KR101742585B1 - A remote controlled Stewart platform for fracture surgery - Google Patents

A remote controlled Stewart platform for fracture surgery Download PDF

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Publication number
KR101742585B1
KR101742585B1 KR1020150191150A KR20150191150A KR101742585B1 KR 101742585 B1 KR101742585 B1 KR 101742585B1 KR 1020150191150 A KR1020150191150 A KR 1020150191150A KR 20150191150 A KR20150191150 A KR 20150191150A KR 101742585 B1 KR101742585 B1 KR 101742585B1
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KR
South Korea
Prior art keywords
operating
operation unit
links
fracture
upper plate
Prior art date
Application number
KR1020150191150A
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Korean (ko)
Inventor
이치범
유병준
김혜미
이성학
임순호
Original Assignee
서울과학기술대학교 산학협력단
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Priority to KR1020150191150A priority Critical patent/KR101742585B1/en
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Publication of KR101742585B1 publication Critical patent/KR101742585B1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/04—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
    • H04L9/32—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40208—Bus networks characterized by the use of a particular bus standard
    • H04L2012/40215—Controller Area Network CAN

Abstract

The present invention discloses a remotely controlled Stewart platform for fracture surgery. The apparatus includes an operating part having both ends of a plurality of operating part links fixed to the patient's bone and translationally moving; Calculating an inverse kinematic calculation of a mechanical dimension of the operating portion by calculating relative displacements of the first upper plate and the first lower plate connected to both ends of the plurality of operating portion links in accordance with the cylinderical movement of the plurality of operating portion links, An operation unit for operating the operation unit remotely; And a monitoring terminal for monitoring the operation unit and the operation unit in real time and outputting a command for urgently stopping the operation unit or the operation unit if the operation unit malfunctions. According to the present invention, the Stewart platform operating mechanism is fixed to the fracture site of the patient, and the medical staff monitors the X-ray image from the outside of the radioactivity, moves the operating mechanism similar to the operating mechanism directly by hand, Fracture surgery can be performed to prevent the risk of the medical staff being exposed to radioactivity. In addition, even when the link of the operation part overlaps with the fracture part of the patient during the X-ray filming performed during the fracture operation, the X-ray can penetrate the cover of the operation part link, so that the part of the fracture can be observed accurately .

Description

[0001] The present invention relates to a remote controlled Stewart platform for fracture surgery,

The present invention relates to a remote-controlled Stewart platform for fracture surgery, and more particularly, to an X-ray imaging apparatus for performing a fracture operation by remote manipulation by directly moving an operating mechanism similar to a surgical assistant used in fracture surgery, The present invention relates to a remote control Stewart platform for fracture surgery, which can confirm the performance of a surgical assistant by using an inverse kinematics and an inverse kinematics.

In femoral or tibial fracture joints, it is fixed to the bones using an external fixation device, such as an external fixation device, and then repeated x-rays are taken to connect the fractured parts. Perform a little bit of alignment.

In this process, medical personnel are at risk of overexposure to radioactivity because they are operated close to C-ARM X-ray equipment.

In fact, as the annual radiation exposure of orthopedic practitioners increases, they are randomly exposed to serious side effects such as cell degeneration, cancer cell proliferation, and abortion.

On the other hand, the remote control Stewart platform for fracture surgery consists of two parallel Stuart platforms for the operation part and the operation part, and a control part for communication between the two.

The Parallel Stuart platform is a six-degree-of-freedom mechanism mechanism with the advantages of excellent dynamic performance and easy inverse kinematic analysis.

 The Stewart platform is a six-member induction device and is used in a variety of industrial applications besides medical devices.

Typically, it is widely used in simulators such as equilibrium maintenance systems, automobiles, airplanes, and military tanks, and it can be applied in various fields in the future.

In the case of the Stewart platform used for fracture surgery, the X-ray is taken repeatedly at the time of fracture surgery. When the link of the operation part overlaps with the fracture part of the patient during the X-ray photographing, There was a limit that could not be done.

