CN216495628U - Wrist clamping device for radius distal end fracture reduction robot - Google Patents

Abstract

The utility model discloses a wrist clamping device for a radius distal fracture reduction robot, which mainly comprises a front wrist clamping mechanism, a rear wrist clamping mechanism and a rack, wherein the front wrist clamping mechanism and the rear wrist clamping mechanism are identical in structure. The two wrist clamping mechanisms are used for clamping, fixing and supporting the wrist of the patient during the reduction operation and assisting the doctor in fixing the forearm of the patient by alternately lifting and lowering after the reduction operation is finished. The two wrist clamping mechanisms are arranged on a machine frame, and the machine frame is arranged on a reduction robot for assisting a doctor in performing a distal radius fracture operation. The wrist clamping device can adjust the clamping width to adapt to the arms of patients with different physiques, is convenient to use, can obviously reduce the workload of doctors, and improves the success rate of operations.

Description

Wrist clamping device for radius distal end fracture reduction robot

Technical Field

The utility model relates to the fields of surgical noninvasive medical engineering technology, medical robots, novel scientific instruments for medical research and the like, in particular to a wrist clamping device for a radius distal end fracture reduction robot.

Background

The distal radius fracture is a very common fracture in clinic, and at present, a distal radius fracture reduction robot capable of replacing a manual reduction is provided for the distal radius fracture. The reduction operation of the distal radius fracture by the reduction robot is already clinically implemented and has good effect. Compared with the traditional manual reduction technology, the novel operation mode can greatly reduce the physical consumption of doctors, reduce the requirements on the operation experience of the doctors and has wide popularization prospect. However, when the existing distal radius fracture reduction robot is used for clinical surgery, a part of the existing distal radius fracture reduction robot still has unreasonable design, and further improvement of the design is needed, so that a doctor can use the reduction robot to perform surgery to a greater extent conveniently, and the success rate of the surgery can be further improved.

SUMMERY OF THE UTILITY MODEL

In order to solve the defects in the prior art, the utility model provides the wrist clamping device for the radius far-end fracture reduction robot, which can freely adjust and clamp the wrist according to the width of the wrist, and is convenient for fixing plaster on the forearm of a patient in a mode of alternately opening the front clamping mechanism and the rear clamping mechanism, so that the wrist clamping device is more time-saving and labor-saving, and has a more stable structure relative to the front and rear alternate lifting.

In order to achieve the purpose, the utility model adopts the following technical scheme:

a wrist clamping device for a radius distal end fracture reduction robot comprises a front clamping mechanism, a rear clamping mechanism and a frame; the front clamping mechanism and the rear clamping mechanism are identical in structure and are arranged on the front side and the rear side of the rack in parallel; the left side and the right side of the rack are symmetrically provided with oblique fixing plates respectively, the two sides of the oblique fixing plates are symmetrically provided with vertical fixing plates respectively, and the front clamping mechanism and the rear clamping mechanism are fixedly installed on the oblique fixing plates and the vertical fixing plates which are located on the two sides of the rack respectively.

Preferably, the front clamping mechanism comprises a front left clamping mechanism, a front right clamping mechanism and a front linkage mechanism; the front linkage mechanism respectively surrounds the lower sides of the front left clamping mechanism and the front right clamping mechanism; the front left clamping mechanism and the front right clamping mechanism are identical in structure and are arranged on the left side and the right side of the rack in a mirror symmetry mode.

Preferably, the front and right clamping mechanisms comprise a first sliding structure, a second sliding structure, a third sliding structure, a fourth sliding structure, a pulley assembly and a wrist clamp assembly; the first sliding structure is arranged in an inward inclined mode and is fixed on the inclined fixing plate located on the right side of the rack; the second sliding structure is fixedly arranged on the side edge of the vertical fixing plate positioned on the front side of the right inclined fixing plate; the left end of the third sliding structure is fixedly connected with the sliding part of the first sliding structure through a first sliding connecting piece; the sliding part of the third sliding structure is fixedly connected with the sliding part of the second sliding structure through a second sliding connecting piece; fourth sliding construction fixes third sliding construction's top, wrist clamp subassembly fixed mounting be in fourth sliding construction's sliding part's upside, wrist clamp subassembly orientation preceding left side clamping mechanism, fourth sliding construction's sliding part's side fixedly connected with side connection board, the inboard of side connection board sets up first terminal, first sliding connection spare with one side that the side connection board is carried on the back mutually sets up the second terminal, loose pulley assembly fixed mounting be in the inboard of second sliding connection spare, preceding link gear is respectively around the dress preceding left side clamping mechanism with preceding right side clamping mechanism's loose pulley assembly fixes on first terminal and second terminal simultaneously.

Preferably, the pulley assembly comprises an upper pulley and a lower pulley, a horizontal support plate extends inwards from the side edge of the second sliding connecting piece, a rotating shaft is vertically arranged on the support plate, and the upper pulley and the lower pulley are sequentially sleeved on the rotating shaft from top to bottom; the front linkage mechanism comprises an upper transmission coil and a lower transmission coil, the upper transmission coil is simultaneously wound on the upper pulleys of the front left side clamping mechanism and the front right side clamping mechanism and is respectively fixed on the first binding posts on the two sides, and the lower transmission coil is simultaneously wound on the lower pulleys of the front left side clamping mechanism and the front right side clamping mechanism and is respectively fixed on the second binding posts on the two sides; the two first binding posts are respectively positioned on two sides of the upper transmission coil and are centrosymmetric, and the two second binding posts are respectively positioned on two sides of the lower transmission coil and are centrosymmetric.

