WO2018209929A1 - 单边多自由度复位机器人 - Google Patents

单边多自由度复位机器人 Download PDF

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Publication number
WO2018209929A1
WO2018209929A1 PCT/CN2017/115357 CN2017115357W WO2018209929A1 WO 2018209929 A1 WO2018209929 A1 WO 2018209929A1 CN 2017115357 W CN2017115357 W CN 2017115357W WO 2018209929 A1 WO2018209929 A1 WO 2018209929A1
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arm
robot
base
free
control device
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PCT/CN2017/115357
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English (en)
French (fr)
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张荣峰
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张荣峰
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Publication of WO2018209929A1 publication Critical patent/WO2018209929A1/zh

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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
    • A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots

Definitions

  • the application date is May 13, 2017, the application number is 201720537402.4, and the name is "one-sided multi-degree-of-freedom resetting robot" invention.
  • the invention belongs to the technical field of medical equipment, and in particular relates to a single-sided multi-degree-of-freedom resetting robot.
  • the technical problem to be solved by the present invention is to provide a unilateral multi-degree-of-freedom resetting robot, which can control the rotating table, the mechanical arm and the free arm to complete the fracture reduction under the perspective aid of the C-arm machine, and insert it in the subsequent steel plate. Or when external fixation, the fracture end will not be dislocated again.
  • the technical solution of the present invention comprises: a base on which two rotary tables are mounted, a mechanical arm is arranged on the rotary table, and two free arms are hinged on the mechanical arm.
  • a Kirschner wire mount is mounted on the end of the free arm, and a K-wire is mounted on the Kirschner wire mount;
  • a display screen and a control device are mounted on the base; the control device and the rotary table are respectively
  • the robot arm and the free arm are electrically connected, and the display screen is electrically connected to the C arm.
  • a plurality of self-locking universal wheels are disposed under the base.
  • the unilateral multi-degree-of-freedom resetting robot of the invention has two rotating tables mounted on one side of the base, a mechanical arm on the rotating table, two free arms hinged on the mechanical arm, and a Kirschner wire mounted on the end of the free arm
  • the Kirschner wire is mounted on the Kirschner wire mount.
  • the display is electrically connected to the C arm.
  • the display can display the perspective image of the C arm.
  • the base is also electrically connected to the robot arm, the free arm and the rotary table.
  • the control device allows the user to control the rotary table, the robot arm and the free arm of the robot through the control device, and control the Kirschner wire to complete the pulling, shortening, rotation, abduction, and in-end movement of the fracture end; Four Kirschner wires are installed. After the reduction, two Kirschner wires are fixed at both ends of the fracture to achieve a stable effect. When the subsequent plate is placed or externally fixed, the fracture end will not be dislocated again.
  • FIG. 1 is a schematic structural view of an embodiment of the present invention
  • the single-sided multi-degree-of-freedom resetting robot comprises: a base 1 on which two rotating tables 6 are mounted, a rotating arm 6 is provided with a mechanical arm 5, and two free arms are hinged on the mechanical arm 5 7.
  • the Kirschner wire mount 2 is mounted at the end of the free arm 7, and the K-wire needle 8 is mounted on the Kirschner wire mount 2, and the display screen 3 and the control device 4 are also mounted on the base 1.
  • the display screen 3 is electrically connected to the C-arm machine (the C-arm machine is not shown in the drawing), and the control device 4 is electrically connected to the rotating table 6, the robot arm 5 and the free arm 7, respectively, and a plurality of self-locking types are arranged under the base 1.
  • the operation control device 4 regulates the rotary table 6, the robot arm 5 and the free arm 7 of the robot, and through the actions of pulling, shortening, rotating, abducting, and abducting,
  • the operation of the Kirschner wire 8 can complete the fracture reduction. After the reduction of the fracture, the two ends of the fracture are fixed by two Kirschner wires 8 to achieve a stable effect. When the subsequent plate is placed or externally fixed, the fracture end will not be dislocated again.
  • the unilateral multi-degree-of-freedom resetting robot of the invention does not need to be completely intelligent, does not need an operation module with inductive performance, does not need a computer with conversion capability and conversion capability, has simple design and simple operation, and is beneficial for promotion in various hospitals.
  • the entire robot is on the side of the operating bed and is kept at a certain distance from the operating bed, which is beneficial to the surgeon's surgical operation and is not easy to contaminate the operating table.
  • the Kirschner wire is fixedly mounted on the Kirschner wire mount. It has strong stability and strong controllability. It can be rotated, stretched, shortened, etc. by the rotary table, the mechanical arm and the free arm.
  • the control device Under the fluoroscopy of the C-arm machine, according to the image of the fracture end, the control device can be flexibly adjusted and easily reset successfully; without inputting the image through the computer, it can be calculated as a reset procedure without the need of professional computer personnel, and the clinical orthopedic surgeon can operate. It is extremely operability and easy to promote.
  • the user can control the rotating table, the mechanical arm and the free arm of the robot to control the Kirschner wire through the control device, and complete the pulling and shortening of the fracture end. , rotation, abduction, in-line and other actions; the end of the arm is equipped with four Kirschner wires, which are fixed by two Kirschner wires at both ends of the fracture after resetting, which can achieve a stable effect, and can be placed in subsequent steel plates or When external fixation, the fracture end will not be misplaced again; the robot does not require professional computer talents, and the clinical orthopedic surgeon can operate, and the operation is extremely strong, and it is easy to promote and apply.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Apparatus For Radiation Diagnosis (AREA)

