CN212416242U - Upper limb closed fracture reduction device based on cooperative robot - Google Patents

Abstract

The application discloses upper limbs closed fracture resetting means based on cooperation robot includes: the base assembly comprises a first workbench and a second workbench higher than the first workbench; the cooperation robot is detachably connected to the top of the first workbench; the displacement platform is arranged at the top of the second workbench; the X-ray machine component is telescopically connected to the front surface of the second workbench and is arranged between the cooperative robot and the displacement platform in the horizontal direction; the affected limb binding assembly comprises a first binding assembly connected to the tail end of the cooperative robot and a second binding assembly connected to the top of the displacement platform; one side of the base component is provided with an operation console. The upper limb closed fracture reduction device based on the cooperative robot can improve the fracture closed reduction success rate, reduce radiation received by doctors, reduce the labor intensity of the doctors and the dependence on the experience of the doctors, and can realize accurate, stable and programmed treatment process.

Description

Upper limb closed fracture reduction device based on cooperative robot

Technical Field

The application relates to the technical field of surgical medical instruments, in particular to an upper limb closed fracture reduction device based on a cooperative robot.

Background

The aging of the Chinese society is aggravated, most of the old people have loose fracture, and the falling frequency is increased, so that the incidence rate of closed fracture of the upper limbs such as the wrists, the elbows and the forearms is higher and higher. The closed fracture of the upper limb is usually reduced by a traditional Chinese medicine bone setting method. The bone-setting manipulation plays an important role in the treatment of bone injuries in traditional Chinese medicine, and is one of four major treatment methods (reduction, fixation, medicine and functional exercise) in orthopedics and traumatology. In the prior art, fracture reduction is carried out by a traditional Chinese medicine bone setting method, but the reduction effect is seriously dependent on the clinical experience and technical capability of doctors, so that the reduction effect has great uncertainty, and the reduction method is not favorable for large-scale popularization in areas with deficient medical resources. Therefore, the upper limb closed fracture reduction device based on the cooperative robot needs to be researched.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects in the technology, the application provides the upper limb closed fracture reduction device based on the cooperative robot.

The technical scheme adopted by the application for solving the technical problem is as follows:

a collaborative robot-based upper limb closed fracture reduction device comprising: the base assembly comprises a first workbench and a second workbench which is connected to the back of the first workbench and is higher than the first workbench; a cooperating robot detachably connected to the first table top, configured to assist a surgeon in completing a fracture reduction of a diseased limb; a displacement platform arranged on the top of the second workbench and used for adjusting the position of the affected limb in the direction of the X, Y axis; the X-ray machine assembly is telescopically connected to the front surface of the second workbench, is configured to shoot a fracture image of the affected limb, and is arranged between the cooperative robot and the displacement platform in the horizontal direction; the affected limb binding assembly comprises a first binding assembly connected to the tail end of the cooperative robot and a second binding assembly connected to the top of the displacement platform; wherein, one side of base subassembly is equipped with operation control cabinet.

Preferably, the X-ray machine assembly includes through servo electronic jar flexible coupling in the positive telescopic link of second workstation, with the telescopic link is connected and is located the regulating arm of telescopic link top, is located the installation arm at regulating arm top, locate the X-ray aircraft nose at installation arm top with locate the installation arm bottom just locates the benchmark seat under the X-ray aircraft nose, wherein, the regulating arm is configured to can adjust the position of installation arm in horizontal direction and vertical direction, place in the servo electronic jar the second workstation.

Preferably, the adjusting arm comprises a connecting arm which is connected with a piston rod of the servo electric cylinder and is close to or far away from the displacement platform along with the movement of the piston rod, a bending rod which is detachably arranged at the top of the connecting arm, a first connecting rod which is pivoted at the top of the bending rod, a second connecting rod which is pivoted at the top of the first connecting rod, and a connecting seat which is pivoted with the second connecting rod; the mounting arm is vertically arranged on the connecting seat, a first pivot shaft is formed between the bending rod and the first connecting rod, a second pivot shaft is formed between the first connecting rod and the second connecting rod, a third pivot shaft is formed between the second connecting rod and the connecting seat, the first pivot shaft and the second pivot shaft are respectively parallel to the movement direction of the piston rod, and the third pivot shaft is perpendicular to the movement direction of the piston rod.

