CN218606812U - Parallel six-axis robot operating platform for long tubular bone fracture - Google Patents
Parallel six-axis robot operating platform for long tubular bone fracture Download PDFInfo
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- CN218606812U CN218606812U CN202220167265.0U CN202220167265U CN218606812U CN 218606812 U CN218606812 U CN 218606812U CN 202220167265 U CN202220167265 U CN 202220167265U CN 218606812 U CN218606812 U CN 218606812U
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Abstract
The utility model discloses a parallel six-axis robot operating platform for long tubular bone fracture, which comprises a parallel six-axis robot and a motion platform positioned at the tail end of the robot; the parallel six-axis robot and the motion platform are arranged in a shell, and the shell is transversely arranged on a base; the inner wall of the shell is provided with 6 displacement guide rails along the axial direction of the shell; the remote ends of the single shafts of the parallel six-shaft robot are respectively connected to the corresponding displacement guide rails in a sliding mode and can horizontally move along the guide rails, the other end of the single shaft is used as a tail end and fixedly connected with a motion platform, and the single shafts are respectively connected with a stepping motor and used for enabling the single shafts to horizontally move along the displacement guide rails according to instructions of an operating system, so that the pose of the motion platform is controlled.
Description
Technical Field
The utility model relates to a bone surgery operation auxiliary system field, concretely relates to six parallelly connected robot operation platforms of long tubulose bone fracture.
Background
Traditional fracture reduction surgery needs to expose bone tissues in a large incision mode, and a doctor restores the anatomical position of a fracture broken end under a direct-view condition, so that the traditional fracture reduction surgery is limited by the experience of the doctor and intraoperative equipment and has the risks of large trauma, susceptibility to infection, secondary fracture and the like.
The parallel robot-assisted fracture reduction means that a doctor plans a reduction track of a fractured bone by using computer-assisted software, the reduction track of the fractured bone is mapped into a motion track of a robot based on a robot kinematic algorithm, and the robot executes the track so as to achieve the purpose of fracture reduction.
In the resetting navigation process, the resetting of two broken ends of the fracture of the long tubular bone is a key link, so that a parallel six-axis robot operating platform convenient for implementing the resetting of the fracture of the long tubular bone is needed, thereby reducing the manual error in the operating process, reducing the operating difficulty and leading the two broken ends of the fracture to achieve accurate resetting.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a six axis robot operation platform that connect in parallel of long tubulose bone fracture to prior art's defect. The motion platform of the operation platform is controlled by the six-axis robot, and the displacement of six single axes of the parallel six-axis robot can be respectively adjusted according to the instruction of the operation system to move along the corresponding guide rail, so that the position and the posture of the motion platform at the tail end of the robot are adjusted, and the end part of the affected side of the fracture can accurately reach the end part of the healthy side.
The utility model aims at realizing through the following technical scheme:
the parallel six-axis robot operation platform for the long tubular bone fracture comprises parallel six-axis robots and a motion platform positioned at the tail ends of the robots; the parallel six-axis robot and the motion platform are arranged in a shell, and the shell is transversely arranged on a base; the shell inner wall is followed the shell axial is provided with six displacement guide rails, the distal end outside of shell is provided with the box and is used for holding step motor.
The parallel six-axis robot comprises six single axes arranged in the shell, the far ends of the single axes are respectively connected to the corresponding displacement guide rails in a sliding mode and can horizontally move along the guide rails, and the other ends of the single axes are fixedly arranged at the bottom of the motion platform as tail ends; and each single shaft is respectively connected with a stepping motor and used for enabling the single shaft to horizontally move along the displacement guide rail according to the instruction of an operating system so as to control the pose of the motion platform.
The top of the motion platform is fixedly provided with a far-end bone block needle clamp which extends forwards and is used for fixing a far-end bone block of a left leg or a right leg, and a fifth marker ball, a sixth marker ball, a seventh marker ball and an eighth marker ball are arranged on the far-end bone block needle clamp and are used for resetting, navigating and positioning.
