KR101874797B1 - Controls for fracture reduction devices - Google Patents

Controls for fracture reduction devices Download PDF

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KR101874797B1
KR101874797B1 KR1020180005811A KR20180005811A KR101874797B1 KR 101874797 B1 KR101874797 B1 KR 101874797B1 KR 1020180005811 A KR1020180005811 A KR 1020180005811A KR 20180005811 A KR20180005811 A KR 20180005811A KR 101874797 B1 KR101874797 B1 KR 101874797B1
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value
frame
unit
joystick
steering
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KR1020180005811A
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Korean (ko)
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이종석
박재한
남권선
김신열
김병주
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삼익티에이치케이 주식회사
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
    • A61B17/60—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like for external osteosynthesis, e.g. distractors, contractors
    • A61B17/66—Alignment, compression or distraction mechanisms
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
  • Mechanical Control Devices (AREA)

Abstract

The present invention relates to a manipulation device for a fracture reduction device. The present invention provides a manipulation device (2) for manipulating a reduction device (1) reducing a fractured part by an operation with six degrees of freedom, which comprises: a main body (10) seated on an arbitrary workbench; a joystick unit (20) installed in a traverse direction from one side of the main body (10); and a link unit (30) provided with a plurality of connection arms (304) installed between the main body (10) and the joystick unit (20) to output a manipulation value for adjusting the length of a variable leg (1c) of the reduction device according to manipulation of the joystick (20). The present invention can perform manipulation for controlling the reduction device by six degrees of freedom with one hand, can perform minute and precise manipulation through setup of various restrictions, can prevent patient injury risks caused by manipulation errors through a multiple safety device and can automatically set a reference position of the manipulation device, thereby greatly enhancing user convenience.

Description

{Controls for fracture reduction devices}

The present invention relates to a control apparatus for a fracture reduction apparatus, and more particularly, to a control apparatus for a fracture reduction apparatus which can control a six-degree-of-freedom control apparatus of a fracture apparatus with one hand, A control device for a fracture reduction device, which has a plurality of safety devices and is capable of preventing the risk of injury of a patient due to a control error, and automatically setting a reference position of the control device .

The treatment procedure of fracture reduction surgery to treat bone fractures in the main parts of the human body such as arms and legs consists largely of reduction and fixation of the bone fragments.

Convergence of the fracture for the reduction of the fracture is a process of adjusting the fractured fragment to the state before the fracture. It is necessary to precisely position and align the separated fragment after fracture.

However, since various muscles are connected to the main bones of the human body, it is necessary to pull the fractured fragments with great force in order to conceal the fragments during fracture.

Therefore, two or three surgeons usually enter the fracture reduction surgery, and by performing the process of tracing the side of the fracture side of the patient and maintaining the traction position for a long time and conquering the fractured fracture, the surgeon who maintains the traction of the fracture, , It is a disadvantage that a large number of surgeons are put in order to provide an external force for fracture reduction, but the cost of operation is increased due to an increase in operation costs due to the input of a large number of medical personnel even though the operation is inefficient .

In addition, since the fracture part of the human body is usually located inside the skin, it is difficult to visually confirm the fracture state, the reduction process and the occlusal state due to the reduction, and thus, with the help of the real- It is common to undergo surgery for conquest.

That is, when a real-time X-ray image is acquired with the patient's fractured portion between the X-ray source of the C-ARM and the two-dimensional sensor, the surgeon performs the fracture reduction operation while viewing such real-

However, since X-ray imaging apparatuses such as C-ARM require continuous investigation of X-rays to obtain real-time images, exposure dose to patients and medical personnel is significantly higher than other X-ray apparatuses that acquire still images.

In particular, the risk of radioactive exposure is a major problem for medical personnel who repeatedly perform fracture reduction surgery.

In order to solve various problems as described above, a fracture reduction surgery system that can be performed remotely by a single surgeon has been disclosed.

FIG. 1 illustrates a conventional fracture reduction surgery system, which includes a reduction device, a manipulation device, a control device, and an image display device.

The reduction device includes a plurality of frames having a plurality of metal tabs inserted into the bone marrow to reduce a fracture of a patient and a plurality of variable legs provided between the frames so as to be variable in length by an actuator.

By constituting the variable legs by six, the frame has six degrees of freedom in a relative position and posture between the plurality of frames.

The steering apparatus has a structure similar to that of the reduction apparatus and outputs a steering value for controlling the actuator.

The image display device remotely outputs an X-ray image obtained by the C-ARM which photographs the fracture part of the patient in real time so that the operator can operate the control device while viewing the image in real time.

The controller receives the sensor value provided on the variable leg of the concealment device, outputs the sensor value to be displayed on the image display device, receives the control value output from the control device, and controls the operation of the actuator of the concealment device And outputs a signal.

That is, the steering value outputted when the steering frame of the steering apparatus is operated includes the angle value and the displacement value.

The angle value and the displacement value of the steering device are input to the control device, processed by the control device, and then converted into an angle value and a displacement value for controlling the variable leg motion of the concealment device and output.

 Therefore, according to the angle value and the displacement value output from the steering apparatus, the actuator of the concealer operates to change the length and posture of the variable leg, thereby adjusting the position and angle of the frame fixed to the fracture portion. Thus, in a state in which the reduction device having the actuator is mounted on the fracture portion of the patient, the operator can remotely and real-time confirm the fractured x-ray image through the image display device and control the reduction device using the control device, , One operator can perform fracture reduction surgery.