Therefore, it is necessary to make the link cover constituting the majority of the link with a material which can transmit X-ray though interference between the motor made of metal inside the link and the ball screw is inevitable.

In addition, since X-ray is repeatedly performed at the fracture joint operation of the femur or tibia fracture patients, a control system designed with safety as the top priority is required as a device to be used for medical use in place of the surgical assistant used in the fracture surgery. It is necessary.

KR 10-2015-0115267A

It is an object of the present invention to provide an operation assistant device for use in fracture surgery, which realizes software for real-time monitoring of instrument driving, uses materials that can transmit X-rays to the link of the operation part, The present invention provides a remote control Stewart platform for fracture surgery, which can confirm the performance through experimental results obtained by performing control using the above-described control.

To achieve the above object, according to the present invention, there is provided a remotely controlled Stewart platform for fracture surgery, comprising: an operating part having a plurality of operating part links fixed to a bone of a patient and translationally moving; Calculating an inverse kinematic calculation of a mechanical dimension of the operating portion by calculating relative displacements of the first upper plate and the first lower plate connected to both ends of the plurality of operating portion links in accordance with the cylinderical movement of the plurality of operating portion links, An operation unit for operating the operation unit remotely; And a monitoring terminal for monitoring the operation unit and the operation unit in real time and outputting a command for urgently stopping the operation unit or the operation unit if the operation unit malfunctions.

The details of other embodiments are included in the detailed description and the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and / or features of the present invention and the manner of achieving them will be apparent from and elucidated with reference to the embodiments described hereinafter in conjunction with the accompanying drawings. It should be understood, however, that the invention is not limited to the disclosed embodiments, but may be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. And is provided to fully explain the scope of the present invention to those skilled in the art.

According to the present invention, the Stewart platform operating mechanism is fixed to the fracture site of the patient, and the medical staff monitors the X-ray image from the outside of the radioactivity, moves the operating mechanism similar to the operating mechanism directly by hand, Fracture surgery can be performed to prevent the risk of the medical staff being exposed to radioactivity.

In addition, even when the link of the operation part overlaps with the fracture part of the patient during the X-ray filming performed during the fracture operation, the X-ray can penetrate the cover of the operation part link, so that the part of the fracture can be observed accurately .

1 is a block diagram of a remote control Stewart platform for fracture surgery according to the present invention.
2 is a front view (a) and a perspective view photograph (b) of the operating portion 100 of the Stuart platform shown in Fig.
3 is a front view of the operating part 200 of the Stuart platform shown in FIG.
4 is a photograph showing a ball joint 250 and a ball joint alignment bracket 260 coupled to each other in the operation part 200 of the Stewart platform shown in FIG.
5 is a photograph of a bone fixation pin 280 in the operating part 200 of the Stuart platform shown in FIG.
FIG. 6 is a screen showing real-time monitoring software displayed on the monitoring terminal 300 in the Stuart platform shown in FIG.
FIG. 7 is a table showing load analysis results of the ball joint 250, the universal joint 240, and the actuating portion link 230 in the Stuart platform shown in FIG.
8 to 10 are graphs showing stress (a), strain (b), and strain (c) analysis results for the ball joint 250, universal joint 240 and actuating part link 230 in the Stuart platform shown in FIG. Fig.
FIG. 11 is a graph illustrating a result of real-time experiments of a remote-controlled Stewart platform for fracture surgery according to the present invention.

Hereinafter, a remote control Stewart platform for fracture surgery according to the present invention will be described with reference to the accompanying drawings.

The terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms and the inventor can properly define the concept of the term to describe its invention in the best way Should be construed in accordance with the principles and meanings and concepts consistent with the technical idea of the present invention.

In the specification, when a component is referred to as being "comprising" or "including" an element, it is to be understood that this may include other elements, . Also, the terms "absence", "unit", "unit", "module", "device" and the like described in the specification mean units for processing at least one function or operation, Lt; / RTI >

System configuration and operation

FIG. 1 is a block diagram of a remote control Stewart platform for fracture surgery according to the present invention, which includes an operation unit 100, an operation unit 200, and a monitoring terminal 300. The operation unit 100 includes a linear potentiometer, a first microcontroller 102 and a first communication unit 104. The operation unit 200 includes a second communication unit 202, a second microcontroller 204, a motor controller 206 and a linear actuator.

