WO2015167191A1

WO2015167191A1 - Robot system for fracture reduction

Info

Publication number: WO2015167191A1
Application number: PCT/KR2015/004200
Authority: WO
Inventors: 이춘무; 박태곤; 박태상; 권성인
Original assignee: (주)트리엔; 주식회사 프레스토솔루션; 이춘무; 박태곤; 박태상; 권성인
Priority date: 2014-04-28
Filing date: 2015-04-28
Publication date: 2015-11-05
Also published as: KR101576798B1; KR20150124468A

Abstract

A robot system for fracture reduction of the present invention, comprises: an operation module (100) comprising a first frame (100), a second frame (120) spaced apart from the first frame, and a plurality of variable legs (130) each having one end supported by the first frame and the other end supported by the second frame and having a variable length; and a user control module (200) for receiving, from a user, an input of an operation for controlling the operation module, wherein the plurality of variable legs (130) have an actuator for varying the length of each of the variable legs (130), and in response to the operation inputted in the user control module (200), the actuator, equipped in the plurality of variable legs (130), operates in parallel, and thus the relative position and posture between the first frame (110) and the second frame (120) are varied.

Description

Fracture Conquest Robot System

The present invention relates to a robotic system used to reduce a patient's arm or leg when fractured, and more particularly, to surround the patient's arm or leg while penetrating the patient's arm or leg for fracture reduction. An operation module including a pair of frames having a shape, a plurality of variable legs whose ends are supported by the pair of frames, respectively, and whose lengths are variable, and a user control module which receives an operation for manipulating the operation module from a user It relates to a fracture reduction robot system configured to include.

1 is a diagram schematically illustrating a surgical situation for conventional minimally invasive fracture reduction.

Minimally invasive fracture reduction surgery is a fracture reduction operation that minimizes the incision to the patient, and in such fracture reduction surgery, a correction is performed to return the missing bone using a real-time X-ray equipment such as C-ARM (10). And fix the corrected bone fragments by inserting an intramedullary nail in the orthodontic state.

In this bone reduction operation, real-time X-ray images are acquired with the fracture part of the patient located between the X-ray source of the C-ARM 10 and the 2D sensor, and the doctor 20 performs the fracture reduction surgery while viewing the real-time X-ray image. Proceed.

In particular, since the fractured part of the bone is located deep inside the skin, it is difficult to visually check the fracture status of the bone, the conquest process and the occlusion according to the conquest, and with the help of real-time X-ray imaging equipment such as C-ARM It is common to undergo fracture reduction surgery.

However, since X-ray imaging equipment such as C-ARM requires continuous irradiation of X-rays to obtain real-time images, the exposure to patients and medical staff 20 is significantly higher than that of other X-ray equipment for obtaining still images. In particular, as a medical staff who repeatedly perform a fracture reduction operation, there is a great risk of radiation exposure.

In addition, the bone is connected to a variety of muscles, so a great power is required for the conquest of the fractured bone, accordingly, it is common for several medical staff 20 to operate in cooperation with each other. There is a problem that requires a large number of medical staff in order to proceed with fracture reduction surgery, which will increase the cost of surgery.

In addition, it is difficult to maintain the corrected state until the fixation state is corrected by inserting a metal nail into the bone marrow after the correction of the displaced bone by a medical staff. There is a problem that there is a possibility of inaccurate fracture reduction.

Recognition of the problems and problems of the prior art described above is not obvious to those of ordinary skill in the art of the present invention and should not judge the progress of the present invention compared to the prior art based on such recognition. Reveal.

An object of the present invention is to provide a fracture reduction robot system that can reduce the problem of radiation exposure to medical staff during fracture reduction surgery.

It is also an object of the present invention to provide a fracture reduction robot system that can solve the problem that a large number of medical staff during fracture reduction surgery.

It is also an object of the present invention to provide a fracture reduction robot system that can improve the accuracy of fracture reduction surgery.

The technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned above will be clearly understood by those skilled in the art from the following description. Could be.

Fracture reduction robot system according to an aspect of the present invention, while the arm or leg of the patient penetrates the first frame 110 having a shape surrounding the arm or leg of the patient, while the arm or leg of the patient penetrates A second frame 120 having a shape surrounding the arm or leg of the patient and spaced apart from the first frame, one end of which is supported by the first frame and the other end of which is supported by the second frame An operation module 100 including a plurality of variable legs 130 which are variable; And a user steering module 200 which receives an operation for manipulating the operation module from a user.