Preferably, the cooperative robot is a six-axis robot, and the cooperative robot includes a fixed seat detachably connected to the top of the first workbench and a terminal connector for connecting the first binding assembly.

Preferably, the first binding component comprises a first semicircular elastic bandage and a supporting plate which is connected with two ends of the first elastic bandage and arranged at the bottom, wherein the supporting plate is horizontally arranged.

Preferably, the second binding component is a second elastic bandage, and the left end and the right end of the second elastic bandage are symmetrically arranged at the top of the displacement platform.

Preferably, the left side and the right side of the second workbench are symmetrically provided with seats.

Preferably, the installation arm including vertical set up in installation arm body on the connecting seat, set firmly in installation arm body top just installs the first support arm of X-ray aircraft nose, set firmly in installation arm body bottom just installs the second support arm of reference seat, wherein, the shaping has the arcwall face on the lateral wall of installation arm body, so that installation arm body is gradually wide setting in the direction at middle part to both ends.

Preferably, the connecting seat includes pin joint portion and joint portion, pin joint portion with the pin joint of second connecting rod, joint portion pass through the pothook joint in pin joint portion to form one and be used for supplying the vertical through hole of wearing to establish of installation arm body, installation arm body can block and locate the through hole, the pothook set firmly in joint portion, be provided with in the pin joint portion with pothook matched with draw-in groove.

Preferably, the clamping portion is a rectangular frame with an opening formed on one edge.

Compared with the prior art, the application has the beneficial effects that: the utility model provides an upper limbs closed fracture resetting means based on cooperation robot realizes along the translation of cooperation robot arm direction and around the rotation of arm axis through cooperation robot, four degrees of freedom of rotation along frontal axis and sagittal axis, realize the displacement, the monitoring and the feedback of rotation angle and applied strength, supplementary doctor carries out the restoration treatment to patient's bone tissue through cooperation robot, modern X line image technique and computer processing technique have been utilized through X ray machine subassembly, carry out characteristic analysis to the affected part, reach the restitution data, then accomplish the treatment through cooperation robot. Can improve the success rate of fracture closed reduction, reduce the radiation on doctors, reduce the labor intensity of doctors and the dependence on the experience of doctors, and realize accurate, stable and programmed treatment process. The application of the medical robot in the traditional Chinese medicine bone fracture treatment is promoted, the standards of the fracture reduction robot and the operation method are established, and the manual reduction robot is popularized to various hospitals.

Drawings

FIG. 1 is an isometric view of the overall structure of the present application;

FIG. 2 is a schematic diagram of the positional relationship among the base assembly, the cooperative robot, and the X-ray machine assembly in the present application;

FIG. 3 is a schematic diagram of an X-ray machine assembly according to the present application;

FIG. 4 is an enlarged schematic view of region A in FIG. 3;

fig. 5 is a schematic diagram of a positional relationship between the engaging portion and the hook in the present application.

In the figure: 100-a base assembly; 110 — a first stage; 120-a second stage; 200-a displacement platform; 300-a cooperative robot; 310-a fixed seat; 320-end connector; 400-X-ray machine components; 410-a telescoping rod; 420-an adjustment arm; 421-connecting arm; 422-bending the rod; 423-first link; 424-second link; 425-a connecting seat; 4251-pivot joint part; 4252-a clamping part; 4253-hook; 430-a mounting arm; 431-a mounting arm body; 432-a first support arm; 433-a second support arm; 440-X-ray machine head; 450-a reference seat; 500-a diseased limb binding assembly; 510-a first binding component; 511-a first elastic bandage; 512-a pallet; 520-a second binding component; 600-an operating console; 800-a seat; 900-roller.

Detailed Description

The present application will now be described in further detail with reference to the accompanying drawings, whereby one skilled in the art can, with reference to the description, make an implementation.