2 is a front view (a) and a perspective view photograph (b) of the operating unit 100 of the Stuart platform shown in Fig. 1, in which the first upper plate 110, the first lower plate 120, A plurality of upper universal joints 150, a plurality of lower universal joints 155, an operation portion knob 160, a plurality of connection portions 170, and a hold switch 180. [

3 is a front view of the operating part 200 of the Stewart platform shown in FIG. 1, which includes a second upper plate 210, a second lower plate 220, a plurality of operating part links 230, a plurality of link covers 235 And a plurality of universal joints 240, a plurality of ball joints 250, a plurality of ball joint alignment brackets 260, and a photosensor 270.

4 is a photograph showing a ball joint 250 and a ball joint alignment bracket 260 coupled to each other in the operation part 200 of the Stewart platform shown in FIG.

5 is a photograph of a bone fixation pin 280 in the operating part 200 of the Stuart platform shown in FIG.

FIG. 6 is a screen showing real-time monitoring software displayed on the monitoring terminal 300 in the Stuart platform shown in FIG.

The structure and function of each component of the remote control Stewart platform for fracture surgery according to the present invention will be described with reference to FIGS. 1 to 4. FIG.

The remote control Stewart platform according to the present invention comprises an operation unit 200 for fixing the patient to a surgical site, and an operation unit 100 for physician's operation.

When the doctor operates the operation unit 100, the linear potentiometer measures the length and calculates the relative displacement between the first upper plate 110 and the first lower plate 120 through calculation of forward kinematics, 200 to calculate the actuator displacement of the actuating part 200 through an inverse kinematic calculation and operate accordingly.

The first and second microcontrollers 102 and 204 respectively control the operation of the operation unit 100 and the operation unit 200 and the three two channel motor controllers 206 control the operation of the six motors of the operation unit 200 And controls the operation.

In order to prevent the malfunction of the remote control Stewart platform, it is possible to monitor in real time through the monitoring terminal 300 and output a command for urgently stopping the monitoring.

Since the operation range of the operation part 200 is the femur, the fibula, and the tibia, the maximum height is set to 280 to 320 mm, preferably 300 mm, in consideration of the average bone length.

The actuating link 230 is configured in the form of a linear actuator driven by a ball screw directly as the motor rotates.

Each link 230 of the actuating part 200 performs translational motion with a stroke of 45 mm and the joints at both ends of the link 230 are engaged with the second upper plate 210 and the second lower plate 220, (Universal joint) 240 and a ball joint 250 so as to have six degrees of freedom.

The maximum allowable angle of the ball joint 250 is 12.5? Therefore, in order to use the ball joint 250 as much as possible, the ball joint 250 of FIG. 2 is tilted by using a bracket.

According to the results of the mechanism analysis, the maximum movement amount is 50 mm in the x-y plane, 47 mm in the z direction, the roll angle and the pitch angle are 3.5 ?, and the yaw angle is 17 ?.

As shown in FIG. 5, the bone fixation pin 280 attaches a bone fixation device using a stainless steel round bar having a diameter of 3 mm and being safe for medical use.

In addition, the operation part 200 is divided into two parts, i.e., the second upper plate 210 and the second lower plate 220, thereby providing convenience to the patient when worn.

When X-ray is repeatedly performed at the time of fracture surgery, if the operation link 230 overlaps with the patient's fracture site, the fracture can not be accurately observed in the image.

Therefore, the link cover 235, which constitutes the majority of the actuating part link 230, is in a state in which the X-ray is transmitted through the X- It is made of materials that can be made.

X-ray permeable materials include carbon fiber reinforced plastics, acrylic, and polycarbonate.

From the viewpoint of mechanical strength, the carbon fiber reinforced plastic exhibited excellent properties, but it was difficult to process. Polycarbonate and acrylic were similar in tensile and bending strength, but polycarbonate was much better than acrylic in brittle impact strength In the present invention, a light-transmitting polycarbonate is used as the material of the link cover 235.

