screw rods and Y-axis screw rod (851) group are orthogonal screw structure, and Y-axis connects with the heart axis (852) and X-axis rotary module
(86) it rigidly fixes；
X-axis rotary module (86) includes that No. six servo motors (46), No. three end screw rods, X-axis screw rod (861) and X-axis connect with the heart axis
(862), No. three end screw rods and X-axis screw rod (861) group are orthogonal screw structure, and X-axis connects with the heart the fixed bone of axis (862) lower rigid
It rolls over distal end fixing axle (87).
5. bionical digitlization long bone shaft fracture as described in claim 1 resets robot, which is characterized in that the cabinet
(10) there are four the universal wheels (9) for having brake function for lower section setting.
6. bionical digitlization long bone shaft fracture as described in claim 1 resets robot, which is characterized in that in master board
Motion control parameter setting are as follows:
Axial reciprocating moving range: 0mm-120mm, mobile accuracy 0.1mm；
Rotation angle range: ± 30 degree, 0.1 degree of precision；
Maximum drawbar pull: greater than be equal to 500N.
7. a kind of bionical reset arm for resetting robot applied to bionical digitlization long bone shaft fracture, which is characterized in that packet
Include the bionical reset arm (7) in left side and the bionical reset arm (8) in right side.
8. bionical reset arm as claimed in claim 7, which is characterized in that the bionical reset arm (7) in left side includes perpendicular
Straight portion and horizontal part, the setting that the vertical portion includes left side No.1 screw slide (701) and No. seven servo motors drive is in institute
State the left side Z axis movable joint (71) in left side No.1 screw slide (701)；
The horizontal part includes being vertically mounted on the screw slide (702) of left side two of vertical portion bottom and by No. three servo electricity
The left Y-axis movable joint (72) of machine (43) driving being connected on No. two screw slides (702) in left side, the horizontal part also wrap
Fracture proximal end fixing axle (73) is included, the left Y-axis movable joint (72) is hardened by T-steel with fracture proximal end fixing axle (73)
Structure (721) rigidly fixes.
9. bionical reset arm as claimed in claim 7, which is characterized in that the bionical reset arm (8) in right side includes perpendicular
Straight portion and horizontal part, the vertical portion include right side No.1 screw slide (801) and the setting by the driving of No. eight servo motors
Right side Z axis movable joint (81) on the right side No.1 screw slide (801), the right side No.1 screw slide (801)
Bottom be provided with No. two screw slides (802) in right side, be provided with No. two on the screw slide (802) of the right side two and watch
Take the right side X-axis movable joint (82) of motor (42) driving；
The horizontal part includes being vertically mounted on the screw slide (803) of right side three of vertical portion bottom and by No.1 servo electricity
The right Y-axis movable joint (83) of machine (41) driving being connected on No. three screw slides (803) in right side, the horizontal part are separate
Cabinet (10) one end further include by motor from top to bottom sequentially connected Z axis rotary module (84), Y-axis rotary module (85) and
X-axis rotary module (86).
10. bionical reset arm as claimed in claim 9, which is characterized in that the Z axis rotary module (84) includes No. four and watches
It takes motor (44), No.1 end screw rod, Z axis screw rod (841) and Z axis to connect with the heart axis (842), No.1 end screw rod and Z axis screw rod
(841) group is orthogonal screw structure, and the Z axis axis (842) that connects with the heart is rigidly fixed with Y-axis rotary module (85)；
Y-axis rotary module (85) includes that No. five servo motors (45), No. two end screw rods, Y-axis screw rod (851) and Y-axis connect with the heart axis
(852), No. two end screw rods and Y-axis screw rod (851) group are orthogonal screw structure, and Y-axis connects with the heart axis (852) and X-axis rotary module
(86) it rigidly fixes；
X-axis rotary module (86) includes that No. six servo motors (46), No. three end screw rods, X-axis screw rod (861) and X-axis connect with the heart axis
(862), No. three end screw rods and X-axis screw rod (861) group are orthogonal screw structure, and X-axis connects with the heart the fixed bone of axis (862) lower rigid
It rolls over distal end fixing axle (87).
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109498141A (en) * | 2018-11-20 | 2019-03-22 | 中国人民解放军第四军医大学 | A kind of master-slave mode both arms bionical digitlization long bone shaft fracture reset robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109498141A (en) * | 2018-11-20 | 2019-03-22 | 中国人民解放军第四军医大学 | A kind of master-slave mode both arms bionical digitlization long bone shaft fracture reset robot |
| CN109498141B (en) * | 2018-11-20 | 2024-04-02 | 中国人民解放军第四军医大学 | Master-slave double-arm bionic digital long bone diaphysis fracture reduction robot |
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