However, since the actuator provided in the reduction device provides a large force of 200 to 400 N, in the case where a control error occurs due to insufficient use or mistakes in the process of remotely controlling the reduction device by using the control device, There is a risk that the patient may be injured more seriously while the concealer operates.

Thus, the conventional steering apparatus is configured to have a structure similar to the steering apparatus in order to prevent inefficient use of the vehicle operator or a steering error due to a mistake, and the steering frame is installed symmetrically on both sides.

Therefore, when the operator manipulates the length and posture of the control leg provided between the control frames through the manipulation of the position of the control frame with both hands holding the control frame formed on both sides of the control device, By operating the variable leg of the device, fracture reduction is performed.

However, since the conventional steering apparatus is operated with both hands, there is a disadvantage that accuracy and precision of steering are deteriorated.

For example, when the operation frame of the collapsible device is required to move 1 cm in the Y-axis direction, which is the upward direction, in order to reduce the fracture fragment, the operator moves the one-side manipulation frame of the manipulation device, 1 cm.

However, since the conventional steering apparatus operates by using both hands, it is difficult to completely fix the other side steering frame to a predetermined position in the air in the process of moving the one side steering frame by 1 cm in the Y axis direction.

Therefore, when the one-side control frame is moved along the Y-axis direction by 0.5 cm in the process of moving the one-side control frame by 1 cm in the Y-axis direction, the one-side control frame moves only 0.5 cm in the Y- .

As a result, the operation frame of the concealment device moves only 0.5 cm in the Y-axis direction, so that the operation that does not reach the original required movement distance is performed, so that the operator has to repeatedly try to operate repeatedly using the control device However, there is a disadvantage that fine and precise control is difficult.

In addition, since the conventional steering apparatus is operated with both hands, it is not only difficult to operate other apparatuses while the steering apparatus is in use, and even when a driver makes mistakes during a fracture reduction operation using the steering apparatus or malfunctions of the steering apparatus, It is difficult to take immediate safety measures in a state where all of them are mounted on the steering apparatus.

On the other hand, in order to accurately interlock the control device and the control device, it is necessary to match the reference coordinates of the variable leg and the control leg provided on the control device and the control device on the three- It is essential to match the reference position.

However, in order to perform an operation of matching the reference coordinates of the variable leg and the adjustment leg on three dimensions, the reference position (zero point) of the steering leg must first be set. By manually performing the reference position setting operation manually, This is cumbersome, inconvenient, and takes a long time to work.

Patent Registration No. 10-1578489

The control device for a fracture reduction device of the present invention is designed to overcome the problems of the related art as described above, and a control device for controlling the six degrees of freedom of a reduction device with a single hand using a single joystick part installed in the lateral direction And to make it possible.

It is also an object of the present invention to enable fine and precise control of the retractor by making it possible to control the operating direction and the operating speed of the retractor in accordance with the constraint desired by the operator.

In addition, the present invention has a plurality of safeguards, so that it is possible to prevent the risk of injury of the patient due to ineffective use of the driver, and control error such as a mistake.

It is another object of the present invention to improve the speed and convenience of the reference coordinate matching operation of the control device and the control device by automatically setting the reference position of the control device.

According to an aspect of the present invention, there is provided a manipulator for a fracture reduction device comprising:

In order to control the reduction device 1 provided with a plurality of variable legs 1c provided with a drive module 1d between the fixed frame 1a and the operation frame 1b respectively mounted on the separated fragments of the fractured portion, (2) for inputting a control value for operation of the drive module (1d) to a control device (3) for outputting an operation control signal of the drive module (1d)

A main body 10 which is seated on an arbitrary work platform;

A joystick part (20) protruding laterally from a side of the main body (10) so as to be positioned on a predetermined height on an upper surface of the workbench;

And a plurality of connecting arms 304 provided between the main body 10 and the joystick unit 20 so as to correspond to the plurality of variable legs 1c, A link portion 30 for outputting a steering value for adjusting the length of the variable leg 1c; And is capable of steering with one hand.

The main body 10 includes: a base plate 101 seated on an arbitrary work table;

A mounting wall 102 vertically installed on the base plate 101 so that one side of the joystick unit 20 is detachably coupled;

A housing 103 covering the mounting wall 102; .

On one side of the base plate 101, a handle 101b is provided in proximity to the outer wall of the housing 103;

A pocket portion 103b which is recessed inwardly from the outer surface of the housing so as to be easily gripped by the handle 101b installed close to the outer wall of the housing 103; .

The joystick unit (20) is characterized in that the joystick unit (20) is provided with a gripper (201) for gripping a gripping surface with which the palm of the operator is in close contact.

The joystick unit 20 includes a deadman switch 202 for controlling whether or not to output the steering value output from the link unit 30.

The control value is inputted to the control device 3 which outputs a control signal for operation of the reduction device 1 including an angle value and a displacement value according to the operation of the joystick part 20,

The angle value is applied as an angle value of the variable leg 1c which is expanded and contracted by the drive module 1d of the reduction device 1,

The displacement value is applied as a speed value at which the variable leg 1c is expanded and contracted by the drive module 1d.

The link unit 30 includes a first frame 301 mounted on the main body 10;

A rotating body (302) having one end rotatably coupled to the first frame (301);

A second frame 303 installed on the joystick unit 20;

One end of which is articulated to the other end of the rotating body 302 and the other end is connected to the second frame 303,

A sensor unit 305 for sensing a rotation angle of the rotary body 302 according to the operation of the joystick unit 20; .