Preferably, the wrist clamp assembly comprises a wrist clamp, a wrist clamp mounting plate and a hinge, the wrist clamp mounting plate is rotatably connected with the sliding component of the fourth sliding structure through the hinge, the wrist clamp is fixedly connected with the wrist clamp mounting plate, and the wrist clamp faces the front left clamping mechanism.

Preferably, the wrist clip is T-shaped.

Preferably, the wrist clip, the upper transmission coil and the lower transmission coil are all made of a material having good permeability to X-rays. For example, the wrist clip is made of carbon fiber materials, and the upper transmission coil and the lower transmission coil are made of Kevlar wires.

Preferably, the wrist clamp comprises a transverse plate and a vertical plate which are perpendicular to each other, the transverse plate transversely extends towards the middle of the clamping device, and the width of the transverse plate is less than or equal to one half of the width of the vertical plate.

Preferably, an adjustable first locking screw is further disposed on the sliding part of the third sliding structure of the front left clamping mechanism, and an adjustable second locking screw is further disposed on the sliding part of the fourth sliding structure of the front left clamping mechanism.

Preferably, the inclined fixing plate is inclined towards the middle of the rack and has an inclination angle of 45 ° with respect to the horizontal plane.

Compared with the prior art, the utility model has the beneficial effects that:

(1) compared with the existing acrylic wrist support and front and back alternative forearm supporting plate system on the fracture reduction surgical robot, the utility model has the functions of the acrylic wrist support and the front and back alternative forearm supporting plate, namely the function of laterally limiting the wrist and the function of alternately supporting the forearm. The utility model can replace the two mechanisms, so that the overall structure of the reset robot is simpler.

(2) In the operation process, when the X-ray machine irradiates the fracture part of the patient from the horizontal direction and the vertical direction, no metal part enters the irradiation range. Except for the arm of the patient, only the transmission coil and the wrist clip enter the searchlighting range, and both the transmission coil and the wrist clip have good permeability to X-rays, so that the influence of the machine on the real-time observation of the X-ray film by a doctor is reduced to the maximum extent.

(3) The wrist clamp can clamp the wrists of patients with different physiques.

(4) As the two transmission coils are used, for the two functions of clamping and lifting, the doctor operates on any side of the machine, and the other side of the machine has the mirror symmetry movement effect, thereby being convenient for the doctor to operate to a great extent.

(5) The wrist clamp is turned over by the aid of the hinge after being lowered, so that a large operation space can be reserved for a doctor to plaster, and the doctor can finish plaster-beating work more quickly.

(6) The utility model has a centrosymmetric structure, the structures of the clamping mechanisms on all sides are the same, and the clamping mechanisms can be uniformly assembled and uniformly proportioned and then installed on the rack in the preparation process of materials for production and manufacture, thereby facilitating production and reducing production cost.

Drawings

FIG. 1 is a schematic view of the whole structure of a wrist clamping device for a distal radius fracture reduction robot according to the present invention;

FIG. 2 is a schematic structural view of a front right clamping mechanism of the present invention;

fig. 3 is a schematic structural view of the pulley assembly and the second sliding connection member of the present invention;

FIG. 4 is a schematic structural view of the front left clamping mechanism of the present invention;

FIG. 5 is a schematic structural diagram of the transmission mechanism and the parts connected thereto according to the present invention;

FIG. 6 is a schematic diagram of the front clamping mechanism of the present invention in state one;

FIG. 7 is a schematic structural view of the front clamping mechanism of the present invention in state two;

FIG. 8 is a schematic structural view of the front clamping mechanism of the present invention in state three;

FIG. 9 is a schematic view of the front clamping mechanism of the present invention in state four;

FIG. 10 is a schematic view of the present invention gripping a wrist of a patient while pulling on the forearm of the patient during surgery;

fig. 11 and 12 are schematic views of the alternate lifting and lowering of the present invention during the surgical application of plaster to the forearm of a patient.

Detailed Description

In order to further understand the objects, structures, features and functions of the present invention, the following embodiments are described in detail.

Referring to fig. 1 to 12, the present invention provides a wrist clamping device for a radius distal fracture reduction robot, including a front clamping mechanism 1, a rear clamping mechanism 2 and a frame 3; the front clamping mechanism 1 and the rear clamping mechanism 2 have the same structure and are arranged on the front side and the rear side of the frame 3 in parallel; the left side and the right side of the frame 3 are symmetrically provided with an inclined fixing plate 31 respectively, the two sides of the inclined fixing plate 31 are symmetrically provided with a vertical fixing plate 32 respectively, and the front clamping mechanism 1 and the rear clamping mechanism 2 are fixedly installed on the inclined fixing plate 31 and the vertical fixing plate 32 on the two sides of the frame 3 respectively.