The operation unit 200 attaches the photosensor 270 to a stroke '0' point on the central portion of the bone of the patient and the central portion of the plurality of actuating part links 230 to set a zero point, The height of the initial operation part 200 is set according to the bone length of the individual patient.

As shown in FIG. 2, the operation unit 100 is designed as a Stewart platform having the same shape as that of the operation unit 200 so that intuitive and delicate operations can be performed without any sense of uncomfortable operation.

The operation unit 100 includes six linear potentiometers for measuring the length of each operation unit link 130 and performs a cylinderical movement differently from the operation unit link 230 of the operation unit 200.

Accordingly, the manipulation part link 130 is designed to have six degrees of freedom in the same manner as the operation part 200 by connecting both ends of the manipulation part link 130 with the upper and lower universal joints 150 and 155, respectively.

Since the movement of the linear potentiometer is very free, the medical staff mounts the compression spring 140 on the rod portion 135 of each operation unit link 130 due to the concern about positional deformation during operation, And the positional change is controlled by the reaction force of the spring.

When the on / off switch is turned on by attaching the on / off switch to the operation unit knob 160, the operation unit 200 is driven in conjunction with the operation unit 200, and is not synchronized when the on / off switch is turned off.

In addition, an LED (not shown) is attached to each operation unit link 130 in order to prevent an accident that may occur due to a malfunction of the mechanism when restarting after a temporary stop, and all six LEDs are illuminated when the operation is restarted.

The six LEDs are mounted in a plurality of connection portions 170 such as bolts connecting the first top plate 110 and the plurality of operation portion links 130 in FIG. 2 (b).

When the operation unit 100 is returned to the original state immediately before the temporary stop, the LEDs of the respective operation unit links 130 are turned off when the respective operation unit links 130 arrive at the previous positions, and when all six LEDs are turned off, And starts to interlock with the operation unit 200.

In addition, each of the six LEDs indicates which of the plurality of operation portion links 130 is synchronized with the operation portion 200.

When the hold switch 180 is attached to the operation unit 100 and the switch is pressed, an external output is generated. Even if the operation unit 100 moves, the operation unit links 230 of the operation unit 200 are maintained in a safe state Attach the device.

The hold switch 180 can be pushed by the thumb of the medical staff and the fingers other than the thumb can enter the control unit knob 160 to operate the control unit 100. [

When the medical staff starts the operation of the operation unit 100, the six linear potentiometer lengths of the operation unit 100 are measured through AD conversion of the first microcontroller 102.

The displacement data obtained according to the changing potentiometer length is transmitted to the operation unit 200 through the first communication unit 104 via the CAN communication with high reliability.

Here, controller area network (CAN) communication is a type of serial communication, which means a serial bus network for microcontrollers connecting peripheral devices such as sensors and actuators in a real-time control application system.

The operation unit 200 receives the displacement data from the first communication unit 104 of the operation unit 100 via the CAN communication and the second microcontroller 204 receives the transmission data from the second microcontroller 204, Calculates a new length corresponding to the dimension of the actuating part 200 through the inverse kinematics, and transmits the calculated new length to the motor driver to operate the actuating part 200.

Herein, the forward kinematics is used to obtain the position information of the first upper plate 110 by using the six nonlinear equations when the length of each operation portion link 130 is given by using the Newton-Rapshon method And the inverse kinematics is utilized to determine the lengths of the six control part links 130 when the position information of the first top plate 110 is given.

Since the motor driver operates in position control mode via CAN communication, the data uses absolute value instead of increment value.

Data converted into a new length corresponding to the dimension of the operation unit 200 is transmitted to the motor driver together with the ID.

In the motor driver, only the data matching the unique ID is received, and the motor built in the operation link 230 is operated based on the received data.

The Stewart platform according to the present invention is a system that causes the operation unit 200 to move along the changed relationship to match the operation of the operation unit 200 with the operation of the operation unit 100.