Two upright columns perpendicular to the base are arranged at one end, close to the near end of the shell, of the base, and the upright columns are respectively arranged on two sides of one end, close to the motion platform, of the shell; the upper portion of stand is provided with and is on a parallel with the near-end bone piece needle clamp that base and forward stretched out is used for the near-end bone piece of fixed left leg or right leg, the needle bar of near-end bone piece needle clamp is towards the place ahead, just be provided with first marker ball, second marker ball, third marker ball and fourth marker ball on the near-end bone piece needle clamp for the navigation location that resets uses.
Furthermore, a cross guide rail is fixedly arranged at the top of the motion platform and used for installing a right far-end bone block needle clamp or a left far-end bone block needle clamp, and the right far-end bone block needle clamp or the left far-end bone block needle clamp is fixed on the guide rail through a bolt.
Further, the displacement guide rail is a ball screw guide rail and comprises a screw rod and a sliding table, and the far ends of the single shafts are fixed on the sliding table of the displacement guide rail, so that the single shafts can move horizontally along the sliding rails.
Further, the shell is of a regular hexahedron frame structure and is provided with a regular hexahedron side wall, a near end and a far end which are respectively arranged at two ends of the side wall, wherein the near end is close to the position of the motion platform.
Furthermore, displacement guide rail sets are arranged on the inner surface of the side wall of the shell at intervals and are axially arranged along the shell, and each displacement guide rail set comprises two displacement guide rails arranged side by side.
Compared with the prior art, the utility model discloses a beneficial effect that technical scheme brought is:
long tubulose bone fracture six parallel robot operation platform can adjust respectively according to operating system's instruction the six unipolar displacements of six parallel robots make it remove along corresponding guide rail to the adjustment is located the terminal motion platform's of robot position and gesture, is convenient for implement long tubulose bone fracture and resets, thereby reduces artifical error, the reduction operation degree of difficulty among the operation process, makes the two broken ends of fracture reach accurate the reseing. And set up the cross guide rail on motion platform, can be according to the convenient loading and unloading of patient's needs right side distal end bone piece needle clamp or left side distal end bone piece needle clamp, have more the practicality.
Drawings
Fig. 1 is a schematic structural diagram of a parallel six-axis robot operating platform according to the present invention;
FIG. 2 is a 45 ° top view of the parallel six-axis robotic manipulation platform of FIG. 1;
FIG. 3 is a schematic view of the motion platform and distal bone block pin clamp of FIG. 2;
FIG. 4a is a schematic view of a proximal bone block pin clamp of a parallel six-axis robotic manipulation platform according to an embodiment; FIG. 4b is a schematic diagram of a distal bone pin clamp of a parallel six-axis robotic manipulation platform according to an embodiment.
Wherein the content of the first and second substances,
1: first marker ball 2: second marker ball
3: third marker ball 4: fourth marker ball
5: fifth marker ball 6: sixth marker ball
7: seventh marker ball 8: eighth marker ball
9: displacement guide rail 10: box body
11: contralateral mirror image osteopathic point cloud model 13: motion platform
151, 152: proximal bone block needle clip 16: base seat
17: the housing 18: single shaft
19: column 141: cross guide rail
142: right distal bone block pin clamp 143: left distal bone block needle clip
Detailed Description
In order to make the objects, technical solutions, advantageous effects and significant progress of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are described clearly and completely with reference to the drawings provided in the examples of the present invention, and it is obvious that all the described embodiments are only some embodiments of the present invention, not all embodiments; based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in figures 1-2, the parallel six-axis robot operation platform for long tubular bone fracture comprises a base 16, a shell 17, a parallel six-axis robot and a motion platform 13 positioned at the tail end of the robot.