Abstract

一种单边多自由度复位机器人，属于医疗设备技术领域，包括：底座(1)，底座(1)上安装有两个旋转台(6)，旋转台(6)上设有机械臂(5)，机械臂(5)上铰接有两个自由臂(7)，自由臂(7)的末端安装有克氏针安装座(2)，克氏针安装座(2)上安装有克氏针(8)，底座(1)上安装有显示屏(3)和控制装置(4)，控制装置(4)分别与旋转台(6)、机械臂(5)和自由臂(7)电连接，显示屏(3)与C臂机电连接，通过观察显示屏(3)显示的C臂机的透视图像，操作控制装置(4)可以调控机器人的旋转台(6)、机械臂(5)和自由臂(7)，完成骨折复位。多枚克氏针(8)可在后续的钢板置入或者外固定时，起到稳定的作用，保证骨折端不会再次错位，机器人设计简单，可操作性强，有利于在各级医院推广使用。

Description

单边多自由度复位机器人
郑重声明：
本发明要求下列中国实用新型专利申请作为优先权的基础：
申请日为2017年05月13日、申请号为201720537402.4、名称为“单边多自由度复位机器人”发明。
技术领域
本发明属于医疗设备技术领域，具体涉及一种单边多自由度复位机器人。
背景技术
对于移位的闭合性四肢骨折，大多需要手术治疗，传统的治疗办法，需要切开复位，然后用钢板置入内固定或者外固定架固定。切开复位的操作，即破坏了骨折部位的血运，也导致骨折部位大量促进骨折愈合的生长因子的丢失，并且大大增加了感染几率，目前骨科复位用机器人均需要通过导航定位系统，需要在肢体上安装立体定位框架，预先计算复位程序，通过电脑程序自动化复位。这种机器人具有以下缺点：
1、一旦遇到粉碎性骨折，或骨折端参差不齐，碎骨块或骨茬子阻挡，即难以按照电脑计算的程序复位成功。
2、操作复杂，需要专业计算机人士才能操作，目前只处于试验阶段，难以广泛推广应用。
3、同时，由于肢体上存在感应框架模块，即容易导致术中污染，又影响复位后的钢板置入或外固定架固定操作，难以有可行性。
4、稳定性差，仅共同1-2枚克氏针固定，即使复位成功，在用钢板或者髓内钉、外固定架固定时，也极易再次错位，导致复位失败。
发明内容
本发明所要解决的技术问题是：提供一种单边多自由度复位机器人，可在C臂机的透视辅助下，控制旋转台、机械臂和自由臂完成骨折复位，并在后续的钢板置入或者外固定时，骨折端不会再次错位。
为解决上述技术问题，本发明的技术方案是：包括底座，所述底座上安装有两个旋转台，所述旋转台上设有机械臂，所述机械臂上铰接有两个自由臂，所述自由臂的末端安装有克氏针安装座，所述克氏针安装座上安装有克氏针；所述底座上安装有显示屏和控制装置；所述控制装置分别与所述旋转台、所述机械臂和所述自由臂电连接，所述显示屏与C臂机电连接。
进一步的，所述底座下方设有多个自锁型万向轮。
由于采用了上述技术方案，本发明的有益效果是：
本发明的单边多自由度复位机器人，底座的一侧安装有两个旋转台，旋转台上设有机械臂，机械臂上铰接有两个自由臂，自由臂的末端安装有克氏针安装座，克氏针安装座上安装有克氏针，显示屏与C臂机电连接，显示屏可以显示C臂机的透视影像，底座上还设有分别与机械臂、自由臂和旋转台电连接的控制装置，使用人员可以通过控制装置调控机器人的旋转台、机械臂和自由臂，控制克氏针，完成对骨折端的牵拉、短缩、旋转、外展、内展等动作；该机械臂末端安装有4枚克氏针，复位后通过骨折两端各两枚克氏针固定，可以达到稳定的作用，在后续的钢板置入或者外固定时，骨折端不会再次错位。
附图说明
图1是本发明实施例的结构示意图；
图中，1-底座，2-克氏针安装座，3-显示屏，4-控制装置，5-机械臂，6-旋转台，7-自由臂，8-克氏针，9-自锁型万向轮。
具体实施方式
下面结合附图和实施例对本发明进一步说明。
如图1所示，单边多自由度复位机器人，包括：底座1，底座1上安装有两个旋转台6，旋转台6上设有机械臂5，机械臂5上铰接有两个自由臂7，自由臂7的末端安装有克氏针安装座2，克氏针安装座2上安装有克氏针8，底座1上还安装有显示屏3和控制装置4。显示屏3与C臂机(C臂机未在图中画出)电连接，控制装置4分别与旋转台6、机械臂5和自由臂7电连接，底座1下方设有多个自锁型万向轮9。
通过观察显示屏3显示的C臂机的透视图像，操作控制装置4调控机器人的旋转台6、机械臂5和自由臂7，通过牵拉、短缩、旋转、外展、内展等动作，操作克氏针8，可以完成骨折复位。骨折复位后，通过骨折两端各两枚克氏针8固定，可以达到稳定的作用，在后续的钢板置入或者外固定时，骨折端不会再次错位。
本发明的单边多自由度复位机器人不需完全智能化，不需具备感应性能的操作模块，不需具备换算能力和转换能力的计算机，设计简单，操作简单，有利于在各级医院推广使用。整个机器人处于手术床一侧，且和手术床保持一定距离，即利于医师手术操作，又不易污染手术台。克氏针安装座上固定安装有克氏针，稳定性强，可调控性强，可以通过旋转台、机械臂和自由臂完成前后、上下、左右的旋转、拉伸、短缩等移动，在C臂机透视下，根据骨折端的影像，通过控制装置，可以灵活调控，进而轻易复位成功；不需通过计算机输入图像，再计算为复位程序，不需专业计算机人才，临床骨科医师均可操作，可操作性极强，易于推广应用。
虽然以上描述了本发明的具体实施方式，但是本领域的技术人员应该理解，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例，这些仅仅是举例说明，本发明的保护范围是由权利要求书限定。本领域的技术人员在不背离本发明的原理和实质的前提下，在没有经过任何创造性的劳动下，可以对这些实施方式做出多种变更或修改，但这些变更和修改均落入本发明的保护范围。
工业实用性
本发明的单边多自由度复位机器人在C臂机的透视下，使用人员可以通过控制装置调控机器人的旋转台、机械臂和自由臂来控制克氏针，完成对骨折端的牵拉、短缩、旋转、外展、内展等动作；该机械臂末端安装有4枚克氏针，复位后通过骨折两端各两枚克氏针固定，可以达到稳定的作用，在后续的钢板置入或者外固定时，骨折端不会再次错位；本机器人不需专业计算机人才，临床骨科医师均可操作，可操作性极强，易于推广应用。