The first frame (301) is provided with a motor (306) for applying a rotational load to the rotating body (302).

The first frame 301 further includes a position sensor 307 for detecting a reference position of the rotating body 302. When the rotating body 302 reaches a reference position at the time of initial driving of the motor 306 , A signal for stopping the operation of the motor 306 is outputted by the position sensor 307 so that the reference position of the rotating body 302 is automatically set.

A plurality of coil springs 308 are radially provided between the first frame 301 and the second frame 303.

The main body 10 is further provided with a condition construction unit 40 for setting a condition for limiting the steering value outputted from the link unit 30 by the operation of the joystick unit 20. [

The limitation condition is characterized in that an angle value included in the steering value is limited to a certain angle value and output.

Wherein the constraint condition is such that an angle value included in the steering value is limited to an axial value of any one of an X-axis, a Y-axis, and a Z-axis direction.

The constraint condition may be set such that the displacement value included in the steered value is constant So that the output is limited to the displacement value.

The control device for a fracture reduction device of the present invention is capable of controlling the six degrees of freedom of the reduction device even with one hand by using a single joystick part installed in the lateral direction, Since the other hand is free during use of the manipulator, manipulation of another device is made possible, so that fracture reduction surgery can be performed more efficiently.

Further, the present invention can control the operation direction and the operation speed of the concealment device in accordance with the constraint condition desired by the operator, thereby enabling fine and precise control of the concealment device, thereby improving the precision and accuracy of the fracture reduction .

In addition, since the present invention has multiple safety devices, it is possible not only to prevent the risk of injury of the patient due to ineffective use of the operator, control error such as a mistake, but also to operate the control device with one hand, Since one hand is free, it is possible to operate the safety device promptly in case of emergency such as malfunction of the device.

Further, according to the present invention, the reference position setting of the control device for setting the reference coordinates of the control device and the control device is automatically performed, thereby improving the promptness and convenience of the reference coordinate setting operation of the control device and the control device.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an exemplary view showing the configuration of a fracture reduction surgery system. FIG.
FIG. 2 is a perspective view showing a fracture reduction device according to an embodiment of the steering device for a fracture reduction device of the present invention. FIG.
3 is a perspective view of an embodiment of a manipulator for a fracture reduction device of the present invention.
4 is a rear perspective view of an embodiment of a manipulator for a fracture reduction device of the present invention.
5 is a front cross-sectional view of an embodiment of a steering device for a fracture reduction device of the present invention.
6 is a perspective view showing a joystick part and a link part according to an embodiment of the control device for a fracture reduction device of the present invention.
7 is a perspective view showing a part of the configuration of the link portion according to the embodiment of the control device for a fracture reduction device of the present invention.
8 is an exemplary view showing the operation of the link portion according to the operation of the joystick portion according to the embodiment of the control device for a fracture reduction device of the present invention.
9 is a plan view showing a configuration of a joystick part and a link part according to an embodiment of the control device for a fracture reduction device of the present invention.
10 is a plan view showing a condition setting unit according to an embodiment of a control apparatus for a fracture reduction apparatus of the present invention.

Hereinafter, in explaining the manipulator for a fracture reduction device of the present invention in detail, the following description is not intended to limit the specific embodiments described in this document to the modifications, equivalents, and / or alternatives.

In connection with the description of the drawings, like reference numerals may be used for similar elements, and the terms " first, "" second, ", etc. used in the present invention may refer to various elements in order and / It is used to distinguish one component from another, and is not limited to those components.

For example, 'first part' and 'second part' may represent different parts, regardless of order or importance. For example, without departing from the scope of the invention described in the present invention, the first component can be named as the second component, and similarly, the second component can also be named as the first component.

Furthermore, the terms used in the present invention are used only to describe specific embodiments, and are not intended to limit the scope of other embodiments. The singular expressions may include plural expressions unless the context clearly dictates otherwise.

Terms used herein, including technical or scientific terms, may have the same meaning as commonly understood by one of ordinary skill in the art. The general predefined terms used in the present invention can be interpreted in the same or similar meaning as the contextual meanings of the related art, and, unless expressly defined in the present invention, mean ideal or overly formal meanings . It is needless to say that the terms defined in the present invention can not be construed as excluding the embodiments of the present invention.

FIG. 2 is a perspective view showing a fracture reduction apparatus according to an embodiment of the steering apparatus for a fracture reduction apparatus of the present invention, which will be described with reference to FIG.

A concealment apparatus 1 controlled by a control apparatus for a fracture reduction apparatus of the present invention includes a fixed frame 1a, an operation frame 1b, and a variable leg 1c for reducing a fracture fragment of a human body .

The fixed frame 1a has a shape that surrounds the affected part in the human body and is mounted in such a form that the fragment of the fractured part is fixed on the side near the body of the patient in the fractured part.

The operation frame 1b has a shape that surrounds the affected part such as the fixed frame 1a. The operation frame 1b has a shape that fixes the fragment of the fractured part near the leg of the patient in the fractured part, Respectively.

The fixed frame 1a and the operation frame 1b are preferably formed in a circular shape, an elliptical shape, or a polygonal shape having a sufficient internal space for allowing the fractured portion of the human body to penetrate.

The fixed frame 1a and the operation frame 1b may be provided with metal tabs inserted in the bone fragments of the fractured bone fragment for the purpose of controlling the position of the fragments for fracture reduction.