The base 16 is provided with a shell 17 transversely arranged on the base 16 and a column 19 vertical to the base 16, the shell 17 is of a regular hexahedral frame structure and is provided with a regular hexahedral side wall, a near end and a far end which are respectively arranged at two ends of the side wall, wherein the near end is close to the position of the moving platform 13; the outer wall of the distal end is provided with a housing 10 for housing a stepper motor. The displacement guide rail set is arranged on the inner surface of the side wall of the shell 17 at intervals and is axially arranged along the shell, and the displacement guide rail set comprises two displacement guide rails 9 arranged side by side. Two upright posts 19 perpendicular to the base 16 are arranged at one end of the base 16 close to the near end of the shell 17, and the upright posts 19 are respectively arranged at two sides of the near end of the shell and fixedly connected with the near end of the shell through connecting pieces; the upper part of the upright post 19 is provided with a near-end bone block needle clamp 151,152 which is parallel to the base 16 and is used for fixing a near-end bone block, the needle rod of the near-end bone block needle clamp 151,152 faces to the front, and the near-end bone block needle clamp 151,152 is respectively provided with a first marker ball 1, a second marker ball 2, a third marker ball 3 and a fourth marker ball 4 which are used for resetting, navigating and positioning. Therefore, the proximal bone block needle clamps 15 respectively arranged on the two sides of the upright post 19 are respectively suitable for a left side mode and a right side mode, namely suitable for the needs of reduction of left leg or right leg long tubular bone fracture of a patient.
Six parallelly connected robots are including setting up six unipolar 18 inside shell 17, each the distal end of unipolar sliding connection respectively corresponding on displacement guide 9 and can follow guide rail horizontal migration, the unipolar is followed the axial of shell extends to the near-end, the other end of unipolar sets firmly in the bottom of motion platform 13 as the end. Displacement guide 9 is commercially available ball screw guide, including the ball screw (16 mm diameter, 5mm helical pitch) and the slip table of 1605 specification, each the distal end of unipolar is fixed on displacement guide 9's the slip table, thereby makes the unipolar is followed guide rail horizontal migration. The stepping motor controls the displacement of the sliding table on the displacement guide rail 9 according to the instruction of the operating system, so that the single shaft 18 is controlled to move along the displacement guide rail, and the pose of the motion platform is controlled.
As shown in fig. 3, a cross guide rail is fixedly arranged at the top of the moving platform 13, and is used for installing a right far-end bone block pin clamp 142 or a left far-end bone block pin clamp 143 on the corresponding guide rail and position according to specific working conditions, and the right far-end bone block pin clamp 142 or the left far-end bone block pin clamp 143 is fixed on the guide rail through bolts. Fig. 3 shows a schematic diagram of the mirror image of the right and left distal bone block needle clips 142,143, which only need to be mounted in practical use.
The needle rods of the right/left far bone block needle clamps 142,143 face forwards and are used for fixing far bone blocks, and fifth, sixth, seventh and eighth marker balls 5, 6, 7 and 8 are arranged on the far bone block needle clamps and are used for resetting, navigating and positioning. The eight marker balls have the same structure, and fig. 4a and 4b show schematic views of the proximal and distal bone pin clamps under the same scanning coordinate system. The cross guide rail is selected to facilitate the user to assemble and disassemble the far-end bone block needle clamp at a proper position according to actual requirements.
When the patient's right leg fracture is reduced in the right mode, the right distal bone block needle clamp 142 is used in cooperation with the right proximal bone block needle clamp 151, the right distal bone block needle clamp 142 fixes the distal bone block, and the proximal bone block needle clamp 151 fixes the proximal bone block. When the patient's left leg fracture is reduced in the left mode, the left distal bone block needle clamp 143 is used in cooperation with the left proximal bone block needle clamp 152, the left distal bone block needle clamp 143 fixes the distal bone block, and the proximal bone block needle clamp 152 fixes the proximal bone block. In practical use, only the proximal bone block needle clamp and the distal bone block needle clamp on the corresponding sides can be installed according to the requirements of the left leg or the right leg of a patient.
