WO2015167191A1 - Système de robot pour réduction de fracture - Google Patents

Système de robot pour réduction de fracture Download PDF

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Publication number
WO2015167191A1
WO2015167191A1 PCT/KR2015/004200 KR2015004200W WO2015167191A1 WO 2015167191 A1 WO2015167191 A1 WO 2015167191A1 KR 2015004200 W KR2015004200 W KR 2015004200W WO 2015167191 A1 WO2015167191 A1 WO 2015167191A1
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WO
WIPO (PCT)
Prior art keywords
frame
leg
module
variable
fracture reduction
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PCT/KR2015/004200
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English (en)
Korean (ko)
Inventor
이춘무
박태곤
박태상
권성인
Original Assignee
(주)트리엔
주식회사 프레스토솔루션
이춘무
박태곤
박태상
권성인
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Application filed by (주)트리엔, 주식회사 프레스토솔루션, 이춘무, 박태곤, 박태상, 권성인 filed Critical (주)트리엔
Publication of WO2015167191A1 publication Critical patent/WO2015167191A1/fr

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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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means

Definitions

  • 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.
  • FIG. 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.
  • 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.
  • 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.
  • Fracture reduction robot system 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;
  • 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.
  • 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.
  • 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.
  • At least the first frame 110, the second frame 120 and the fixing means 130 is used after the operation of fracture reduction.
  • the user control module 200 has a structure that models the operation module 100.
  • 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.
  • 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.
  • 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.
  • 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. .
  • an operation load providing unit for applying a load to the operation of the user characterized in that it comprises a.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the medical staff 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.
  • the fracture reduction robot system of the present invention can correct bone fragments more quickly than by conventional manpower or other fracture reduction methods.
  • 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.
  • the fracture reduction robot system 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.
  • 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.
  • 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.
  • the fracture reduction robot system 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.
  • 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.
  • the control module 200 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.
  • 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.
  • FIG. 1 is a diagram schematically illustrating a surgical situation for conventional minimally invasive fracture reduction.
  • Figure 2 is a diagram showing a surgical situation using a fracture reduction robot system according to an embodiment of the present invention.
  • FIG. 3 is a view showing the configuration of the fracture reduction robot system according to an embodiment of the present invention.
  • FIG. 4 is a perspective view showing an operation module 100 according to an embodiment of the present invention.
  • FIG. 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.
  • FIG. 7 is a perspective view, front view and side view of a steering module leg 230 according to an embodiment of the present invention.
  • FIG. 8 is a logical block diagram illustrating a control flow of the control module 300 according to an embodiment of the present invention.
  • FIG. 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. .
  • 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.
  • 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. ).
  • FIG. 4 is a perspective view showing an operation module 100 according to an embodiment of the present invention.
  • the operation module 100 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the posture correction method is maintained.
  • 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.
  • 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.
  • the operation module 100 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.
  • FIG. 5 is a perspective view illustrating a user steering module 200 according to an embodiment of the present invention
  • 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.
  • 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.
  • 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 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).
  • the first steering module frame 210 corresponds to the first frame 110 of the operation module 100
  • the second steering module frame 220 is the second of the operation module 100.
  • 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.
  • 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.
  • a 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.
  • 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.
  • FIG. 7 is a perspective view, front view and side view of a steering module leg 230 according to an embodiment of the present invention.
  • 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
  • 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.
  • 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.
  • the nozzle of the air flow control unit 2308 it is possible to adjust the size of the load applied.
  • 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.
  • the user steering module 200 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.
  • FIG. 8 is a logical block diagram illustrating a control flow of the control module 300 according to an embodiment of the present invention.
  • FIG. 8 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the integrated operating device 400 sends a position command to the initial state.
  • the integrated operating device 400 may also be used for executing an automatic operation calculated by the integrated operating device 400.
  • the integrated operating device 400 can be used to predict and execute the amount to be calibrated.
  • the integrated operating apparatus 400 executes Coase calibration, and may use the user control module 200 to execute Fine calibration.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • each feedback controller 310 operates 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.
  • 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.
  • 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.
  • the fracture reduction robot system of the present invention can correct bone fragments more quickly than by conventional manpower or other fracture reduction devices.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.

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  • General Physics & Mathematics (AREA)

Abstract

Un système de robot pour une réduction de fracture selon la présente invention comprend : un module de fonctionnement (100) comprenant un premier cadre (100), un second cadre (120) espacé du premier cadre, et une pluralité de pieds variables (130) ayant chacun une première extrémité soutenue par le premier cadre et l'autre extrémité soutenue par le second cadre et ayant une longueur variable ; et un module de commande d'utilisateur (200) pour recevoir, en provenance d'un utilisateur, une entrée d'une opération pour commander le module de fonctionnement, la pluralité de pieds variables (130) ayant un actionneur pour varier la longueur de chacun des pieds variables (130) et, en réponse à l'opération entrée dans le module de commande d'utilisateur (200), l'actionneur, disposé dans la pluralité de pieds variables (130), fonctionne en parallèle, et la position et la posture relatives entre le premier cadre (110) et le second cadre (120) sont ainsi variées.
PCT/KR2015/004200 2014-04-28 2015-04-28 Système de robot pour réduction de fracture WO2015167191A1 (fr)

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KR1020140050437A KR101576798B1 (ko) 2014-04-28 2014-04-28 골절 정복 로봇 시스템
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CN107970064A (zh) * 2017-11-10 2018-05-01 清华大学 一种远程操控的骨折复位手术机器人系统及复位控制方法
US11076801B2 (en) 2016-06-19 2021-08-03 Orthospin Ltd. User interface for strut device

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KR101780788B1 (ko) * 2016-02-15 2017-09-21 경북대학교 산학협력단 회전가능한 교정 프레임을 구비한 외고정 장치
KR101735481B1 (ko) * 2016-02-29 2017-05-15 경북대학교 산학협력단 탈착식 액츄에이터를 구비한 외고정 장치
KR101896444B1 (ko) * 2017-03-02 2018-09-07 삼익티에이치케이 주식회사 골절 및 골변형 교정을 위한 링크절 복원기기
KR102158585B1 (ko) * 2017-10-23 2020-09-22 전남대학교산학협력단 2축 자유도의 미세 조정이 가능한 골절 정복용 견인 장치 및 골절 정복 시스템
KR102293985B1 (ko) 2018-05-23 2021-08-27 전남대학교산학협력단 골절 정복 시술장치
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CN107970064A (zh) * 2017-11-10 2018-05-01 清华大学 一种远程操控的骨折复位手术机器人系统及复位控制方法

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