One end of the variable leg 1c is mounted on the fixed frame 1a and the other end is mounted on the operation frame 1b and a drive module 1d for adjusting the length of the variable leg 1c is provided .

A plurality of variable legs 1c are mounted radially between the fixed frame 1a and the operation frame 1b and both ends of the variable legs 1c are fixed to the fixed frame 1c using joints such as universal joints or ball joints. It is preferable to mount them on the frame 1a and the operation frame 1b, respectively.

At this time, the number of the variable legs 1c is six as in the case of a stewart platform having six links arranged in parallel, so that the relative position and posture between the fixed frame 1a and the operation frame 1b 6 degrees of freedom.

That is, the operation frame 1b can move in the X-axis, the Y-axis, or the Z-axis direction with respect to the fixed frame 1a, And a combination of the movement and the rotation can be performed.

The driving module 1d includes an actuator for adjusting the length of the variable leg 1c and a sensor unit 305 for detecting and outputting an angle value or a displacement value according to the adjusted length of the variable leg 1c by the actuator, .

The actuators provided in each of the variable legs 1c may operate in parallel and preferably have a physical strength enough to be able to deflect a fragment that is displaced by fracture.

The reduction device 1 is worn so as to fix the separated bone fragment of the fracture portion when the human body is fractured such as an arm or a leg, so that the reduction device 1 applies force to the fragmented bone piece displaced from the correct position, , And is used to maintain the conquered state.

FIG. 3 is a perspective view of a control apparatus for a fracture reduction apparatus of the present invention, FIG. 4 is a rear perspective view of a control apparatus for a fracture reduction apparatus of the present invention, FIG. 5 is a cross- FIG. 3 is a front cross-sectional view according to an embodiment of the cruise control device.

Will be described with reference to Figs. 3 to 5. Fig.

A control device for a fracture reduction device according to the present invention is a control device (2) for controlling a reduction device (1) for concealing a fractured part of a human body, comprising a main body (10), a joystick part (20) .

In the following description, all values are defined for the reference coordinate system.

That is, the left and right direction of the main body 10 is the X axis direction, the front and rear direction of the main body 10 is the Y axis direction, and the up and down direction of the main body 10 is the Z axis direction.

The main body 10 includes a base plate 101, a mounting wall 102, and a base plate 101 so that the concealment apparatus 1 of the present invention can be mounted on a work platform and the joystick unit 20 can be supported. A housing 103 is provided.

Preferably, the base plate 101 is formed in a flat plate shape to be placed on a work table, and is formed of a metal plate having a predetermined thickness so as to maintain a stable seating state.

In addition, a base plate 101 is provided on one side of the base plate 101 so as to protrude in a direction in which the joystick is installed, so that the base plate 101 can maintain a stable seating state even during operation of the joystick unit 20, The leg 101a may further be provided.

The mounting wall 102 is vertically installed on the base plate 101 so that one side of the joystick unit 20 can be detached.

It is preferable that a plurality of coupling holes for attaching and detaching the joystick portion 20 are radially formed on the mounting wall 102. [

The housing 103 is formed in a box shape covering the installation wall 102 and is installed on the base plate 101 so that the installation wall 102 is located inside the housing 103.

At this time, the joystick portion 20 having one end in the installation wall 102 protrudes in the lateral direction from one side of the main body 10, and is installed between the main body 10 and the joystick portion 20 It is preferable that a through hole 103a is formed in one side wall of the housing 103 so that the link portion 30 can be installed.

In addition, it is preferable to provide a flexible cover 104 between one side wall of the housing 103 on which the through-hole 103a is formed and the joystick 20.

The cover 104 is formed in a tubular shape having an endowed outer shape, and each flange portion is formed at the inner and outer ends, and the inner flange is fixed to one outer wall of the housing 103 having the through hole 103a. The through hole 103a is concealed by the cover 104 by fixing to the joystick portion 20. [

Therefore, it is possible to prevent external exposure of the link portion 30 provided through the through hole 103a to provide a clean external appearance and to prevent foreign matter from entering the inside of the main body 10 or the link portion 30 during operation of the joystick So that stable operation of the joystick unit 20 is made possible.

In addition, the cover 104 prevents a part of the user's fingers or the like, such as a finger, from entering the inside of the main body 10 or the inside of the link portion 30, thereby preventing a safety accident .

The cover 104 is preferably formed in the form of a corrugated tube using a material such as rubber having flexibility and elasticity for the flexible six-degree-of-freedom operation of the joystick portion 20.

Meanwhile, a handle 101b may be further provided on one side of the base plate 101.

It is preferable that the handle 101b is disposed as close as possible to the outer surface of the other side wall facing the one side wall of the housing 103 in which the through hole 103a is formed to minimize the volume of the main body 10.

The pocket 103b having an inwardly concave shape is formed on the outer wall of the housing 103 adjacent to the handle 101b so that the handle 101b installed as close as possible to the outer wall of the housing 103 can be easily gripped .

The joystick unit 20 is installed to protrude laterally from one side of the main body 10.

The joystick unit 20 may include a grip unit 201 for convenience of operation.

The grip portion 201 is mounted on the fracture portion of the patient so as to be disposed in the lateral direction. The grip portion 201 is provided with a grip portion .

The joystick unit 20 may further include a deadman switch 202 for controlling whether or not to output the steering value output from the link unit 30. [

More specifically, the Desman switch (202) is installed on one side of the grip unit (201) as a push button type so that when the operator grasps the grip unit (201) (202).