The operation module 100 has fixing means 140 for fixing the bone fragments of the arm or leg of the patient to the first frame 110 and the first frame 120, respectively, the plurality of variable legs ( 130 is provided with an actuator for varying the length of the variable leg 130, respectively, in response to the operation received from the user control module 200, the actuators provided in the plurality of variable legs 130 In parallel operation, the relative position and posture between the first frame 110 and the second frame 120 are variable.

In addition, the variable legs are six and the relative position and posture between the first frame 110 and the second frame 120 has six degrees of freedom.

In addition, the fixing means 140, the pin 141 extending in the direction of the first frame 110 or the second frame 120 in the state of being embedded in the bone piece of the patient, and the pin 141 And a jig 142 fixed to the first frame 110 or the second frame 120.

In addition, at least the first frame 110, the second frame 120 and the fixing means 130 is used after the operation of fracture reduction.

In addition, the user control module 200 has a structure that models the operation module 100.

The variable legs 130 may be coupled to the first frame 110 and the second frame 120 by using universal joints or ball joints provided at both ends thereof.

In addition, the user steering module 200 may correspond to the first steering module frame 210 corresponding to the first frame 110 and the first steering module frame 210 corresponding to the second frame. The second control module frame 220 spaced apart from each other, one end of which is supported by the first control module frame 210 and the other end of which is supported by the second control module frame 220, It is characterized in that it comprises a plurality of control module legs 230 is changed in length as the relative position or posture between the first control module frame 210 and the second control module frame 220 is variable.

In addition, the steering module leg 230 is characterized in that it comprises an encoder for sensing the variable length or displacement of the steering module leg 230.

In addition, the steering module leg 230 is coupled to the first steering module frame 210 and the second steering module frame 220 by using a universal joint or a ball joint provided at both ends, respectively. .

In addition, the steering module leg 230, an operation load providing unit for applying a load to the operation of the user; characterized in that it comprises a.

In addition, the operation load applying unit, the air cylinder 237 containing a diaphragm or plunger that is moved as the length of the control module leg 230 is changed; And an air flow controller 238 for controlling the flow of air due to the movement of the diaphragm or the plunger.

In addition, an operation knob 240 used by the user to hold the user steering module 200 and coupled to the first steering module frame 210 and the second steering module frame 220, respectively; It is characterized by including.

In addition, the control module 300 for controlling the operation module 100 according to the input from the user control module 200; characterized in that it further comprises.

In addition, the control module 300 senses the position command, which is a command for designating the length or the displacement of the variable leg 130, and the length or the displacement of the variable leg 130 for each variable leg 130. And a feedback controller 310 for receiving a signal and outputting a driving current for reducing the difference.

In addition, the control module 300, a forward kinematics (320) for calculating an end effector from the length or displacement of the steering module leg 230; And an inverse kinematics 330 that calculates a length or displacement to be specified for each of the variable legs 130 from the end effector.

According to an aspect of the present invention, since the medical staff does not need to apply a manpower to the leg or arm for direct correction, and the remote control operation module of the present invention using the user control device of the present invention, the radiation exposure to the medical staff There is an effect that can eliminate or reduce the risk of the source. In addition, the fracture reduction robot system of the present invention can correct bone fragments more quickly than by conventional manpower or other fracture reduction methods. In particular, the correction time of the bone fragments performed while using the real-time X-ray imaging apparatus is very short, thereby reducing the radiation exposure time from the patient's point of view.

In addition, according to the fracture reduction robot system according to an aspect of the present invention, since the arm or leg of the patient is not calibrated by manpower, there is an effect that can significantly reduce the number of medical staff required. According to the fracture reduction robot system according to an aspect of the present invention, there is an effect that the accuracy of the correction is greatly improved, and it is possible to fix it in a state that is maintained in the correct state very easily.

In addition, the fracture reduction robot system according to an aspect of the present invention has an effect that can significantly reduce the time required for fracture reduction. And in the fracture reduction robot system according to an aspect of the present invention, the operation module has 6 degrees of freedom, and can be corrected in any direction and posture, for example, more accurate fracture reduction compared to other fracture reduction devices or apparatuses with low degrees of freedom. There is an effect that becomes possible.

In addition, the fracture reduction robot system according to an aspect of the present invention has a structure in which the leg or arm of the patient penetrates the operation module and a plurality of variable legs that is an element for providing external force surrounds the leg or arm. Accordingly, it is possible to reduce the size and weight of the device (operation module) coupled with the patient's leg or arm during fracture reduction surgery, and to freely position the patient's leg or arm during fracture reduction surgery. have. In particular, even after the operation module is mounted on the arm or leg of the patient there is an advantage that the position of the patient and the operation module can be adjusted.