Claims (2)

  1. 单边多自由度复位机器人，包括：底座，其特征在于，
    所述底座上安装有两个旋转台，所述旋转台上设有机械臂，所述机械臂上铰接有两个自由臂，所述自由臂的末端安装有克氏针安装座，所述克氏针安装座上安装有克氏针；
    所述底座上安装有显示屏和控制装置；
    所述控制装置分别与所述旋转台、所述机械臂和所述自由臂电连接，所述显示屏与C臂机电连接。
  2. 如权利要求1所述的单边多自由度复位机器人，其特征在于，所述底座下方设有多个自锁型万向轮。
PCT/CN2017/115357 2017-05-13 2017-12-09 单边多自由度复位机器人 WO2018209929A1 (zh)

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Publication number Priority date Publication date Assignee Title
CN109545020B (zh) * 2018-11-01 2024-01-12 内蒙古医科大学 用于骨折复位的训练装置和训练方法
TWI677317B (zh) * 2018-11-30 2019-11-21 財團法人金屬工業研究發展中心 骨科手術輔助系統及末端效應器

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US20070225704A1 (en) * 2006-03-23 2007-09-27 Ziran Bruce H Electromechanically driven external fixator and methods of use
CN102802552A (zh) * 2009-05-27 2012-11-28 新特斯有限责任公司 机械臂
CN202982182U (zh) * 2012-12-31 2013-06-12 张英泽 用于膝关节周围复杂骨折的术中复位定位装置
CN203436381U (zh) * 2013-09-09 2014-02-19 中国人民解放军第四军医大学 一种长骨骨折复位系统
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US20070225704A1 (en) * 2006-03-23 2007-09-27 Ziran Bruce H Electromechanically driven external fixator and methods of use
CN102802552A (zh) * 2009-05-27 2012-11-28 新特斯有限责任公司 机械臂
CN202982182U (zh) * 2012-12-31 2013-06-12 张英泽 用于膝关节周围复杂骨折的术中复位定位装置
CN203436381U (zh) * 2013-09-09 2014-02-19 中国人民解放军第四军医大学 一种长骨骨折复位系统
CN204246228U (zh) * 2014-06-13 2015-04-08 朱红文 骨科机器人及智能复位系统

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