The deadman switch 202 is composed of a three-step division operation of OFF / Enable / Pain, and is selectively controlled by the pressure depressing the deadman switch 202.

That is, in the OFF signal, the final output of the steering value output from the link unit 30 is interrupted. Only when the signal is the Enable signal, the steering value output from the link unit 30 is finally output. The value is emergency blocked.

FIG. 6 is a perspective view showing a joystick part and a link part according to the embodiment of the control device for a fracture reduction device of the present invention, and FIG. 7 is a perspective view showing a part of the link part according to the embodiment of the control device for a fracture reduction device of the present invention FIG. 8 is an exemplary view showing the operation of the link unit according to the operation of the joystick unit according to the embodiment of the control apparatus for a fracture reduction apparatus of the present invention. FIG.

Will be described with reference to Figs. 6 to 8. Fig.

The link unit 30 includes a first frame 301, a rotating body 302, and a second frame 314 for detecting a six-degree-of-freedom attitude change according to the operation of the joystick unit 20 and outputting a corresponding steering value. 2 frame 303, a connecting arm 304, and a sensor unit 305. [0034]

The first frame 301 is detachably attached to the mounting wall 102 inside the main body 10 so as to correspond to the fixed frame 1a of the reduction apparatus 1.

One end of the rotating body 302 is rotatably coupled to the first frame 301. In order to smoothly rotate the rotating body 302, it is preferable that a rotating shaft is protruded from one side of the rotating body 302 so that the rotating shaft can rotate on the first frame 301.

It is preferable that the number of the rotors 302 is set to be the same as the number of the variable legs 1c provided on the reduction device 1 radially on one side of the first frame 301. [

The second frame 303 is installed in the joystick unit 20 so as to correspond to the operation frame 1b of the concealment apparatus 1.

One end of the connecting arm 304 is articulated to the rotating body 302 and the other end is articulated to the second frame 303. At this time, it is preferable that the number of the connection arms 304 is set to be the same as the number of the variable legs 1c so as to correspond to the variable legs 1c provided in the reduction apparatus 1.

The connection arms 304 of the same number as the number of the variable legs 1c provided on the concealment apparatus 1 are connected to the first frame 301 fixed to the main body 10 and the second frame 301 fixed to the main body 10, The first frame 301 and the second frame 303 are installed between the frame 303 and the second frame 303 so that the first frame 301 and the second frame 303 are spaced apart from each other in the relative position and posture such as the fixed frame 1a and the operation frame 1b of the concealment apparatus 1. [ It has a degree of freedom.

The sensor unit 305 is installed at one side of the rotating body 302 and detects the rotation angle of the rotating body 302 according to the operation of the joystick unit 20 to adjust the length of the variable leg 1c And outputs a steering value for the steering wheel.

The joystick portion 20 is connected to one end of each connecting arm 304 due to the change in position and posture of the connecting arm 304 provided between the first frame 301 and the second frame 303 When the rotating body 302 rotates at a predetermined angle, the sensor unit 305 outputs a steering value that detects the rotation angle of each of the rotating bodies 302.

The sensor unit 305 preferably includes an encoder for detecting the rotation angle of the rotation shaft protruded from one side of the rotating body 302 to detect the rotation angle of the rotation body 302. However, It is not known beforehand.

At this time, the sensor unit 305 can detect the minute operation change of the joystick unit 20 immediately by detecting the rotation angle of the rotating body 302 in units of 0.1 ms.

The steering value is provided to the control device 3 constituting the fracture reduction surgery system shown in FIG. 1, so that the control device 3 compares and analyzes the steering value, The reduction device 1 operates in conjunction with the control device 2. [0051] As shown in FIG.

Meanwhile, the steering value includes an angle value and a displacement value according to the operation of the joystick unit 20.

The angle value corresponds to an angle value according to a change in the length of the variable leg 1c constituting the concealment apparatus 1 and the displacement value corresponds to a speed value for varying the length of the variable leg 1c, 1d operate.

That is, the steering value including the angle value and the displacement value according to the operation of the joystick unit 20 is determined by the reduction unit 1, the steering unit 2, the control unit 3 And a video display device 4. The control device 3 of the fracture reduction surgery system is connected to the control device 3 of the fracture reduction surgery system.

The steering value of the steering device of the present invention input to the control device 3 is converted into a control value for controlling the operation of the reducing device 1 by the attitude control program built in the control device 3 and is output .

The control value includes an angle value and a velocity value for operation of the drive module 1d of the concealment device 1. [

That is, the angle value according to the operation of the joystick unit 20 is applied as an angle value outputted from the control unit 3 for controlling the operation of the reduction apparatus 1, The displacement value is applied as a velocity value output from the control device 3. [

Accordingly, the angle value output from the controller is proportional to the angle value output from the joystick unit, and the velocity value output from the controller is proportional to the displacement value output from the joystick unit.

For example, when the joystick portion 20 is operated by 1 cm at an angle of 10 degrees, the operation frame 1b constituting the reduction device 1 by the operation of the drive module 1d is rotated at a 10- / s. < / RTI >

On the other hand, when the joystick part 20 is operated by 10 cm at an angle of 10 degrees, the operation frame 1b constituting the reduction device 1 by the operation of the drive module 1d is rotated at a 10- s. < / RTI >

The operation frame 1b of the concealment apparatus 1 moves at an angle equal to the moving angle of the joystick unit 20 and moves at a speed proportional to the displacement of the joystick unit 20, The movement of the operation frame 1b can be more precisely controlled through the operation of the operation section 1b, thereby enabling accurate and precise registration of the separated fragments of the fracture section.