In addition, in the fracture reduction robot system according to an aspect of the present invention, because a plurality of variable legs surrounding the leg or arm of the patient is operated in parallel, a large force exceeding the maximum force that each variable leg can produce There is an effect that can be corrected.

In addition, by using the user control module 100 according to an aspect of the present invention, a user such as a medical staff has an effect that can operate the operation module in a very intuitive way. Accordingly, the user can more easily learn the manipulation technology of the operation module, and it has the effect of reducing the possibility of erroneous manipulation of the operation module.

In addition, in the user control module 200 according to an aspect of the present invention by configuring the operation load providing unit, the radical displacement of the control module leg 230 by the user's mistake or interference from the outside to suppress the radical operation accordingly There is an effect that can prevent this from being input. In the embodiment or the embodiment according to the aspect of the present invention, the control module may be configured as a very simple structure, and there is no need for forward kinematics and the like, so that signal processing may be simplified and error occurrence probability in the signal processing may be reduced. It can be effective. In another embodiment or embodiment in accordance with an aspect of the present invention, there is many to one-to-one linear and nonlinear transformations between the length or displacement of the sensing module leg 230 to be sensed and the length or displacement of the variable leg 130 to drive. It is effective to implement various transformations such as linear transformation and nonlinear transformation of.

Figure 2 is a diagram showing a surgical situation using a fracture reduction robot system according to an embodiment of the present invention.

3 is a view showing the configuration of the fracture reduction robot system according to an embodiment of the present invention.

4 is a perspective view showing an operation module 100 according to an embodiment of the present invention.

5 is a perspective view showing a user control module 200 according to an embodiment of the present invention.

6 is a plan view, front view and side view of the user control module 200.

7 is a perspective view, front view and side view of a steering module leg 230 according to an embodiment of the present invention.

8 is a logical block diagram illustrating a control flow of the control module 300 according to an embodiment of the present invention.

DETAILED DESCRIPTION Embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals refer to like parts throughout the specification.

2 is a view showing a surgical situation using a fracture reduction robot system according to an embodiment of the present invention, Figure 3 is a view showing the configuration of a fracture reduction robot system according to an embodiment of the present invention. .

As conventionally, the C-ARM 10 is used to obtain a real-time X-ray image of a fracture portion of the arm or leg 1 of the patient, and the obtained real-time X-ray image is displayed on a display screen of the integrated operating device 400 or the like. Can be displayed.

The operation module 100 is mounted to the fracture portion of the arm or leg 1, the operation module 100 is coupled to each other and the bone pieces of the arm or leg 1 by the fixing means 140 (see Fig. 4) to be described later . The operation module 100 is used to move the bone piece shifted from the correct position to the corrected position and to maintain the corrected state.

The user steering module 200 is a module that receives an operation for manipulating the operation module 100 from a user, for example, a medical team 20, and the operation module 100 is received from the user steering module 200. It operates in response to the operation.

The control module 300 performs a function of controlling the operation module 100 according to an input from the user steering module 200 between the user steering module 200 and the operation module 100. Calculation, feedback control and supply of drive current are performed.

The integrated operating device 400 is a device for integrated management of the fracture reduction robot system and fracture reduction surgery process. The integrated operating device 400 manages the C-ARM 10, the control module 300, the user control module 200, and the operation module 100 and specifies initial states, operating states, operating states, and acquisition thereof. A function of reporting and displaying information may be performed. In addition, the integrated operating apparatus 400 may be used to display a real-time X-ray image obtained by using the C-ARM 10 on the display, and the medical staff 20 may refer to the displayed real-time X-ray image by the user control module 200. ).

The operation module 100 according to an embodiment of the present invention includes a first frame 110, a second frame 120, a plurality of variable legs 130, and a fixing means 140.

The first frame 110 has a shape surrounding the arm or leg of the patient while the arm or leg of the patient penetrates, the second frame 120 is also in a position spaced apart from the first frame 110, also The arm or leg of the patient penetrates and has a shape surrounding the arm or leg of the patient. The first frame 110 and the second frame 120 may have a shape of a substantially circular, oval or polygonal shape that surrounds the patient's arm or leg while having sufficient space to penetrate the patient's arm or leg, and the fixing means 140 And a shape that is easy to engage with the variable leg 110.