The using method comprises the following steps:
selecting a left side mode or a right side mode according to the condition of a patient, for example, the fracture of a long tubular bone of a left leg of the patient, and fixedly connecting a far-end bone block and a near-end bone block of a fracture part with the left far-end bone block needle clamp 143 and the near-end bone block needle clamp 152 respectively; CT scan a patient's long tubular bone with a left distal bone block needle clamp 143 and a proximal bone block needle clamp 152; before scanning, the far-end bone block needle clamp and the near-end bone block needle clamp are inserted into eight marking balls 1-8;
loading CT data of a scanned fracture section of the patient long tubular bone and a far-end bone block needle clamp and a near-end bone block needle clamp with eight marker balls, and segmenting bone block data and marker data from the CT data, wherein the bone block data comprise a contralateral mirror image bone shaping model, a far-end bone block (namely, a bone block farther away from the heart of the patient) of the patient long tubular bone and a near-end bone block (namely, a bone block closer to the heart of the patient) of the patient long tubular bone, and the marker data comprise a first marker ball 1, a second marker ball 2, a third marker ball 3, a fourth marker ball 4, a fifth marker ball 5, a sixth marker ball 6, a seventh marker ball 7 and an eighth marker ball 8 which are identified, so as to respectively obtain a first three-dimensional ball, a second three-dimensional ball, a third three-dimensional ball, a fourth three-dimensional ball, a fifth three-dimensional ball, a sixth three-dimensional ball, a seventh three-dimensional ball and an eighth three-dimensional ball. And performing three-dimensional reconstruction on the segmented bone block data and marker data by utilizing meshlab software, storing a reconstruction result as a binary STL grid model file in an operating system, and restoring the patient long tubular bone fracture far end, the patient long tubular bone fracture near end model and the eight marker model files through meshlab to generate a three-dimensional model file with a three-dimensional coordinate system for visualization operation.
And then selecting a 'loading point cloud' in a computer operation interface, and preprocessing by using computer aided design software and a point cloud technology to generate an original far-end bone block point cloud model (corresponding to a patient long tubular bone fracture far-end model file), an original near-end bone block point cloud model (corresponding to a patient long tubular bone fracture near-end model file), an opposite side mirror image bone alignment point cloud model and eight three-dimensional spherical models in respective pin clamp coordinate systems under a scanning coordinate system. Selecting matching calculation in a computer operation interface, carrying out three-dimensional matching on the obtained original far-end bone block point cloud model, the original near-end bone block point cloud model and the opposite side mirror image whole bone point cloud model, adopting a closest point iteration algorithm, generating a matching point cloud model from parts with rich characteristics at two ends of a bone by using matching characteristics, and generating target resetting pose information of a far-end bone to be reset and pose information of a three-dimensional sphere model;
according to the obtained pose information, moving the motion platform to an initial position in a fracture scanning state, namely corresponding to the positions of the original far-end bone block point cloud model and the original near-end bone block point cloud model, mapping the pose information and the target pose information of the three-dimensional sphere model and the relative motion between the motion platform at the tail end of the robot and the base, and enabling the slide block where the far end of the single shaft is located to return to the initial position;
and inputting a relative change value of the target in the 'setting single-axis motion' of the computer operation interface and clicking a 'sending' key according to the obtained matching point cloud model, the target resetting pose information and the pose information of the three-dimensional sphere model. The operating system controls the six single shafts 18 to move corresponding numerical values on the displacement guide rails 9 according to the input numerical values so as to drive the motion platform at the tail end of the robot to generate pose change.
Although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the present invention may be modified from the embodiments described in the foregoing embodiments, or equivalent substitutions may be made on part or all of the technical features, and these modifications or substitutions do not substantially depart from the scope of the embodiments of the present invention, and the non-essential modifications, adjustments or substitutions made by those skilled in the art according to the content of the present description are all within the scope of the present invention.