In this process, it is necessary that the first microcontroller 102 of the operation unit 100 recognizes the linear potentiometer value and then accurately calculates the operation procedure to confirm whether the operation link 230 operates in the same motion as the operation unit link 130 have.

In other words, monitoring is essential because safety as a medical device should be considered as a priority, so that the monitoring terminal software is implemented as shown in FIG. 6 so that the operation of the entire system can be visually observed.

When the connection is started, the program is connected to the first microcontroller 102 through RS232 communication, and the value of the linear potentiometer is read in real time. Then, as shown in FIG. 6, the current operation state, position value, .

The first microcontroller 102 calculates the position of the actuating part 200 based on these values and displays the expected operation state, position value, length value, etc. of the actuating part 200 on the right side as shown in FIG. .

Mechanism dynamics and structural analysis

FIG. 7 is a table showing load analysis results of the ball joint 250, the universal joint 240, and the actuating portion link 230 in the Stuart platform shown in FIG.

8 to 10 are graphs showing stress (a), strain (b), and strain (c) analysis results for the ball joint 250, universal joint 240 and actuating part link 230 in the Stuart platform shown in FIG. Fig.

FIG. 11 is a graph illustrating a result of real-time experiments of a remote-controlled Stewart platform for fracture surgery according to the present invention.

The operation unit 100 and the operation unit 200 communicate each other's position with a change in the length of the simple operation unit 100 due to the difference in dimension and shape and require accuracy of the kinematic formula used for calculation through motion calculation .

Therefore, we simulate MSC.ADAMS and MATLAB in order to verify the accuracy of inverse kinematics and pure kinematics derived using MATLAB.

In order to confirm the structural stability, MSC..ADMAS is given operating condition and the calculated load value is assigned to ANSYS as a boundary condition.

This confirms the risk of deformation and damage due to the patient's load acting on the mechanism during operation and the operating torque of the motor.

The stroke of each actuating part link 230 in the actuating part 200 is designed to move from 0 to 45 mm and the stroke of the actuating part link 230 is changed in accordance with the change in length of each actuating part link 230 with reference to the second lower plate 220 The posture of the first upper plate 110 relative to the first lower plate 120 of the first upper plate 110 is changed.

Therefore, it is possible to perform the mechanism analysis in a desired posture by applying the same displacement to the motor driver in the ADMAS.

The ADAMS / Control model receives six input values from the operation unit 200 from the MATLAB / Simulink at every analysis time, changes the length in the MSC.ADAMS, measures the position of the first top plate 110, Export to MATLAB / Simulink.

In MALTAB / Simulnk, the result is compared with the results calculated by the forward kinematic algorithm, and two kinematic equations are verified by comparing the error rates of theoretical values after successive calculations of forward kinematics and inverse kinematics.

Since the actuating part link 230 is in the maximum tension state when the actuating part 200 is first worn, the stroke of each actuating part link 230 is 45 mm which is the maximum point.

Further, since the leg is inserted between the apparatuses when the apparatus is worn on the legs of the patient lying thereon, the two actuating part links 230 located at the lower part of the legs and the joint are connected to each other by the largest load among the six actuating part links 230 .

Therefore, load analysis is performed centering on the two operating link 230 and joints which receive the greatest load.

Since the second upper plate 210 and the second lower plate 220 are connected to the legs of the actuating unit 200, the weight of the legs acts on the second upper plate 210 and the second lower plate 220.

The weight of one side of the thigh is generally applied to the second upper plate 210 by 500 N and the second lower plate 220 by a load of about 30 kg or more in the case of an adult overweight patient Respectively.

The actuating part 200 is provided with a force (5.86 N) calculated from the maximum torque of the motor in the axial direction of the six operating part links 230.

The load analysis results of the ball joint 250, the universal joint 240, and the actuating part link 230 through the MSC.ADAMS with respect to the typical driving conditions of the mechanism are shown in FIG.

The results of stress, strain, and deformation analysis performed by the static structural analysis (ANSYS) using these results are shown in FIGS. 8 to 10. FIG.

In other words, the stress value was found to be much smaller than the yield strength and the safety factor was 10 or more in all cases.