In the description of the present application, it is also to be noted that, unless otherwise specified or limited more specifically, the terms "disposed" and "connected" are to be construed broadly, and for example, "connected" may be a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present disclosure can be understood in specific instances by those of ordinary skill in the art.

If in the embodiments of the present application there is a description referring to "first", "second", etc., the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.

As shown in fig. 1-5, the present application provides a cooperative robot-based upper limb closed fracture reduction device, comprising: a base assembly 100 including a first table 110, a second table 120 connected to a rear surface of the first table 110 and higher than the first table 110; a cooperative robot 300 detachably coupled to a top of the first table 110, and configured to assist a doctor in performing fracture reduction of a diseased limb; a displacement platform 200 disposed on top of the second table 120 and configured to adjust the position of the affected limb in the direction of the X, Y axis; an X-ray machine assembly 400 telescopically coupled to the front surface of the second table 120, and configured to capture an image of a fracture of the affected limb, which is horizontally disposed between the cooperative robot 300 and the displacement platform 200; and a limb binding assembly 500 including a first binding assembly 510 connected to the end of the cooperative robot 300, a second binding assembly 520 connected to the top of the displacement platform 200; wherein, an operation console 600 is provided at one side of the base assembly 100.

Through the mode, the translation along the arm direction of the cooperative robot 300 and the rotation around the arm axis are realized through the cooperative robot 300, the four degrees of freedom of rotation along the frontal axis and the sagittal axis are realized, the monitoring and the feedback of the displacement, the rotation angle and the applied force are realized, the cooperative robot 300 assists a doctor to repair and treat the bone tissue of a patient, the modern X-ray imaging technology and the computer processing technology are utilized through the X-ray machine assembly 400, the characteristic analysis is carried out on the affected part, the restitution data is obtained, and then the treatment is completed through the cooperative robot 300. Can improve the success rate of fracture closed reduction, reduce the radiation on doctors, reduce the labor intensity of doctors and the dependence on the experience of doctors, and realize accurate, stable and programmed treatment process. The application of the medical robot in the traditional Chinese medicine bone fracture treatment is promoted, the standards of the fracture reduction robot and the operation method are established, and the manual reduction robot is popularized to various hospitals.

Further, the X-ray machine assembly 400 includes telescopic link 410 in the front of second workstation 120 through servo electronic jar flexible connection, be connected with telescopic link 410 and be located the regulating arm 420 of telescopic link 410 top, locate the installation arm 430 at regulating arm 420 top, locate the X-ray aircraft nose 440 at installation arm 430 top and locate the installation arm 430 bottom and locate the benchmark seat 450 under X-ray machine head 440, wherein, regulating arm 420 is configured to can adjust the position of installation arm 430 at horizontal direction and vertical direction, place second workstation 120 in servo electronic jar, take the function of position feedback through telescopic link 410, make things convenient for the real-time supervision fracture condition of resetting and fix a position the fracture point, need not the protection, reduce the radiation that the doctor receives.

Further, the adjusting arm 420 includes a connecting arm 421 connected to the piston rod of the servo electric cylinder and moving with the piston rod to approach or depart from the displacement platform 200, a bending rod 422 detachably disposed on the top of the connecting arm 421, a first connecting rod 423 pivotally connected to the top of the bending rod 422, a second connecting rod 424 pivotally connected to the top of the first connecting rod 423, and a connecting seat 425 pivotally connected to the second connecting rod 424; wherein, the installation arm 430 is vertically arranged on the connecting seat 425, a first pivot shaft is formed between the bending rod 422 and the first connecting rod 423, a second pivot shaft is formed between the first connecting rod 423 and the second connecting rod 424, a third pivot shaft is formed between the second connecting rod 424 and the connecting seat 425, the first pivot shaft and the second pivot shaft are respectively parallel to the moving direction of the piston rod, the third pivot shaft is perpendicular to the moving direction of the piston rod, and the connection mode is simple, easy to realize and convenient to use.