The utility model utilizes the front clamping mechanism 1 and the rear clamping mechanism 2 with the same structure to simultaneously clamp the wrist of a patient along the extension direction of the forearm of the patient, and can adjust the clamping state of the front clamping mechanism and the rear clamping mechanism at any time, such as alternate lifting and clamping, thereby realizing clamping and supporting at the same time, and being convenient for a doctor to carry out treatment operation.

Preferably, the front clamping mechanism 1 comprises a front left clamping mechanism 11, a front right clamping mechanism 12 and a front linkage mechanism 13; the front linkage mechanism 13 is respectively surrounded at the lower sides of the front left clamping mechanism 11 and the front right clamping mechanism 12; the front left clamping mechanism 11 and the front right clamping mechanism 12 have the same structure and are arranged on the left side and the right side of the frame 3 in a mirror symmetry mode.

The rear clamping mechanism 2 includes a rear left clamping mechanism 21, a rear right clamping mechanism 22, and a rear link mechanism 23, and the rear link mechanism 23 surrounds the lower sides of the rear left clamping mechanism 21 and the rear right clamping mechanism 22, respectively.

The front clamping mechanism 1 and the rear clamping mechanism 2 are identical in structure, the front left side clamping mechanism 11 and the front right side clamping mechanism 12 are identical in structure and are arranged on the left side and the right side of the rack 3 in a mirror symmetry mode, and the front left side clamping mechanism 11, the front right side clamping mechanism 12, the rear left side clamping mechanism 21 and the rear right side clamping mechanism 22 are identical in structure, only the installation directions and the installation positions are different, the four side clamping mechanisms are arranged on the rack 3 in a centrosymmetric mode, and the front linkage mechanism 13 and the rear linkage mechanism 23 are identical in structure and are centrosymmetric. Only one side clamping mechanism and one linkage mechanism will be described.

Referring to fig. 2, the right-hand clamping mechanism 12 will be described as a representative. The front-right clamping mechanism 12 comprises a first sliding structure 121, a second sliding structure 122, a third sliding structure 123, a fourth sliding structure 124, a pulley assembly 125 and a wrist clamp assembly 126; the first sliding structure 121 is disposed in an inward inclined manner and fixed on the inclined fixing plate 31 located on the right side of the frame 3; the second sliding structure 122 is fixedly installed at the side of the vertical fixing plate 32 located at the front side of the right inclined fixing plate 31; the left end of the third sliding structure 123 is fixedly connected with the sliding part (the first slider 1212) of the first sliding structure 121 through the first sliding connection member 127; the sliding part (the third slider 1232) of the third sliding structure 123 is fixedly connected with the sliding part (the second slider 1222) of the second sliding structure 122 through the second sliding connector 128; the fourth sliding structure 124 is fixed above the third sliding structure 123, the wrist clamp assembly 126 is fixedly mounted on the upper side of the sliding part (fourth slider 1242) of the fourth sliding structure 124, the wrist clamp assembly 126 faces the front left clamping mechanism 11, the side edge of the sliding part of the fourth sliding structure 124 is fixedly connected with the side connection plate 129, the inner side of the side connection plate 129 is provided with a first terminal 1291, the side of the first sliding connection member 127 opposite to the side connection plate 129 is provided with a second terminal 1271, the pulley assembly 125 is fixedly mounted on the inner side of the second sliding connection member 128, and the front linkage mechanism 13 is respectively wound around the pulley assemblies 125 of the front left clamping mechanism 11 and the front right clamping mechanism 12 and is simultaneously fixed on the first terminal 1291 and the second terminal 1271.

The first sliding structure 121 includes a first sliding rail 1211 and a first sliding block 1212, the first sliding rail 1211 is fixedly installed on the inclined fixing plate 31, the rail is inclined upwards, and the first sliding block 1212 is slidably embedded in the first sliding rail 1211; the second sliding structure 122 includes a second sliding rail 1221 and a second sliding block 1222, the second sliding rail 1221 is vertically installed and fixed inside the vertical fixing plate 32, an opening of the second sliding rail 1221 faces the inside, and the second sliding block 1222 is slidably embedded in the second sliding rail 1221; the third sliding structure 123 includes a third sliding rail 1231 and a third sliding block 1232, the third sliding rail 1231 is provided with an opening facing downward, the third sliding block 1232 is slidably embedded on the third sliding rail 1231, the left end of the third sliding rail 1231 is fixedly connected with the first sliding block 1212 through a first sliding connection member 127, the first sliding connection member 127 is a bent structure, one section of the bent structure is parallel to the first sliding structure 121, the other section of the bent structure is perpendicular to the third sliding structure 123, the third sliding block 1232 is fixedly connected with the second sliding block 1222 through a second sliding connection member 128, the second sliding block 1222 is fixed on the outer side surface of the second sliding connection member 128, and the third sliding block 1232 is fixed on the upper surface of the second sliding connection member 128; in this way, the first sliding structure 121, the second sliding structure 122 and the third sliding structure 123 form a "triangular structure" which can be slidably adjusted and can simultaneously perform horizontal movement and up-and-down movement by means of corresponding matching connection of the first sliding connection part 127, the second sliding connection part 128, the inclined fixing plate 31 and the vertical fixing plate 32. The third sliding structure 123 is horizontally arranged, the second sliding structure 122 is vertically arranged, and the first sliding structure 121 is obliquely arranged to form an adjustable triangular supporting structure. The fourth sliding structure 124 includes a fourth sliding rail 1241 and a fourth sliding block 1242, the fourth sliding rail 1241 is opened upward and fixed on the back of the third sliding rail 1231, the fourth sliding block 1242 is slidably embedded in the fourth sliding rail 1241, and the wrist clamp assembly 126 is rotatably fixed on the upper surface of the fourth sliding block 1242. By adjusting the fourth slider 1242 to slide on the fourth slide rail 1241, the wrist clip assembly 126 can be driven to perform an opening and closing movement on the fourth sliding structure 124.