The first frame 110 and the second frame 120 form a skeleton of the operation module 100, the fixing means 140 is mounted and the variable leg 140 is coupled. The first frame 110 and the second frame 120 may be coupled to the

first sub-frames

111 and 121 and the

second sub-frames

112 and 121, respectively, using bolts and nuts. Alternatively, the

first subframe

111 and 121 and the

second subframe

112 and 121 are positioned at a fracture portion of the leg or arm without the operation module 100 being inserted from the end of the arm, that is, the foot or the hand. It can be assembled by being combined with each other.

One end of the variable leg 130 is supported by the first frame 110 and the other end is supported by the second frame 120, and the variable leg 130 and the first frame 110 or the second frame 120 are It may be coupled to each other using a universal joint 131 or a ball joint. Therefore, the angle where the variable leg 130 and the first frame 110 are coupled and the angle where the variable leg 130 and the second frame 120 are coupled may be varied.

The variable leg 130 may have a variable length, and the variable leg 130 may include an actuator for varying the length of the variable leg 130 and an encoder for sensing the length or displacement of the variable leg 130. It is configured to include. For example, the actuator may be implemented as a motor embedded in the cylindrical column of the variable leg 130, the encoder may be integrally formed with the variable leg 130 or integrally with the motor described above.

A plurality of variable legs 130 are provided for each operation module 100, and in particular, it is preferable to implement six. Therefore, the relative position and attitude between the first frame 110 and the second frame 120 may have six degrees of freedom. For example, with respect to the second frame 120, the first frame 110 may move in the x-axis direction, move in the y-axis direction, move in the z-axis direction, rotate around the x-axis, rotate around the y-axis, and z. It is possible to freely perform rotation about the axis and their combined movement and / or rotation. The actuators provided in the plurality of variable legs 130 may be operated in parallel according to the control of the user control module 200, and the actuators provided in the plurality of variable legs 130 may be operated in parallel with the control of the user control module 200. According to the parallel operation of the move to the desired position and posture, it is moved while having a physical force enough to turn the shifted bones in place.

The actuator operates while being controlled according to the driving current provided from the control module 300, and the encoder provides the sensed length or displacement to the control module 300.

The fixing means 140 fixes the bone fragments of the arm or leg of the patient to the first frame 110 and the second frame 120, respectively, and the fixing means 140 is embedded in the bone fragments of the patient. A pin 141 extending in the direction of the 110 or the second frame 120 and a jig 142 for fixing the pin 141 to the first frame 110 or the second frame 120. For example, one end of the pin 141 is inserted into the bone piece of the patient by using a screw formed at the tip of the pin 141, and the pin 141 is fixed to the bone piece by using the jig 142. The other end of) may be fixed to the first frame 110 or the second frame 120.

And in fracture reduction surgery, after correcting the position of the bone fragments using a metal nail inserted into the bone marrow, etc., the posture correction method is maintained. However, instead of using a metal nail or the like, it is also possible to use the first frame 110, the second frame 120, and the fixing means 130 that constitute the fracture reduction robot system as it is.

That is, even after the completion of the fracture reduction surgery, for example, the first frame 110, the second frame 120 and the fixing means 130 can be used as it is during the recovery period of the patient. 130 may be fixed instead of the position and the posture of the first frame 110 and the first frame 120 by using a separate variable leg that can be adjusted by the screw type.

In the structure of the operation module 100 according to an embodiment of the present invention has a sufficient free space for X-rays to pass between the variable leg 130 and the variable leg 130, accordingly C- during the course of fracture reduction surgery Using the ARM 10 or the like, the fracture portion can be sufficiently observed.

5 is a perspective view illustrating a user steering module 200 according to an embodiment of the present invention, and FIG. 6 is a plan view, a front view, and a side view of the user steering module 200.

The user steering module 200 is a module that receives an operation for manipulating the operation module 100 from a user. In the fracture reduction robot system, in response to an operation received from the user steering module 200, the actuators provided in the variable legs 130 of the operation module 100 operate in parallel, and the first frame of the operation module 100 ( The relative position and posture between the 110 and the second frame 120 are variable.

In principle, the user control module 200 may use any input device such as a general mouse, keyboard, or joystick, but the user control module 200 according to an embodiment of the present invention may be configured to model the operation module 100. Have a structure.

The user steering module 200 according to an embodiment of the present invention includes a first steering module frame 210, a second steering module frame 220, a steering module leg 230, an operating knob 240, and a guide bar 250. It may be configured to include).