Further, the cooperative robot 300 is a six-axis robot, the cooperative robot 300 includes a fixed seat 310 detachably connected to the top of the first workbench 110 and an end connector 320 for connecting the first binding assembly 510, and the cooperative robot 300 and the doctor cooperatively complete fracture reduction in a common working space, which has the advantages of high safety, high flexibility and high precision.

Further, the first binding member 510 includes a first elastic bandage 511 having a semicircular shape, and a supporting plate 512 connecting both ends of the first elastic bandage 511 and disposed at the bottom, wherein the supporting plate 512 is disposed horizontally.

Further, the second binding member 520 is a second elastic bandage having left and right ends symmetrically disposed on the top of the displacement platform 200.

Further, the left and right sides of the second working platform 120 are symmetrically provided with seats 800, and the bottom of the base assembly 100 is provided with rollers 900.

Further, installation arm 430 includes that the installation arm body 431 that sets up on connecting seat 425 vertically, set firmly in installation arm body 431 top and install the first support arm 432 of X-ray aircraft nose 440, set firmly in installation arm body 431 bottom and install the second support arm 433 of reference standard 450, wherein, the shaping has the arcwall face on the lateral wall of installation arm body 431 to make installation arm body 431 be gradually wide the setting in the direction at middle part to both ends, have the installation firmly, the high advantage of stability.

Further, the connecting base 425 includes a pivoting portion 4251 and a clamping portion 4252, the pivoting portion 4251 is pivoted with the second connecting rod 424, the clamping portion 4252 is clamped to the pivoting portion 4251 through a clamping hook 4253 to form a through hole for the installation arm body 431 to vertically penetrate through, the installation arm body 431 can be clamped in the through hole, the clamping hook 4253 is fixedly arranged on the clamping portion 4252, and a clamping groove matched with the clamping hook 4253 is formed in the pivoting portion 4251. Thus, the mounting arm 430 has an advantage of convenience in mounting.

Further, joint portion 4252 is the rectangle frame that the shaping has the opening on the border, and joint portion 4252 is to the cooperation with the middle part of installation arm body 431, from this, installation arm body 431 can not remove in vertical direction after the installation is accomplished, has the stable, reliable advantage of installation.

The upper limb closed fracture reduction device based on the cooperative robot has the following use process: firstly, before the reduction of the fracture, the doctor touches the fracture part with hands to know the specific position of the displacement of the fracture end in the affected limb, and combines the displacement condition of the fracture end displayed by the X-ray to form a three-dimensional image of the displacement of the fracture in the brain so as to achieve good treatment effect.

Then, the cooperative robot 300 and the displacement platform 200 are adjusted to the proper position, and the affected limb passes through the second elastic bandage and the first elastic bandage 511 to be bound. The servo electric cylinder is adjusted to enable the X-ray machine assembly 400 to reach the fracture part, so that the fracture image can be clearly displayed.

Thereafter, with the assistance of the cooperative robot 300, the doctor performs the operation as a guide, thereby completing the reduction operation.

While the embodiments of the present application have been disclosed above, it is not limited to the applications listed in the description and the embodiments, which are fully applicable in a variety of fields suitable for this application, and further modifications will be readily apparent to those skilled in the art, and it is therefore not intended to be limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.

Claims (10)

1. A collaborative robot-based upper limb closed fracture reduction device, comprising:

a base assembly (100) including a first table (110), a second table (120) connected to a rear surface of the first table (110) and higher than the first table (110);

a co-operating robot (300) detachably connected to the top of the first table (110) and configured to assist a physician in performing a fracture reduction of a diseased limb;

a displacement platform (200) arranged on the top of the second workbench (120) and used for adjusting the position of the affected limb in the direction of the X, Y axis;

an X-ray machine assembly (400) telescopically connected to the front surface of the second worktable (120), configured to take an image of the fracture of the affected limb, and horizontally arranged between the cooperative robot (300) and the displacement platform (200); and

a limb-binding assembly (500) comprising a first binding assembly (510) connected to an end of the cooperative robot (300), a second binding assembly (520) connected to a top of the displacement platform (200);

wherein, one side of the base component (100) is provided with an operation console (600).