It should be noted that the sliding structure of the present invention employs a roller-slider guide module, and other types of slider guide modules (such as a ball-slider guide module) can also implement the movement function of the present invention.

Preferably, the pulley assembly 125 comprises an upper pulley 1251 and a lower pulley 1252, a horizontal support plate 1281 extends inwards from a side edge of the second sliding connection member 128, a rotating shaft 1282 is vertically arranged on the support plate 1281, and the upper pulley 1251 and the lower pulley 1252 are sequentially sleeved on the rotating shaft 1282 from top to bottom; the front linkage mechanism 13 comprises an upper transmission coil 131 and a lower transmission coil 132, the upper transmission coil 131 is simultaneously wound on the upper pulleys 1251 of the front left clamping mechanism 11 and the front right clamping mechanism 12 and is respectively fixed on the first terminals 1291 at two sides, and the side connecting plates 129 of the front left clamping mechanism 11 and the front right clamping mechanism 12 are respectively connected with the upper transmission coil 131 through the first terminals 1291 thereon; the lower driving coil 132 is simultaneously wound on the lower pulleys 1252 of the front left clamping mechanism 11 and the front right clamping mechanism 12 and is respectively fixed on the second terminals 1271 at the two sides, and the first sliding connectors 127 of the front left clamping mechanism 11 and the front right clamping mechanism 12 are respectively connected with the lower driving coil 132 through the second terminals 1271 thereon; the two first terminals 1291 are respectively located at two sides of the upper transmission coil 131 and are centrosymmetric, and the two second terminals 1271 are respectively located at two sides of the lower transmission coil 132 and are centrosymmetric.

Preferably, the wrist clip assembly 126 includes a wrist clip 1261, a wrist clip mounting plate 1262 and a hinge 1263, the wrist clip mounting plate 1262 is rotatably connected to the slide member of the fourth slide structure 124 by the hinge 1263, the wrist clip 1261 is fixedly connected to the wrist clip mounting plate 1262, and the wrist clip 1261 faces the front left clamp mechanism 11.

The fourth sliding block 1242 is arranged in a stepped shape, the wrist clamp mounting plate 1262 is just located on the step of the fourth sliding block 1242, the thickness of the wrist clamp mounting plate 1262 is the same as that of the step of the fourth sliding block 1242, so that the wrist clamp mounting plate 1261 horizontally extends out, when the wrist clamp mounting plate 1262 is just filled in the step of the fourth sliding block 1242 in a working state, the wrist clamp 1261 is guaranteed to be horizontal, and a good supporting effect is achieved. In addition, during specific installation, two leaves of the hinge 1263 are respectively installed on the upper surface of the fourth slider 1242 and the upper surface of the wrist clamp installation plate 1262 and are not directly connected and fixed with the wrist clamp 1261, one reason is that the leaves of the hinge 1263 are narrow, one leaf of the hinge 1263 is directly and fixedly connected with the wrist clamp 1261, the structural stability is poor, the supporting effect is great, the wrist clamp 1261 is preferentially supported by carbon fiber, the structural rigidity of the wrist clamp is poor compared with metal, therefore, when the wrist clamp is used for a long time, the arm of a patient presses the far end of the wrist clamp 1261, is far away from the fixed point, is equivalent to be at the far end of the lever, the stress of the lever supporting point is large under the long-term lever, the framework of the wrist clamp 1261 is easy to deform or break, and the service life of the wrist clamp 1261 is shortened. Another reason is that the horizontal supporting ability of the hinge 1263 is not fixed, and if there is no support under the leaf of the hinge 1263, it is likely that the angle of the extended part is larger than 180 degrees, so that the wrist clip 1261 cannot be extended horizontally, and the expected use effect cannot be achieved. The wrist clamp mounting plate 1262 is connected with the hinge 1263 and supported below the hinge 1263, so that the stability of the unfolding angle of the hinge 1263 is guaranteed, the wrist clamp 1261 can horizontally extend out, and a preset working effect is achieved; on the other hand, the fixing area of the wrist clamp 1261 can be enlarged, and the fixing stability is improved; moreover, the length of the wrist clamp mounting plate 1262 may be greater than the length of the step of the fourth slider 1242, so that the wrist clamp mounting plate 1262 extends out of the fourth slider 1242, which can further support the wrist clamp 1261 and strengthen the structural strength and stability of the wrist clamp 1261; meanwhile, the arrangement of the wrist clamp mounting plate 1262 can also increase the weight of the wrist clamp assembly 126, when the wrist clamp 1261 is horizontally arranged, the gravity is higher, and the wrist clamp assembly 126 is prevented from shaking up and down due to lighter materials; when the wrist clamp 1261 is turned outwards, the wrist clamp 1261 can be effectively pressed below the wrist clamp mounting plate 1262, and the situation that a doctor accidentally touches the wrist clamp assembly 126 during treatment operation to turn over the wrist clamp assembly 126 to influence the operation of the doctor is avoided.