In the user steering module 200, the first steering module frame 210 corresponds to the first frame 110 of the operation module 100, and the second steering module frame 220 is the second of the operation module 100. Corresponding to the frame 120 and spaced apart from the first control module frame 210. The first steering module frame 210 and the second steering module frame 220 constitute a skeleton of the user steering module 200, and the plurality of steering module legs 230 and the operation knob 240 are coupled to each other.

The steering module leg 230 may correspond to the variable leg 130 of the operation module 100, and may be provided in plural and is preferably composed of six, so as to be identical to the operation module 100, The position and attitude between the first steering module frame 210 and the second steering module frame 220 have six degrees of freedom.

Each of the steering module legs 230 is supported by the first steering module frame 210 and the other end of the steering module leg 230 is supported by the steering module leg 230 and the first steering module frame 210. ), And the steering module leg 230 and the second steering module frame 220 are coupled using something like a ball joint 234 or a universal joint.

In addition, a user such as a medical staff may manipulate a relative position and posture between the first control module frame 210 and the second control module frame 210 by hand. In addition, as the relative position or posture between the first steering module frame 210 and the second steering module frame 220 is changed by a user's manipulation, the length of the steering module leg 230 is changed. The steering module leg 230 will be described later with reference to FIG. 6.

The operation knob 240 is used by the user to hold the user control module 200 and is coupled to the first control module frame 210 and the second control module frame 220, respectively. For example, a user's hand may hold the actuation knob 210 or between the actuation knob 210 and the first steering module frame 210 and between another actuation knob 210 and the second steering module frame 220. The user control module 200 may be gripped in a sandwiched state.

The guide bar 250 spans between the steering module leg 230 and the neighboring steering module leg 230 so that the pins of the steering module leg 230 inserted into the grooves of the guide bar 250 may flow a certain distance. By doing so, it is possible to suppress the rotation (rotation) of the steering module leg 230 itself without disturbing the change in the length of the steering module leg 230.

The steering module leg 230 includes

encoders

231 and 232, operating

load assignments

237 and 238, ball joint 234, scale plate 233, encoder leader plate 239, LM guide 235 and LM Block 236.

The

encoders

231 and 232 sense varying lengths or displacements of the steering module leg 230, and the encoder leader plate attached to the scale plate 233 and the encoder scale 232 opposite the encoder scale 232. It can be configured as an encoder reader 231 installed at (239).

The steering module leg 230 is coupled to the first steering module frame 210 and the second steering module frame 220 by using a ball joint 234 or a universal joint provided at both ends, and the first steering module. The engagement angle between the frame 210 and the steering module leg 230 or the engagement angle between the second steering module frame 220 and the steering module leg 230 may vary.

The operation load providing unit applies a load to a user's operation, and the operation load providing unit includes an air cylinder 237 having a diaphragm or a plunger which is moved as the length of the steering module leg 230 is changed; And it may include an air flow control unit 238 for controlling the flow of air by the movement of the diaphragm or plunger.

As the length of the steering module leg 230 is changed, the diaphragm or the plunger is used to push air, and the generated air flow is sucked or discharged through the nozzle of the air flow controller 238. Bar, by adjusting the nozzle of the air flow control unit 238, it is possible to adjust the size of the load applied.

In addition, the LM guide 235 guides the LM block 236 so that the encoder leader plate 239 coupled to the LM guide 235 and the scale plate 233 coupled to the LM block 23 accurately space each other. You can do relative straight motion while keeping it.

As described above, in the user steering module 200 according to an aspect of the present invention, by configuring the operation load providing unit, the user feels the operation load and the steering module leg 230 due to the user's mistake or interference from the outside. It is possible to suppress the radical displacement of) and thereby prevent the radical operation from being input.

It is obvious that the components of the block diagram shown in FIG. 8 may be implemented not only by dedicated hardware but also by a processor and a program of a computer.

The control module 300 illustrated in FIG. 8 performs a function of controlling the operation module 100 according to an input from the user steering module 200 and a command from the integrated operating device 400.

The control module 300 includes a feedback controller 310 corresponding to each variable leg 130, a

MUX

340, 350, a forward kinematics 320, and an inverse kinematics 330, and some components thereof. Elements may be omitted, if necessary.

The feedback controller 310 receives a position command, which is a command for specifying the length or displacement of the variable leg 130, and a sensing signal sensing the length or displacement of the variable leg 130, for each variable leg 130. Outputs a drive current that reduces.