That is, in the process of concealing the separated fragments of the fractured portion where the retractor 1 is mounted, the accurate movement distance of the fragments necessary for accurately separating the separated fragments can be directly confirmed by a doctor because the fragments are located inside the human body none.

Therefore, it is necessary for the doctor to move the bone piece in a direction necessary for matching the separated bone pieces in the process of manipulating the manipulator while watching the image display device provided with the x-ray image in real time. At this time, Is more intuitive to match spaced fragments.

Therefore, by moving the operation frame 1b of the concealment apparatus 1 at a speed proportional to the displacement of the joystick unit 20 as described above, the speed at which the operation frame 1b moves can be precisely controlled, Thereby enabling more accurate and precise registration of spaced apart fragments. And a motor 306 for applying a rotational load to the rotating body 302 may be further provided at one side of the rotating body 302.

Preferably, the motor 306 uses a servomotor 306 that is capable of forward and reverse rotation.

The driving force of the motor can be directly transmitted to the rotating body by directly connecting the rotating shaft of the rotating body 302 and the driving shaft of the motor 306. [

Between the rotating body 302 and the motor 306, a power transmitting means 306a for transmitting the power of the motor 306 to the rotating body 302 may be further provided.

The power transmitting means 306a uses a gear box that is a combination of gears for transmitting power between the rotating shaft of the rotating body 302 rotatably coupled to the first frame 301 and the driving shaft of the motor 306 .

The driving force of the motor 306 is provided as a means for suppressing high-speed rotation of the rotating body 302.

That is, when the rotational body 302 rotates in one direction by the operation of the joystick unit 20, the driving force of the motor 306 acts on the rotational body 302 to rotate the rotational body 302 The rotation load can be reduced.

That is, when no load is applied to the rotating body 302 rotated by the operation of the joystick unit 20, the sudden operation of the joystick unit 20 is transmitted to the rotating body 302 as it is, 302 is transmitted to the concealment device 1 as it is, the operation frame 1b of the concealment device 1 is suddenly operated, and the fractured part being conquered is again twisted or excessively moved, There is a possibility of damage.

Therefore, by applying a suitable rotational load to the rotating body 302 by the motor 306 in order to prevent the rotating body 302 from suddenly rotating due to the operation of the joystick unit 20, And excessive rotation can be prevented.

Further, when the operator operates the joystick unit 20, the force and the sense of motion due to the 'force feedback' can be felt due to the rotational load applied to the rotating body 302, so that the manipulation of the joystick unit 20 .

As described above, when the motor 306 applies the rotational load to the rotating body 302, the rotating device 1 for rotating the rotating body is inversely proportional to the distance (interval) between the fixed frame 1a and the working frame 1b .

That is, as the gap between the fixed frame 1a and the operation frame 1b is narrower, more precise movement of the operation frame 1b is required. Therefore, a larger rotational load for suppressing the sudden and excessive rotation of the rotating body 302 .

On the other hand, as the gap between the fixed frame 1a and the operation frame 1b is wider, the operation frame 1b needs to be moved more quickly. Therefore, a rotating load for suppressing the sudden and excessive rotation of the rotating body 302 It is preferable to reduce the number.

 The first frame 301 further includes a position sensor 307 for sensing a reference position of the rotating body 302 so that when the motor 306 is initially driven, . ≪ / RTI >

That is, the first frame 301, in which a plurality of rotators 302 are rotatably and radially installed, is provided with a position sensor 307 for sensing a reference position of each rotator 302.

Each of the rotating bodies 302 may further include a separate sensing piece 302a for facilitating sensing the position of the rotating body 302 by the position sensor 307. [

Thus, when the rotating body 302 reaches the reference position when the rotating body 302 is rotated by the motor 306 during the initial driving of the motor 306, the position sensor 307 senses the rotating body 302 and rotates the motor 306 are stopped.

Therefore, the reference position is automatically set by the motor 306 and the position sensor 307 when the connection arm 304 connected to the rotating body 302 is initially driven.

The coordinate of the connecting leg 304 of the control device 2 and the variable leg 1c of the retractor 1 for matching the control device 1 and the control device 2 to each other in a three- When the coordinate matching operation is performed, the reference position of the connecting arm 304 is automatically set as described above, so that the coordinate matching operation can be performed more quickly and easily.

9 is a plan view showing a configuration of a joystick part and a link part according to an embodiment of the control device for a fracture reduction device of the present invention, which will be described with reference to Fig.

A plurality of coil springs 308 may be provided radially between the first frame 301 and the second frame 303.

When a plurality of coil springs 308 are provided between the first frame 301 and the second frame 303 as described above, the joystick portion 20 coupled to the second frame 303 is operated by the gripper When it is not done, it keeps constant position at all times.

That is, the joystick unit 20 is prevented from falling down when the control unit 2 is not used, so that the weight of the link unit 30 due to deflection of the joystick unit 20 can be prevented from being applied to the link unit 30 Is continuously applied to any one of the rotating bodies 302 or one of the position sensors 307 provided to prevent the rotating body 302 or the position sensor 307 from being damaged or damaged by pressure.

Further, since the joystick unit 20 does not fall down and maintains a predetermined position even when the control unit 2 is not used, it is easy to grasp the joystick unit 20 at the time of initial use, .