As shown in fig. 6, the upper transmission coil 131 is wound around the two upper pulleys 1251, since both sides of the upper transmission coil 131 are respectively fixedly wound on the first terminal 1291, when the side connection plate 129 on the front right clamping mechanism 12 is shifted inward, the side connection plate 129 moves inward to drive the sliding part (i.e. the fourth slider 1242) of the fourth sliding structure 124 to move horizontally inward, so that the wrist clamp assembly 126 is immediately followed by the inward movement, when the side connection plate 129 moves inward, the upper transmission coil 131 is driven to transmit leftward, the upper transmission coil 131 is a closed loop coil, so that the upper transmission coil 131 drives the first terminal 1291 on the front left clamping mechanism 11 and the side connection plate 129 to move rightward, and simultaneously drives the wrist clamp assembly 126 of the front left clamping mechanism 11 to move rightward, so that the wrist clamp assemblies 126 of the front left clamping mechanism 11 and the front right clamping mechanism 12 move in opposite directions in mirror symmetry, until the wrist is clamped. When the wrist clamp assembly 126 needs to be loosened, the side connecting plate 129 on the front right-side clamping mechanism 12 only needs to be pulled outwards, and the wrist clamp assembly 126 of the front left-side clamping mechanism 11 and the front right-side clamping mechanism 12 can be driven to move outwards to be opened.

Since the second sliding structure 122 is fixed to the vertical fixing plate 32, the clamping mechanism can also move vertically. When the front clamping mechanism 1 is going to be lowered and expanded outward, the sliding member (the third slider 1232) of the third sliding structure 123, the sliding member (the second slider 1222) of the second sliding structure 122, and the second sliding connector 128 of the front left-side clamping mechanism 11 are slid downward, and at this time, the sliding member (the first slider 1212) of the first sliding structure 121 is driven by the first sliding connector 127 to move obliquely downward, so that the sliding rails of the fourth sliding structure 124 and the third sliding structure 123 move outward synchronously under the traction of the first connector 127. When the front left clamping mechanism 12 descends and expands outward, the second binding post 1271 is used to pull the lower transmission coil 132, so that the first sliding connection part 127 on the front right clamping mechanism 12 can be pulled outward together, and the front right clamping mechanism 12 can be driven to move in a mirror symmetry manner. The same can realize the ascending of the front clamping mechanism 1. The rear clamping mechanism operates in the same manner.

Preferably, wrist clip 1261 is T-shaped. One top end of the T-shaped wrist clamp 1261 is fixedly connected to the hinge 1263, the other top end of the T-shaped wrist clamp 1261 is a transverse plate 1264 for supporting the wrist of the patient, and the vertical end of the T-shaped wrist clamp 1261 is a vertical plate 1265 for clamping the wrist of the patient.

Preferably, wrist clamp 1261, upper drive coil 131 and lower drive coil 132 are all made of a material that is well permeable to X-rays. For example, the wrist clip 1261 is made of carbon fiber, and the upper driving coil 131 and the lower driving coil 132 are made of kevlar. The wrist clamp 1261 made of carbon fiber and the transmission coil made of Kevlar wire are made of materials which can not generate projection shielding effect on X-ray, and can avoid shielding when X-ray irradiation is carried out, so that more accurate results can be obtained when X-ray projection is carried out.

Preferably, the wrist clamp 1261 includes a transverse plate 1264 and a vertical plate 1265 that are perpendicular to each other, the transverse plate 1264 extending transversely toward a middle portion of the clamp, the transverse plate 1264 having a width equal to or less than one-half of the width of the vertical plate 1265. Because left side clamping mechanism and right side clamping mechanism need carry out the bearing and press from both sides tightly to patient's wrist after splicing relatively, if adopt dull and stereotyped direct butt joint relatively alone, then thick the time at patient's wrist, can have the space between the wrist clamp 1261 of the left and right sides, and thick more along with patient's wrist, the space is big more, can make patient's wrist part unsettled, and the bearing effect variation, and cause the secondary accidental injury to patient's wrist easily. And the diaphragm 1264 that only has half width, two relative wrist clamps 1261 axisymmetrics in both sides, consequently, two diaphragm 1264 can crisscross the setting, consequently, when patient's wrist is thicker, outwards pull open a section distance with wrist clamp 1261, two diaphragm 1264 are still in the staggered state, and can form the horizontal holding surface of a completion, when adapting to different wrists, play good supporting effect, and effectively protect the wrist of patient's fracture, avoid causing the secondary injury to patient's wrist.