The feedback controller 310 receives a sensing signal that senses the length or the displacement of the variable leg 130 from an encoder provided in each variable leg 130, and is a command for specifying the length or the displacement of the variable leg 130. Receive a command.

And according to the selection of the MUX 350 receives a position command from the user control module 200 or from the inverse kinematics (330). The feedback controller 310 outputs a driving current for controlling the actuators of the variable legs 130 provided in the operation module 100.

The control loop 312 of the feedback control unit 310 implements a control algorithm for PID control or PIV control. The current amplifier 311 receives a signal from the control loop 312 and performs an operation of the operation module 100. Output the drive current for the actuator.

In addition, the input from the integrated operating apparatus 400 is a command (end effector) relating to a relative position between the first frame 110 and the second frame 120 and passes through the inverse kinematics 330 through the feedback control unit 310. This command may be a command that primarily specifies an initial position.

Although not shown, in the MUX 340 and the MUX 350, the MUX 340 and the MUX 350 may be controlled by a user input from the control from the integrated operating apparatus 400, the control module 300, or the user control module 200. ) May be selected.

As a first embodiment, the output from the user control module 200 may be configured to be directly input to the feedback controller 310 through the MUX 350 without passing through the forward kinematics 320 and the inverse kinematics 330. . In the first embodiment, the length or displacement of each control module leg 230 of the user steering module 200 is directly used as a position command for each variable leg 130 of the operation module 100.

Each variable leg 130 of the operation module 100 corresponds one-to-one with each steering module leg 230 of the user steering module 200, and the displacement of a particular steering module leg 230 is only applicable to the corresponding variable leg 130. Generates a corresponding displacement.

Accordingly, in the first embodiment, the control module can be configured as a very simple structure, and there is no need for forward kinematics, so that signal processing can be simplified and the probability of error occurrence in the signal processing can be reduced.

In the second embodiment, the output from the user manipulation module 200 may be configured to be input to the feedback controller 310 via the forward kinematics 320 and the inverse kinematics 330.

The forward kinematics 320 receives the length or displacement of the steering module leg 230 from the steering module leg 230 and calculates an end effector from this length or displacement, whereas the inverse kinematics 330 is said end effector. Or a length or displacement to be designated for each of the variable legs 130 from the position command of the integrated operating device 400.

In the second embodiment, the length or displacement of the control module leg 230 may not correspond to the length or displacement of the variable leg 130 in one-to-one correspondence, and may be converted using the forward kinematics 320 and the inverse kinematics 330. You can construct a function.

Accordingly, in the second embodiment, one-to-one linear transformation and nonlinear transformation and many-to-many linear transformation and nonlinear transformation between the length or displacement of the sensing module leg 230 to be sensed and the length or displacement of the variable leg 130 to be driven. It is effective to implement various transformations.

Although the first embodiment and the second embodiment are selectively implemented as one control module 300, the first embodiment or the second embodiment may be implemented exclusively. For example, MUX 340 and forward kinematics 320 may be omitted in a dedicated implementation of the first embodiment, and MXU 350 may be omitted in a dedicated implementation of the second embodiment.

Hereinafter, an example of a process of performing a fracture reduction operation and an operation of the fracture reduction robot system using the fracture reduction robot system according to an embodiment of the present invention will be described.

The integrated operating apparatus 400 outputs a position command for the operation module 100 to be in an initial state to the control module 300, and accordingly, the control module 300 receives such a position (end effector) command. Input to the inverse kinematics 330 through the MUX 340, the inverse kinematics 330 converts the position (end effector) to the position (length or displacement) of each variable leg 130. In addition, the feedback loop 310 is input to each feedback control unit 310 corresponding to each variable leg 130 through the MUX 350, and the control loop 312 and the current amplifier 311 of each feedback control unit 310 are commanded positions ( Length or displacement) and an error in the current state, thereby maintaining each variable leg 130 of the operation module 100 as an initial state.

In the above description, the integrated operating device 400 sends a position command to the initial state. However, the integrated operating device 400 may also be used for executing an automatic operation calculated by the integrated operating device 400. For example, after obtaining a three-dimensional image of the bone fragments, the integrated operating device 400 can be used to predict and execute the amount to be calibrated. In this case, the integrated operating apparatus 400 executes Coase calibration, and may use the user control module 200 to execute Fine calibration.