11 is a graph showing the relationship between the length of the operating part 200 and the output b of the operating part 200 by measuring the lengths of the six operating part links 130 that are changed by the user arbitrarily moving the operating part 100, Respectively.

As shown in Figs. 11 (a) and 11 (b), since the dimensions and the shapes of the operating portion 100 and the operating portion 200 are different from each other, the overall shape is the same, but the relative values of the respective link lengths are calculated differently .

This is in accordance with the most intuitive movement of the operator as the operator changes the initial position of the second upper plate 210 and the second lower plate 220 in the same amount.

It takes about 0.3 seconds from the length measurement of the operation unit 100 to the change of the length of the operation unit 200. This is because the operation of the apparatus is not fast and there is no inconvenience to the operation.

Much of the time is spent solving the forward kinematics and optimizing the firmware code for numerical computation is expected to further reduce latency.

As described above, the present invention is an operation assistant device used in the operation of fracture, which implements software to enable real-time monitoring of the device driving, uses materials that can transmit X-rays to the link of the operating part, And provides a remote control Stuart platform for fracture surgery, which can confirm the performance through experimental results of control using kinematics.

Thus, the present invention fixes the Stuart platform operating mechanism to the fracture site of the patient, while the medical staff monitors the X-ray image from the outside of the radioactivity shield, moves the operating mechanism similar to the operating mechanism directly by hand, By performing the fracture surgery, it is possible to prevent the risk that the medical personnel are exposed to radioactivity.

In addition, even when the link of the operation part overlaps with the fracture part of the patient during the X-ray filming performed during the fracture operation, the X-ray can penetrate the cover of the operation part link, so that the part of the fracture can be observed accurately .

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but many variations and modifications may be made without departing from the spirit and scope of the invention. Be clear to the technician. Accordingly, the true scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of the same should be construed as being included in the scope of the present invention.

100:
102: first microcontroller
104: first communication section
200:
202:
204: second microcontroller
206: Motor controller
300: terminal for monitoring

Claims (10)