Preferably, the sliding part (the third slider 1232) of the third sliding structure 123 of the front left clamping mechanism 11 is further provided with an adjustable first locking screw 1233, and the sliding part (the fourth slider 1242) of the fourth sliding structure 124 of the front left clamping mechanism 11 is further provided with an adjustable second locking screw 1243. The first locking screw 1233 is screwed into the third sliding block 1232, and the tail portion thereof is clamped at the outer side of the third sliding rail 1231, and the lower edge thereof is located at the lower side of the upper edge of the third sliding rail 1231, so when the first locking screw 1233 is screwed inward and locked, because the third sliding block 1232 is embedded in the third sliding rail 1231, when the first locking screw 1233 is screwed inward, the tail portion of the first locking screw 1233 moves toward the third sliding block 1232 and is finally clamped at the outer side of the third sliding rail 1231, and the second locking screw 1243 has the same working principle as the first locking screw 1233. The first locking screw 1233 and the second locking screw 1243 are arranged to lock the whole clamping mechanism, and when the adjustment is needed, the two locking screws are sequentially opened. Since the front left clamping mechanism 11 and the rear right clamping mechanism 22 have the same structure and are arranged in a centrosymmetric manner, the sliding part (the third slider 1232) of the corresponding third sliding structure 123 of the rear right clamping mechanism 22 is also provided with an adjustable first locking screw 1233, and the sliding part (the fourth slider 1242) of the fourth sliding structure 124 is also provided with an adjustable second locking screw 1243. So can realize preceding clamping mechanism 1 and back clamping mechanism 2's independent control, when adjusting each clamping mechanism to pressing from both sides tight wrist, with preceding clamping mechanism 1 and back clamping mechanism 2 two locking screw correspond the locking, can realize whole clamping device's fixing, guarantee that the structure maintains a stable state. When the wrist clamp 1261 needs to be opened, the first locking screw 1233 and the second locking screw 1243 are loosened, and the corresponding two side clamping mechanisms can be unfolded to release the arm of the patient.

Preferably, the inclined fixing plate 31 is inclined toward the middle of the frame 3 at an angle of 45 ° with respect to the horizontal plane. The inclined fixing plate 31 enables the clamping mechanisms on both sides to move synchronously downward and outward, or synchronously upward and inward. Simultaneously when inclination is 45 degrees, enable in the adjustment range of minimum, the clamping mechanism synchronous movement's of both sides horizontal distance and vertical distance are the biggest, can realize the effect maximize, and can effectively save the volume of whole wrist clamp 1261 tight device, and the operation of doctorsing and nurses of being convenient for also saves material cost.

Further, the frame 3 can be divided into a left part and a right part, which are respectively fixed on the separate frames 3 of the radius far-end fracture reduction robot, thereby leaving more space for the operation.

When the utility model is used specifically, the corresponding first locking screw 1233 and the second locking screw 1243 are respectively unscrewed, so that each side clamping mechanism is in a flexible adjusting state, each sliding block can freely slide on the corresponding sliding rail, and the other side clamping mechanism expected to be opposite can be correspondingly adjusted by correspondingly adjusting one side clamping mechanism. In the specific working process, the two wrist clamp assemblies 126 of the front left clamping mechanism 11 and the front right clamping mechanism 12 are arranged oppositely to form a pair of wrist clamps 1261 together, the vertical plates 1265 of the wrist clamps 1261 are used for clamping and fixing the wrist, and the two horizontal plates 1264 of the wrist clamps 1261 are staggered with each other to support the wrist together. First, the front left clamping mechanism 11 is adjusted, since the second sliding rail 1221 is fixedly installed on the vertical fixing plate 32, the second slider 1222 and the third slider 1232 are both fixed on the second sliding connection 128, therefore, the two can only move vertically, when the first locking screw 1233 is in a loose state, the second sliding connection member 128 is dragged up and down to move vertically, the second sliding connecting piece 128 drives the second sliding block 1222 and the third sliding block 1232 to move vertically, the third sliding block 1232 is slidably embedded in the third sliding rail 1231, the third sliding block 1232 will drive the third sliding rail 1231 to move vertically when moving vertically, the third sliding rail 1231 will drive the first sliding connection element 127 to move vertically when moving vertically, because the first sliding block 1212 is fixedly connected to the inclined section of the first sliding connection member 127, the first sliding connection member 127 vertically moves to drive the first sliding block 1212 to move at an angle of 45 degrees. The second contact 1271 is fixedly connected to the lower driving coil 132, and the second contact 1271 moves with the first sliding connector 127 at an angle of 45 degrees, but the second contact 1271 moves only horizontally relative to the pulley assembly, so the movement of the second contact 1271 is used to drive the lower driving coil 132 to move. Through the pulling of the lower transmission coil 132, the front right clamping mechanism 12 will make a mirror-symmetric movement relative to the front left clamping mechanism 11, i.e. the front left clamping mechanism 11 moves outward to unfold, the front right clamping mechanism 12 moves outward in a mirror-symmetric manner to unfold, the front left clamping mechanism 11 gathers inward, and the front right clamping mechanism 12 moves inward in a mirror-symmetric manner to gather together. The motion state of the rear clamping mechanism 2 is the same as that of the front clamping mechanism 1.