Meanwhile, the command regarding the initial state is provided by the integrated operating device 400, but the operation module 100 or the control device 300 may execute the command by a user's own judgment or a user's command input.

In addition, each of the control module legs 230 of the user control module 200 may be in an initial state by a command of the integrated operating device 400, by a user input of the user control module 200, or automatically. .

The bone fragment of the patient is fixed to the first frame 110 and the second frame 120 of the operation module 100 using the fixing means 140 of the operation module 100. At this time, the pin 141 of the fixing means 140 may be driven into the bone piece using a drill, and then one end of the pin 141 may be fixed to the jig 142.

Meanwhile, a real-time X-ray image of the fracture portion is obtained by using a real-time X-ray imaging apparatus such as C-ARM to be displayed on the screen of the integrated operating device 400.

And the medical staff manipulates the user control module 200 while watching the display screen, accordingly, the encoder of each user control module 130 in the user control module 200 outputs a signal indicating the length or displacement, such The length or displacement signal may be input to the feedback controller 310 after signal processing of the forward kinematics 320 and the inverse kinematics 330, or directly.

In addition, the control loop 312 and the current amplifier 311 of each feedback controller 310 operate to reduce the difference between the commanded position (length or displacement of each variable leg 130) and the current state, Accordingly, each variable leg 130 of the operation module 100 to be a commanded length or displacement. At this time, the output from the encoder of each variable leg 130 as a current state is input to the feedback control unit 310 and calculates the difference between the input and the commanded position, and according to the calculated difference control loop 312 and the current amplifier ( 311 operates, and the output of the current amplifier 311 drives the actuator of the variable leg 130.

Then, when the clinician finishes the alignment of the displaced bone pieces, for example, if the fracture part is a leg, the bone is fixed by inserting a metal tablet into the bone marrow cavity through the thigh and inserting a screw from the side of the bone piece to the metal tablet, and fixing means. 140 and the operation module 100 may be removed.

Hereinafter, the effects of the invention having various aspects of the present invention will be described.

In the conventional fracture reduction surgery, there has been a problem of radiation exposure to medical staff. However, according to an aspect of the present invention, since the medical staff does not need to apply a manpower to the leg or arm for direct correction, and the remote control unit of the operation module of the present invention using the user control device of the present invention, There is an effect that can eliminate or reduce the risk of radiation exposure at source. In addition, the fracture reduction robot system of the present invention can correct bone fragments more quickly than by conventional manpower or other fracture reduction devices. In particular, the correction time of the bone fragments performed while using the real-time X-ray imaging apparatus is very short, thereby reducing the radiation exposure time from the patient's point of view.

In the conventional fracture reduction surgery, a large number of medical personnel are required, but since the fracture information robot system of the present invention does not calibrate the arm or leg of a patient by manpower, the number of medical staffs required is greatly reduced.

In addition, the conventional fracture reduction surgery has a problem that the accuracy of correction is poor because it proceeds by a method such as using a human attraction, and also has a lot of difficulties in maintaining and fixing the state after correction. However, by using the fracture reduction robot system of the present invention, there is an effect that the accuracy of the correction is greatly improved, and it is possible to be fixed very easily while maintaining the corrected state.

In addition, the conventional fracture reduction surgery takes a lot of time, the patient has a burden due to the length of anesthesia time and radiation exposure time, there was a problem such as prolongation of radiation exposure time and increase in cost as a medical staff or hospital. However, by using the fracture reduction robot system of the present invention it is possible to significantly reduce the time required for fracture reduction, thereby greatly reducing the above problems.

In the fracture reduction robot system according to an aspect of the present invention, the operation module and the user steering module have 6 degrees of freedom, and can be corrected in any direction and posture, for example, compared to other fracture reduction devices or mechanisms having lower degrees of freedom. Accurate fracture reduction is possible.

The fracture reduction robot system according to an aspect of the present invention has a structure in which a leg or an arm of a patient passes through an operation module and a plurality of variable legs, which are elements for providing external force, surround the leg or arm. Accordingly, it is possible to reduce the size and weight of the device (operation module) coupled with the patient's leg or arm during fracture reduction surgery, and to freely position the patient's leg or arm during fracture reduction surgery. have. In particular, even after the operation module is mounted on the arm or leg of the patient there is an advantage that the position of the patient and the operation module can be adjusted.