An operating part having both ends of the plurality of operating part links fixed to the patient's bone and translationally moving;
Calculating an inverse kinematic calculation of a mechanical dimension of the operating portion by calculating relative displacements of the first upper plate and the first lower plate connected to both ends of the plurality of operating portion links in accordance with the cylinderical movement of the plurality of operating portion links, An operation unit for operating the operation unit remotely; And
And a monitoring terminal for monitoring the operation unit and the operation unit in real time and outputting a command for urgently stopping the operation unit or the operation unit if the operation unit malfunctions,
The operating portion
A plurality of actuating part links constituting a linear actuator type in which a built-in motor is driven and driven by a ball screw,
A second upper plate and a second lower plate for fixing the bones of the patient at both ends of the plurality of operating sub-links;
A plurality of ball joints connecting the other end of the plurality of operating part links to the second upper plate;
A plurality of universal joints connecting one end of the plurality of operating part links to the second lower plate;
A plurality of ball joint brackets mounted between the plurality of ball joints and the second upper plate to increase a maximum allowable angle of the plurality of ball joints;
A plurality of link covers surrounding an outer periphery of each of the plurality of operating part links; And
A plurality of photosensors attached to a bone central portion surface of the patient and a surface of the plurality of actuating portion link central portions to set a zero point for holding an initial position when the actuating portion is initially driven;
≪ / RTI >
Stuart platform with remote control for fracture surgery.
delete The method according to claim 1,
The link cover
Characterized in that it is a light-transmitting polycarbonate material.
Stuart platform with remote control for fracture surgery.
The method according to claim 1,
The operating portion
A plurality of operating portion links configured in the form of a linear potentiometer for measuring the length of each link and performing the cylinder movement; And
A plurality of upper universal joints connecting one end of the plurality of operation portion links to the first upper plate; And
A plurality of lower universal joints connecting the other end of the plurality of operation portion links to the first lower plate; And
A plurality of compression springs mounted on a rod portion of each of the plurality of operation portion links for controlling a positional deformation by a pressing force when a medical staff operates, by a reaction force of a spring; And
An operation portion handle attached to an outer side surface of a central portion of the first upper plate and the first lower plate to receive operation of the medical staff;
An LED mounted in a plurality of connection portions connecting the first upper plate and the plurality of operation portion links and being alerted when the Stewart platform is restarted after pausing;
≪ / RTI >
Stuart platform with remote control for fracture surgery.
5. The method of claim 4,
The operating portion
An on / off switch attached to the operating portion handle to switch a drive of the operating portion in association with the operating portion according to turn-on / turn-off; And
A hold switch attached to the upper surface of the first upper plate to generate an external output to hold the plurality of operating part links in a held state even if the operating part moves;
Lt; RTI ID = 0.0 > 1, < / RTI &
Stuart platform with remote control for fracture surgery.
5. The method of claim 4,
The operating portion
A first microcontroller for measuring the length of the linear potentiometer and converting the length of the linear potentiometer into AD when the operation of the medical staff is started, and outputting displacement data;
A first communication unit receiving the displacement data and transmitting the displacement data to the operation unit via CAN communication;
Lt; RTI ID = 0.0 > 1, < / RTI &
Stuart platform with remote control for fracture surgery.
The method according to claim 6,
The operating portion
A second communication unit for receiving the displacement data from the first communication unit through CAN communication;
A second microcontroller receiving the received displacement data from the second communication unit and computing a length corresponding to a dimension of the actuating unit through a forward kinematics and an inverse kinematics; And
A motor controller for receiving the calculated length of the actuating part from the second microcontroller and controlling the motor driver;
Further comprising:
Wherein the motor driver receives a control signal from the motor controller together with an ID and receives only data corresponding to the ID, and operates the built-in motor in response to the received data.
Stuart platform with remote control for fracture surgery.
8. The method of claim 7,
The forward kinematics
When the length of each of the plurality of actuating part links is given by using the Newton-Raphson method, the position information of the first upper plate is obtained by using the nonlinear equation of the number of actuating part links,
The inverse kinematics
And the length of the plurality of operating part links is obtained when the position information of the first upper plate is given.
Stuart platform with remote control for fracture surgery.
The method according to claim 6,
The monitoring terminal
And receives the displacement data from the first microcontroller to confirm whether the calculation process is accurate and whether the plurality of operating unit links operate in the same motion as the plurality of operating unit links.
Stuart platform with remote control for fracture surgery.
The method according to claim 1,
The operating portion
Load analysis is performed on the plurality of ball joints, the plurality of universal joints, and the plurality of actuating part links,
Wherein a static structural analysis is performed using the load analysis results to analyze stresses, strains, and strain applied to the plurality of ball joints, the plurality of universal joints, and the plurality of actuating portion links.
Stuart platform with remote control for fracture surgery.
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CN107775627A (en) * 2017-10-31 2018-03-09 嘉兴复尔机器人有限公司 A kind of six-degree-of-freedom parallel robot
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US11945112B2 (en) * 2020-02-28 2024-04-02 The Board Of Trustees Of The Leland Stanford Junior University Robotic platforms to mimic papillary muscle motion ex vivo

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107775627A (en) * 2017-10-31 2018-03-09 嘉兴复尔机器人有限公司 A kind of six-degree-of-freedom parallel robot
CN109498141A (en) * 2018-11-20 2019-03-22 中国人民解放军第四军医大学 A kind of master-slave mode both arms bionical digitlization long bone shaft fracture reset robot
CN109498141B (en) * 2018-11-20 2024-04-02 中国人民解放军第四军医大学 Master-slave double-arm bionic digital long bone diaphysis fracture reduction robot
KR20210049328A (en) 2019-10-25 2021-05-06 스튜디오이온(주) 6-DOF motion platform having 360 degree rotary body
US11945112B2 (en) * 2020-02-28 2024-04-02 The Board Of Trustees Of The Leland Stanford Junior University Robotic platforms to mimic papillary muscle motion ex vivo
WO2024014754A1 (en) * 2022-07-14 2024-01-18 주식회사 에어스 Wireless fracture reduction robot device and operation system therefor

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