When the first locking screw 1233 is in the locked state, the fourth rails of the front left clamping mechanism 11 and the front right clamping mechanism 12 are kept fixed. At this time, when the second locking screw 1243 is loosened, the fourth slider 1242 of the front left clamping mechanism 11 moves horizontally on the fourth slide rail 1241, and the upper transmission coil 131 drives the fourth slider 1242 of the front right clamping mechanism 12 to move mirror-symmetrically on the slide rail thereof, so that the distance between the risers 1265 of the two wrist clamps 1261 changes accordingly, and the middle positions of the risers 1265 of the two wrist clamps 1261 are always fixed, and the image side shift is avoided. When the second locking screw 1243 is locked, the fourth slider 1242 of each of the front left and right clamping mechanisms 11 and 12 is kept fixed, and the distance between the risers 1265 of the two wrist clamps 1261 is also fixed. The rear clamping mechanism 2 is operated in the same manner, and the movement state thereof is the same as that of the front clamping mechanism 1.

As shown in fig. 6, the front clamping mechanism 1 is in the state one, at this time, the first locking screw 1233 is locked, the fourth guide rails on both sides are fixed at the highest position, and the second locking screw 1243 is released, so that the wrist clamp 1261 can be adjusted to a larger width.

As shown in fig. 7, the front clamping mechanism 1 is in the second state, and the first locking screw 1233 is still locked, so that the wrist of the patient is placed on the horizontal plate 1264 of the wrist clamp 1261, the width of the wrist clamp 1261 is adjusted to clamp the wrist of the patient, and then the second locking screw 1243 is locked, so that the wrist of the patient is fixed.

As shown in fig. 8, the front clamping mechanism 1 is in the third state, in which the second locking screw 1243 remains locked, and the first locking screw 1233 is loosened, so that the wrist clamp 1261 of the front right clamping mechanism 12 moves to the right and downward, and the wrist clamp 1261 of the front left clamping mechanism 11 moves to the left and downward, i.e., the wrist clamp 1261 is lowered downward while being opened, until the upper pulley 1251 and the lower pulley 1252 of the front left clamping mechanism 11 contact the first sliding connection 127, and the mechanism stops moving.

As shown in fig. 9, the front clamp mechanism 1 is in the fourth state, in which the wrist clamp 1261 of the front right clamp mechanism 12 is turned clockwise and the wrist clamp 1261 of the front left clamp mechanism 11 is turned counterclockwise.

As shown in fig. 10, after the operation is started, the front clamping mechanism 1 and the rear clamping mechanism 2 simultaneously clamp the wrist of the patient and keep the wrist in the second working state, and at the moment, the reduction robot draws the fractured end of the patient. After the reduction robot finishes traction reduction on the affected limb, the front clamping mechanism 1 and the rear clamping mechanism 2 need to be lifted alternately, so that plaster fixation is carried out on the forearm of the patient.

As shown in fig. 11, the front clamping mechanism 1 is adjusted to enter the third state and the fourth state in sequence, so that a larger space is reserved in front of the fracture end, which is beneficial to plaster fixation.

As shown in fig. 12, after the plaster in front of the fractured end is fixed, the front clamping mechanism 1 is adjusted to sequentially restore the state three and the state two, and then the rear clamping mechanism 2 is adjusted to sequentially enter the state three and the state four, so that a larger space is generated behind the fractured end of the fracture, the plaster fixation is further perfected on the rear of the fractured end including the rest part of the forearm, and the whole reduction and fixation process of the distal radius fracture is completed.

Compared with the existing acrylic wrist support and front and back alternative forearm supporting plate systems on the fracture reduction operation robot, the wrist clamping device has the functions of laterally limiting the wrist and alternately supporting the forearm. The utility model can replace the two mechanisms, so that the overall structure of the reset robot is simpler; in the operation process, when the X-ray machine irradiates the fracture part of the patient from the horizontal direction and the vertical direction, no metal part enters the irradiation range. Except for the arm of the patient, only the transmission coil and the wrist clip enter the searchlighting range, and both the transmission coil and the wrist clip have good permeability to X-rays, so that the influence of the machine on the real-time observation of the X-ray film by a doctor is reduced to the maximum extent; the wrist clamp can clamp the wrists of patients with different physiques; as the two transmission coils are used, for the two functions of clamping and lifting, a doctor operates on any side of the machine, and the other side of the machine has a mirror symmetry movement effect, thereby facilitating the doctor to operate to a great extent; the wrist clamp is turned over by the aid of the hinge after being lowered, so that a large operation space can be reserved for a doctor to plaster, and the doctor can finish plaster-beating work more quickly.

The present invention has been described in relation to the above embodiments, which are only exemplary of the implementation of the present invention. It should be noted that the disclosed embodiments do not limit the scope of the utility model. Rather, it is intended that all such modifications and variations be included within the spirit and scope of this invention.

Claims (9)

1. A wrist clamping device for a robot for reducing distal radius fractures is characterized in that: comprises a front clamping mechanism (1), a rear clamping mechanism (2) and a frame (3); the front clamping mechanism (1) and the rear clamping mechanism (2) have the same structure and are arranged on the front side and the rear side of the rack (3) in parallel; the left and right sides of frame (3) symmetry respectively is provided with oblique fixed plate (31), the both sides of oblique fixed plate (31) symmetry respectively are provided with vertical fixed plate (32), preceding clamping mechanism (1) with back clamping mechanism (2) fixed mounting respectively is located frame (3) both sides oblique fixed plate (31) with on vertical fixed plate (32).