On the other hand, in principle, the user control module 200 may use any input device such as a general mouse, keyboard, or joystick, but it is intuitive to control the operation module 100 of the present invention by using the above input device from the user's point of view. It may not be possible. However, by using the user control module 100 according to an aspect of the present invention, a user such as a medical staff has an effect that can be operated in a very intuitive manner. Accordingly, the user can more easily learn the manipulation technology of the operation module, and it has the effect of reducing the possibility of erroneous manipulation of the operation module.

Claims

A first frame 110 having a shape surrounding the arm or leg of the patient while penetrating the arm or leg of the patient, and having a shape surrounding the arm or leg of the patient while the arm or leg of the patient penetrates A second frame 120 spaced apart from the first frame, and a plurality of variable legs 130, one end of which is supported by the first frame and the other end of which is supported by the second frame, of which the length is variable. An operation module 100 configured; And

And a user steering module 200 which receives an operation for manipulating the operation module from a user.

The operation module 100 has a fixing means 140 for fixing the bone fragments of the arm or leg of the patient to the first frame 110 and the first frame 120, respectively,

The plurality of variable legs 130 are each provided with an actuator for varying the length of the variable leg 130,

In response to an operation received by the user steering module 200, actuators provided in the plurality of variable legs 130 operate in parallel and are positioned relative to the first frame 110 and the second frame 120. And fracture posture robot system, characterized in that the posture is variable.
The method according to claim 1,

The variable leg is six and the fracture reduction robot system, characterized in that the relative position and posture between the first frame (110) and the second frame (120) has six degrees of freedom.
The method according to claim 1,

The fixing means 140,

The pin 141 extending in the direction of the first frame 110 or the second frame 120 in the state of being embedded in the bone fragments of the patient, and the pin 141 to the first frame 110 or the first Fracture reduction robot system, characterized in that it comprises a jig (142) fixed to the two frames (120).
The method according to claim 1,

At least the first frame (110), the second frame (120) and the fixing means (130) is a fracture reduction robot system, characterized in that it is also used after the operation of fracture reduction.
The method according to claim 1,

The user control module 200 is a fracture reduction robot system, characterized in that having a structure modeling the operation module (100).
The method according to claim 1,

The plurality of variable legs 130,

Fracture reduction robot system, characterized in that coupled to the first frame 110 and the second frame 120, respectively, using a universal joint or a ball joint provided at both ends.
The method according to claim 1,

The user control module 200,

A first steering module frame 210 corresponding to the first frame 110,

A second control module frame 220 corresponding to the second frame and spaced apart from the first control module frame 210;

One end is supported by the first steering module frame 210 and the other end is supported by the second steering module frame 220, and the first steering module frame 210 and the second steering are operated by the user. It is configured to include a plurality of control module legs 230, the length is variable as the relative position or posture between the module frame 220 is changed,

Fracture reduction robot system, characterized in that.
The method according to claim 7,

The control module leg 230,

Fracture reduction robot system characterized in that it comprises an encoder for sensing the variable length or displacement of the steering module leg (230).
The method according to claim 7,

The control module leg 230,

Fracture reduction robot system, characterized in that coupled to the first control module frame 210 and the second control module frame 220 by using a universal joint or a ball joint provided at both ends.

Fracture reduction robot system, characterized in that.
The method according to claim 7,

The control module leg 230,

An operation load assigning unit for applying a load to the operation of the user;

Fracture reduction robot system comprising a.
The method according to claim 10,

The operation load applying unit,

An air cylinder 237 having a diaphragm or plunger that is moved as the length of the steering module leg 230 is changed; And

An air flow control unit 238 for controlling the flow of air due to the movement of the diaphragm or plunger;

Fracture reduction robot system comprising a.
The method according to claim 7,

An operation knob 240 used by the user to hold the user steering module 200 and coupled to the first steering module frame 210 and the second steering module frame 220, respectively;

Fracture reduction robot system further comprising.
The method according to claim 1,

A control module 300 for controlling the operation module 100 according to an input from the user steering module 200;

Fracture reduction robot system further comprising.
The method according to claim 13,

The control module 300,

For each variable leg 130, a drive for receiving a position command which is a command for designating the length or displacement of the variable leg 130 and a sensing signal sensing the length or displacement of the variable leg 130 and reducing the difference thereof. A feedback controller 310 for outputting a current;

Fracture reduction robot system comprising a.
The method according to claim 13,

The control module 300,

A forward kinematics (320) for calculating an end effector from the length or displacement of the steering module leg (230);

An inverse kinematics (330) for calculating a length or displacement to be specified for each of the variable legs (130) from the end effector;

Fracture reduction robot system comprising a.