Master-slave mode parallel robot system and method for femoral shaft fracture reduction

Abstract

The invention provides a master-slave mode parallel robot system and method for femoral shaft fracture reduction. The system comprises a master manipulator control robot, a central control unit, a slave manipulator reduction robot, a mapping switch, an orthopedic operating bed, a traction frame, a G-arm dual-display X-ray machine and an operating trolley, wherein the central control unit conditionally maps and transmits a fracture reduction operation of the master manipulator control robot to the slave manipulator reduction robot; a conditional mapping operation of the central control unit is started or closed by the mapping switch; a proximal femur of a patient is fixed on the orthopedic operating bed; the traction frame and the orthopedic operating bed are connected with each other to form a rigid body; the slave manipulator reduction robot copies the fracture reduction operation of the master manipulator control robot for the patient under mapping control of the central control unit; the G-arm dual-display X-ray machine simultaneously collects an entopic X-ray image and a lateral X-ray image of a femoral shaft fracture position of the patient. The method comprises the steps of preoperative preparation and intro-operative operation. According to the system and the method provided by the invention, the injury of an X-ray to the patient is reduced, and a reduction state is stably maintained before fixation.

Description

technical field [0001] The invention belongs to the field of orthopedic robots, in particular to a master-slave femoral shaft fracture reduction parallel robot system and method. Background technique [0002] Femoral shaft fracture is a common clinical orthopedic disease. When performing reduction treatment on such patients, medical personnel need to fix the proximal end of the fracture first, then stretch the distal end of the broken bone by observing the X-ray images, and then align it with the proximal broken bone and reset it, and then fix it. Due to the muscularity around the femur, reduction often requires two to three doctors to complete. And it is also very difficult to maintain the reset state for fixing. Femoral shaft fracture reduction surgery based on intramedullary nail fixation is also a widely used reduction method in clinic. This treatment method has a large radiation dose, which makes the radiation exposure time of the surgeon long during treatment, and t...

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Problems solved by technology

[0003] In order to solve the problem in the prior art that the surgeon has a long radiation exposure time during treatment, the present invention provides a master-slave femoral shaft fracture reduction parallel robot system, which includes: a master-handed robot, a central controller , a slave hand reset robot, a mapping switch, an orthopedic operating bed, a traction frame, a G-arm double-display X-ray machine, and an operating trolley; Execute the operator's fracture reduction operation instruction; the central controller is connected with the master hand-operated robot and the slave hand reset robot, and is used to transfer the conditional mapping of the fracture reduction operation of the master hand-operated robot to the Reset the robot from the hand; the mapping switch is connected with the central controller, and is used to open or close the conditional mapping operation of the central controller; the proximal femur of the patient is fixed on the orthopedic operating bed, and the patient is The patient with a femoral shaft fracture is in a knee-bending posture; the traction frame is connected to the orthopedic operating bed to form a rigid body; the slave-hand reset robot is an electric push-pull rod six-degree-of-freedom parallel mechanism robot, and the distal end of the slave-hand reset robot is fixed The platform is fixed on the traction frame, and the proximal mobile platform of the slave hand reset robot fixes the patient's distal femur through bone nails or pins, and is used to replicate the master's femur under the mapping control of the central controller. The fracture reduction operation performed by the hand-controlled robot on the patient; the G-arm double-display X-ray machine is used to simultaneously collect the anteroposterior X-ray image and the lateral X-ray image of the patient's femoral shaft fracture; the main hand The manipulating robot and the central controller are fixed on the operating trolley; wherein, the fracture reduction operation instruction is made by the operator according to the observed frontal X-ray image and the lateral X-ray image

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