2. The wrist clamping device for a distal radius fracture reduction robot according to claim 1, wherein: the front clamping mechanism (1) comprises a front left clamping mechanism (11), a front right clamping mechanism (12) and a front linkage mechanism (13); the front linkage mechanism (13) is respectively surrounded at the lower sides of the front left clamping mechanism (11) and the front right clamping mechanism (12); the front left clamping mechanism (11) and the front right clamping mechanism (12) are identical in structure and are arranged on the left side and the right side of the rack (3) in a centrosymmetric mode.

3. The wrist clamping device for a distal radius fracture reduction robot according to claim 2, wherein: the front right clamping mechanism (12) comprises a first sliding structure (121), a second sliding structure (122), a third sliding structure (123), a fourth sliding structure (124), a pulley assembly (125) and a wrist clamp assembly (126); the first sliding structure (121) is arranged in an inward inclined mode and fixed on the inclined fixing plate (31) located on the right side of the rack; the second sliding structure (122) is fixedly arranged on the side edge of the vertical fixing plate (32) positioned on the front side of the inclined fixing plate (31) on the right side; the left end of the third sliding structure (123) is fixedly connected with the sliding part of the first sliding structure (121) through a first sliding connecting piece (127); the sliding part of the third sliding structure (123) is fixedly connected with the sliding part of the second sliding structure (122) through a second sliding connecting piece (128); the fourth sliding structure (124) is fixed above the third sliding structure (123), the wrist clamp assembly (126) is fixedly installed on the upper side of a sliding part of the fourth sliding structure (124), the wrist clamp assembly (126) faces the front left clamping mechanism (11), a side connecting plate (129) is fixedly connected to the side edge of the sliding part of the fourth sliding structure (124), a first binding post (1291) is arranged on the inner side of the side connecting plate (129), a second binding post (1271) is arranged on the side, opposite to the side connecting plate (129), of the first sliding connecting piece (127), the pulley assembly (125) is fixedly installed on the inner side of the second sliding connecting piece (128), and the front linkage mechanisms (13) are respectively wound on the pulley assemblies (125) of the front left clamping mechanism (11) and the front right clamping mechanism (12), and fixed on the first terminal post (1291) and the second terminal post (1271).

4. The wrist gripping apparatus for a distal radius fracture reduction robot according to claim 3, wherein: the pulley assembly (125) comprises an upper pulley (1251) and a lower pulley (1252), a horizontal support plate (1281) extends inwards from the side edge of the second sliding connecting piece (128), a rotating shaft (1282) is vertically arranged on the support plate (1281), and the upper pulley (1251) and the lower pulley (1252) are sequentially sleeved on the rotating shaft (1282) from top to bottom; the front linkage mechanism (13) comprises an upper transmission coil (131) and a lower transmission coil (132), the upper transmission coil (131) is simultaneously wound on upper pulleys (1251) of the front left clamping mechanism (11) and the front right clamping mechanism (12) and is respectively fixed on first terminals (1291) at two sides, and the lower transmission coil (132) is simultaneously wound on lower pulleys (1252) of the front left clamping mechanism (11) and the front right clamping mechanism and is respectively fixed on second terminals (1271) at two sides; the two first terminals (1291) are respectively located on two sides of the upper transmission coil (131) and are centrosymmetric, and the two second terminals (1271) are respectively located on two sides of the lower transmission coil (132) and are centrosymmetric.

5. The wrist gripping apparatus for a distal radius fracture reduction robot according to claim 4, wherein: the wrist clip assembly (126) includes a wrist clip (1261), a wrist clip mounting plate (1262), and a hinge (1263), the wrist clip mounting plate (1262) is rotatably connected to a slide member of the fourth slide structure (124) by the hinge (1263), the wrist clip (1261) is fixedly connected to the wrist clip mounting plate (1262), and the wrist clip (1261) faces the front left clamping mechanism (11).

6. The wrist clamping device for a distal radius fracture reduction robot according to claim 5, wherein: the wrist clip (1261) is T-shaped.

7. The wrist clamping device for a distal radius fracture reduction robot according to claim 5 or 6, wherein: the wrist clamp (1261) comprises a transverse plate (1264) and a vertical plate (1265) which are perpendicular to each other, the transverse plate (1264) transversely extends towards the middle part of the clamping device, and the width of the transverse plate (1264) is less than or equal to one half of the width of the vertical plate (1265).

8. The wrist gripping apparatus for a distal radius fracture reduction robot according to claim 3, wherein: an adjustable first locking screw (1231) is further arranged on a sliding part of the third sliding structure (123) of the front left clamping mechanism (11), and an adjustable second locking screw (1241) is further arranged on a sliding part of the fourth sliding structure (124) of the front left clamping mechanism (11).

9. The wrist clamping device for a distal radius fracture reduction robot according to claim 1, wherein: the inclined fixing plate (31) inclines towards the middle of the rack (3) and the inclination angle of the inclined fixing plate relative to the horizontal plane is 45 degrees.

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