Fig. 10 is a plan view showing a construction construction unit 40 according to an embodiment of the control apparatus for a fracture reduction device of the present invention, which will be described with reference to Fig. 10. Fig.

The main body 10 may further include a condition construction unit 40 for setting a condition for limiting the steering value output from the link unit 30 by operating the joystick unit 20. [

The steering value output from the link unit 30 includes an angle value and a displacement value according to the operation of the joystick unit 20. [

The angle value corresponds to an angle at which the operating frame 1b of the concealment apparatus 1 composed of the fixed frame 1a and the operating frame 1b moves, ≪ / RTI >

Accordingly, the operation of the operation frame 1b can be more precisely and accurately controlled through the setting of the restriction condition of the steering value.

The constraint condition may limit the angular value included in the steered value to a certain angle value and output it.

As described above, in order to set the limiting condition of the angle limitation, the coarse construction unit 40 is provided with an angle limiting means 401 made of an analog rotary type switch or a digital type button type switch, .

That is, in the course of performing the reduction of the fracture fragment while confirming the coordinate values of the fixed frame 1a and the operation frame 1b of the concealment apparatus 1 outputted to the image display device 4 by the operator, 1b may have to be moved accurately in a certain angle direction.

At this time, by using the angle limiting means 401 to limit the steering value outputted from the link portion 30 to a certain angle direction, the operation frame 1b can be moved accurately in a certain angle direction .

As an example, in the case where the limiting condition is set through the angle limiting means 401 so that the operating frame 1b of the concealment apparatus 1 operates only in the 30 占 direction, the operator moves the joystick unit 20 at an angle The steering value finally outputted from the link unit 30 is outputted as the 30 [deg.] Steering value.

Therefore, not only the operation of the operation frame 1b can be controlled more precisely and accurately, but also the operation convenience of the joystick unit 20 is greatly improved by setting the restriction condition of the angle limiting means 401. [

The constraint may limit the angular value included in the steered value to a single axis direction value in any of the X axis, Y axis, and Z axis directions.

In order to set the axial limiting condition as described above, it is preferable that the coarse setting unit 40 is provided with the axial direction limiting unit 402 made of a button type switch which is easy to select in the axial direction.

That is, in the course of performing the reduction of the fracture fragment while confirming the coordinate values of the fixed frame 1a and the operation frame 1b of the concealment apparatus 1 outputted to the image display device 4 by the operator, 1b may have to be moved in the direction of the single axis of either the X axis, the Y axis, or the Z axis direction.

At this time, the control value output from the link unit 30 is limited to be output in the single-axis direction of any one of the X-axis, Y-axis, and Z-axis directions using the axial direction defining unit 402, (1b) can move in the single-axis direction of any one of the X-axis, Y-axis, and Z-axis directions.

As described above, the steering value output from the link unit 30 is limited to the single-axis direction of either the X-axis, the Y-axis, or the Z-axis direction, Is limited to a case in which the steering value corresponding to the single-axis direction set through the axial direction limiting means 402 is output.

For example, in the case where the X-axis direction restriction condition is set through the construction construction unit 40 such that the operation frame 1b of the concealment apparatus 1 operates only in the X-axis direction, Axis direction and the Z-axis steering value coexist in the steering value, the Y-axis and Z-axis directions are excluded from the steering output finally output from the link unit 30, and only the X-axis steering, Only the value is output.

Therefore, the operation frame 1b operates accurately only in the X-axis direction, so that operation control of the operation frame 1b can be performed more precisely and precisely, and operation convenience of the joystick unit 20 is greatly improved.

The limitation condition may limit the displacement value included in the steering value to a predetermined displacement value and output the displacement value.

In order to set the restriction condition for limiting the displacement value as described above, it is preferable that the condition construction unit 40 is provided with the displacement value limiting means 403 of the button type switch for setting the restriction condition for the displacement value.

As described above, in limiting the displacement value of the steering output value outputted from the link unit 30, the displacement value is a value obtained by subtracting the lowest displacement value that enables the lowest speed drive of the drive module 1d included in the reduction apparatus 1 But it is not limited to this.

In other words, when the reduction of the separated fragments reaches the finishing step in the course of performing the reduction of the fragments of the fractured portion while confirming the state of the fractured portion by the concealment apparatus 1 outputting on the image display device 4 by the operator, A very fine and precise operation control of the operating frame 1b is required.

Therefore, when a very slow movement of the operation frame 1b is required, the steering value output from the link unit 30 using the displacement value limiting means 403 is converted into a displacement value according to the operation of the joystick unit 20 It is limited to a constant displacement value regardless of the change.

When the displacement value is input to the control device 3 constituting the fracture reduction operation system, the control device 3 outputs the displacement value to the control device 3, And converted into a control value for controlling the operation of the concealment apparatus 1 by the built-in attitude control program and outputted.

At this time, since the displacement value of the joystick unit is constant, the control value is also constantly outputted for the operation of the driving module 1d of the concealment apparatus 1. [

Therefore, when the displacement value defined by the displacement value defining means 403 is outputted only to the lowest displacement value according to the operation of the joystick unit 20, the control apparatus 3, to which the displacement value is input, Is driven at the lowest speed.

Therefore, not only the operation of the operation frame 1b can be controlled more precisely, but also the operation convenience of the joystick unit 20 is greatly improved by a simple setting operation of the displacement value limiting means 403.

The emergency stop button 404 and the initialization button 405 may be further provided in the construction construction unit 40. [

The emergency stop button 404 is provided to the control device 2 so that the operation of the control device 2 can be immediately stopped when an emergency occurs such as a malfunction of the device or a control error during use of the control device 2 Disconnect power.