2. The upper limb closed fracture reduction device based on the cooperative robot as claimed in claim 1, wherein the X-ray machine assembly (400) comprises a telescopic rod (410) telescopically connected to the front surface of the second worktable (120) through a servo electric cylinder, an adjusting arm (420) connected to the telescopic rod (410) and located above the telescopic rod (410), a mounting arm (430) arranged at the top of the adjusting arm (420), an X-ray machine head (440) arranged at the top of the mounting arm (430), and a reference seat (450) arranged at the bottom of the mounting arm (430) and located right below the X-ray machine head (440), wherein the adjusting arm (420) is configured to adjust the position of the mounting arm (430) in the horizontal direction and the vertical direction, and the servo electric cylinder is embedded in the second worktable (120).

3. The upper limb closed fracture reduction device based on the cooperative robot as claimed in claim 2, wherein the adjusting arm (420) comprises a connecting arm (421) connected with the piston rod of the servo electric cylinder and moving with the piston rod to approach or move away from the displacement platform (200), a bending rod (422) detachably disposed on the top of the connecting arm (421), a first connecting rod (423) pivoted on the top of the bending rod (422), a second connecting rod (424) pivoted on the top of the first connecting rod (423), a connecting seat (425) pivoted with the second connecting rod (424);

the mounting arm (430) is vertically arranged on the connecting seat (425), a first pivot shaft is formed between the bending rod (422) and the first connecting rod (423), a second pivot shaft is formed between the first connecting rod (423) and the second connecting rod (424), a third pivot shaft is formed between the second connecting rod (424) and the connecting seat (425), the first pivot shaft and the second pivot shaft are respectively parallel to the movement direction of the piston rod, and the third pivot shaft is perpendicular to the movement direction of the piston rod.

4. The co-robot based reduction device for closed fracture of upper limbs according to claim 1, wherein the co-robot (300) is configured as a six-axis robot, the co-robot (300) comprising a fixed base (310) detachably connected to the top of the first working table (110) and an end connector (320) for connecting a first binding member (510).

5. The upper limb closed fracture reduction device based on the cooperative robot as claimed in claim 1, wherein the first binding assembly (510) comprises a semicircular first elastic bandage (511), a supporting plate (512) connecting both ends of the first elastic bandage (511) and provided at the bottom, wherein the supporting plate (512) is horizontally arranged.

6. The cooperative robot based closed fracture reduction device for upper limbs according to claim 1, wherein the second binding component (520) is a second elastic bandage with left and right ends symmetrically arranged on the top of the displacement platform (200).

7. The upper limb closed fracture reduction device based on the cooperative robot as claimed in claim 1, wherein the second table (120) is provided with seats (800) symmetrically at left and right sides.

8. The upper limb closed fracture reduction device based on the cooperative robot as claimed in claim 3, wherein the mounting arm (430) comprises a mounting arm body (431) vertically arranged on the connecting base (425), a first arm (432) fixedly arranged at the top of the mounting arm body (431) and provided with the X-ray machine head (440), and a second arm (433) fixedly arranged at the bottom of the mounting arm body (431) and provided with the reference base (450), wherein an arc-shaped surface is formed on one side wall of the mounting arm body (431) so that the mounting arm body (431) is gradually widened from the middle to both ends.

9. The upper limb closed fracture reduction device based on the cooperative robot as claimed in claim 8, wherein the connection seat (425) comprises a pivot part (4251) and a clamping part (4252), the pivot part (4251) is pivoted with the second link (424), the clamping part (4252) is clamped to the pivot part (4251) through a clamping hook (4253) to form a through hole for the installation arm body (431) to vertically penetrate through, the installation arm body (431) can be clamped in the through hole, the clamping hook (4253) is fixedly arranged on the clamping part (4252), and a clamping groove matched with the clamping hook (4253) is arranged on the pivot part (4251).

10. The upper extremity closed fracture reduction apparatus based on cooperative robot according to claim 9, characterized in that the clamping portion (4252) is a rectangular frame with an opening formed on one edge.

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