Claims (6)
1. The parallel six-axis robot operation platform for long tubular bone fracture is characterized by comprising parallel six-axis robots and a motion platform (13) positioned at the tail ends of the robots; the parallel six-axis robot and the motion platform (13) are arranged in a shell (17), and the shell is transversely arranged on a base (16); the inner wall of the shell is provided with 6 displacement guide rails (9) along the axial direction of the shell, and the outer side of the far end of the shell is provided with a box body (10) for accommodating the stepping motor;
the parallel six-axis robot comprises six single axes (18) arranged in a shell (17), the far ends of the single axes (18) are respectively connected to the corresponding displacement guide rails (9) in a sliding mode and can horizontally move along the displacement guide rails, and the other ends of the single axes (18) are fixedly arranged at the bottom of a motion platform (13) as tail ends; each single shaft (18) is respectively connected with a stepping motor and used for enabling the single shaft (18) to horizontally move along the displacement guide rail (9) according to instructions of an operating system so as to control the pose of the motion platform (13);
the top of the motion platform (13) is fixedly provided with a far-end bone block needle clamp which extends forwards and is used for fixing a far-end bone block of a left leg or a right leg;
two upright posts (19) perpendicular to the base (16) are arranged at one end of the base (16) close to the near end of the shell (17), and the upright posts (19) are respectively arranged at two sides of one end of the shell close to the motion platform; the upper part of the upright post (19) is provided with a near-end bone block needle clamp (151, 152) which is parallel to the base (16) and extends forwards and is used for fixing a near-end bone block of the left leg or the right leg, and the needle rod of the near-end bone block needle clamp (151, 152) faces forwards.
2. The parallel six-axis robot operating platform for long tubular bone fracture according to claim 1, characterized in that a cross-shaped guide rail is fixed on the top of the moving platform (13) for installing the right distal bone block needle clamp (142) or the left distal bone block needle clamp (143), and the right distal bone block needle clamp (142) or the left distal bone block needle clamp (143) is fixed on the guide rail through bolts.
3. The parallel six-axis robot operating platform for long tubular bone fractures according to claim 1, characterized in that the displacement guide rails (9) are ball screw guide rails comprising a screw and a sliding table, and the distal end of each single shaft (18) is fixed to the sliding table of the displacement guide rails (9) so that the single shaft moves horizontally along the guide rails.
4. The long tubular bone fracture parallel six-axis robotic manipulation platform of claim 1, wherein said housing (17) is a right hexahedral frame structure having right hexahedral side walls, a proximal end and a distal end respectively disposed at both ends of the side walls, wherein said proximal end is located near the motion platform (13).
5. The parallel six-axis robot operating platform for long tubular bone fracture according to claim 4, characterized in that a displacement guide rail set axially arranged along the shell (17) is arranged at intervals on the inner surface of the side wall of the shell (17), and the displacement guide rail set comprises two displacement guide rails (9) arranged side by side.
6. The parallel six-axis robot operating platform for long tubular bone fracture according to claim 1, wherein the near-end bone block needle clamp (15) is provided with a first marker ball (1), a second marker ball (2), a third marker ball (3) and a fourth marker ball (4), and the far-end bone block needle clamp is provided with a fifth marker ball (5), a sixth marker ball (6), a seventh marker ball (7) and an eighth marker ball (8) for reposition, navigation and positioning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220167265.0U CN218606812U (en) | 2022-01-21 | 2022-01-21 | Parallel six-axis robot operating platform for long tubular bone fracture |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220167265.0U CN218606812U (en) | 2022-01-21 | 2022-01-21 | Parallel six-axis robot operating platform for long tubular bone fracture |
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| CN218606812U true CN218606812U (en) | 2023-03-14 |
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| CN202220167265.0U Active CN218606812U (en) | 2022-01-21 | 2022-01-21 | Parallel six-axis robot operating platform for long tubular bone fracture |
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| CN (1) | CN218606812U (en) |
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- 2022-01-21 CN CN202220167265.0U patent/CN218606812U/en active Active
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