The reset button 405 may be configured such that when the emergency stop button 404 is turned off and the emergency stop button 404 is reset when the power is re-supplied after the interruption of the power supply by the emergency stop button 404, , The emergency stop button 404 is reset in the state where the initialization button 405 is depressed, so that the malfunctioning due to unintended power supply is prevented.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention as defined by the appended claims. While the present invention has been described in connection with the preferred embodiments thereof with reference to the accompanying drawings, it is to be noted that various changes and modifications will be apparent to those skilled in the art.

1: Conquering device 2: Steering device
3: Control device 4: Video display device
10: main body 101: base plate
102: mounting wall 103: housing
103a: Through hole 103b: Pocket part
104: cover 20: joystick part
201: grip part 202: Deadman switch
30: link unit 301: first frame
302: rotating body 303: second frame
304: connecting arm 305: sensor part
306: motor 307: position sensor
308: Coil spring 40: Joe construction
401: angle limiting means 402: axial limiting means
403: Displacement value limiting means 404: Emergency stop button
405: Reset button

Claims (14)

In order to control the reduction device 1 provided with a plurality of variable legs 1c provided with a drive module 1d between the fixed frame 1a and the operation frame 1b respectively mounted on the separated fragments of the fractured portion, (2) for inputting a control value for operation of the drive module (1d) to a control device (3) for outputting an operation control signal of the drive module (1d)
A main body 10 which is seated on an arbitrary work platform;
A joystick part (20) protruding laterally from a side of the main body (10) so as to be positioned on a predetermined height on an upper surface of the workbench;
And a plurality of connecting arms 304 provided between the main body 10 and the joystick unit 20 so as to correspond to the plurality of variable legs 1c, A link portion 30 for outputting a steering value for adjusting the length of the variable leg 1c; ≪ / RTI &
Wherein the joystick unit (20) is provided with a deadman switch (202) for controlling whether or not to output a steering value output from the link unit (30) so that the joystick unit . The method according to claim 1,
The main body (10)
A base plate (101) seated on a work table;
A mounting wall (102) vertically installed on the base plate (101) so that one side of the joystick unit (20) is detachably coupled;
A housing 103 covering the mounting wall 102; And a control device for controlling the operation of the fracture reduction device. 3. The method of claim 2,
On one side of the base plate 101, a handle 101b is provided in proximity to the outer wall of the housing 103;
A pocket portion 103b which is recessed inwardly from the outer surface of the housing so as to be easily gripped by the handle 101b installed close to the outer wall of the housing 103; Further comprising: a control device for controlling the operation of the fracture reduction device. The method according to claim 1,
The joystick part (20)
And a grasping portion (201) for grasping the gripping surface of the manipulator with which the palm of the manipulator is brought into close contact with the side surface. delete The method according to claim 1,
The steer-
Is inputted to a control device (3) which outputs a control signal for operation of the reduction device (1) including an angle value and a displacement value according to the operation of the joystick part (20)
The angle value is applied as an angle value of the variable leg 1c which is expanded and contracted by the drive module 1d of the reduction device 1,
Wherein the displacement value is applied as a speed value at which the variable leg (1c) is expanded and contracted by the drive module (1d). The method according to claim 1,
The link portion (30)
A first frame (301) installed on the body (10);
A rotating body (302) having one end rotatably coupled to the first frame (301);
A second frame 303 installed on the joystick unit 20;
A connecting arm 304, one end of which is articulated to the other end of the rotating body 302 and the other end is articulated to the second frame 303;
A sensor unit 305 for sensing a rotation angle of the rotating body 302 according to the operation of the joystick unit 20; And a control unit for controlling the operation of the fracture reduction device. 8. The method of claim 7,
Wherein the first frame (301) is provided with a motor (306) for applying a rotational load to the rotating body (302). 9. The method of claim 8,
The first frame 301 further includes a position sensor 307 for detecting a reference position of the rotating body 302. When the rotating body 302 reaches a reference position at the time of initial driving of the motor 306 , And a signal for stopping the operation of the motor (306) is outputted by the position sensor (307) so that the reference position of the rotating body (302) is automatically set. 10. The method according to any one of claims 7 to 9,
Wherein a plurality of coil springs (308) are radially provided between the first frame (301) and the second frame (303). The method according to claim 1,
Characterized in that the main body (10) further comprises a condition construction unit (40) for setting a condition for limiting steering values output from the link unit (30) by operation of the joystick unit (20) Manipulators for devices. 12. The method of claim 11,
Wherein the constraint condition is such that an angular value included in the steered value is limited to a predetermined angle value and output. 12. The method of claim 11,
Wherein the constraint condition is such that an angle value included in the steering value is limited to an axial value of any one of an X-axis, a Y-axis, and a Z-axis direction and is output. 12. The method of claim 11,
Wherein the constraint condition restricts the displacement value included in the steering value to a predetermined displacement value and outputs the limited displacement value.
KR1020180005811A 2018-01-17 2018-01-17 Controls for fracture reduction devices KR101874797B1 (en)

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Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101578489B1 (en) * 2014-04-28 2015-12-18 주식회사 프레스토솔루션 User Control Appratus For Fracture Reduction Robot

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101578489B1 (en) * 2014-04-28 2015-12-18 주식회사 프레스토솔루션 User Control Appratus For Fracture Reduction Robot

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