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Series-parallel pelvic fracture reduction robot

A technology for pelvic fractures and robots, which is applied in the field of medical robots, can solve the problems that it is difficult to meet the requirements of compact structure of terminal surgical instruments, and it is difficult to achieve the load capacity of serial robots, and achieve the effects of convenient preoperative disinfection, large carrying capacity, and easy connection

Pending Publication Date: 2021-09-03
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The reduction force of pelvic fracture reduction is as high as 500N, and it is difficult for serial robots to achieve such a large load force
In addition, due to the limitation of the narrow working space in the clinical operation environment, the structure of the robot terminal surgical instrument is required to be very compact, and it is difficult to meet the requirements for the compact structure of the terminal surgical instrument by using parallel robots

Method used

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  • Series-parallel pelvic fracture reduction robot
  • Series-parallel pelvic fracture reduction robot
  • Series-parallel pelvic fracture reduction robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0031] In this example, see figure 1 , figure 2 and Figure 6 , a series-parallel hybrid pelvic fracture reduction robot, including a box body 1, a three-dimensional guide rail 2, a 3-RRR spherical parallel mechanism 3, a docking mechanism 4 and an affected pelvic clamping device 5, and the box body 1 is fixed with Universal wheels 11 and fixed foot cups 12 are used to move and fix the robot respectively; the three-dimensional guide rail 2 is installed on the box body 1 to reset the three-degree-of-freedom translation reset of the robot, and a 3-RRR spherical parallel mechanism is fixed on it 3. The 3-RRR spherical parallel mechanism 3 is used to reset the three-degree-of-freedom rotation of the robot; the spherical parallel mechanism actuation platform is fixed with a docking mechanism, which is convenient for connecting with the pelvic clamping device 5 on the affected side through the docking mechanism 4, and is also convenient for surgery. Pre-disinfection; bone needle ...

Embodiment 2

[0034] This embodiment is basically the same as Embodiment 1, especially in that:

[0035] In this example, see figure 2 , the box body 1 includes four universal brake wheels 11, four fixed foot cups 12 and a chassis 13, the universal brake wheels 11 are installed under the chassis, and can be moved to a suitable position, and the fixed foot cups 12 are installed on the chassis 1 below is used to fix the chassis 13, and the box body 1 is used to place the controller and wires of the reset robot.

[0036] In this example, see image 3 , the three-dimensional guide rail 2 includes a longitudinal ball screw slider guide rail 21, a first connecting plate 22, a first stepping motor 23, a reinforcement plate 24, a column type vertical ball screw slider guide rail 25, and a second connecting plate 26 , the second stepping motor 27, the third connecting plate 28, the horizontal ball screw slider guide rail 29 and the third stepping motor 210, the longitudinal ball screw slider guid...

Embodiment 3

[0044] This embodiment is basically the same as the previous embodiment, and the special features are:

[0045] A serial-parallel hybrid pelvic fracture reduction robot, which consists of a box body 1, a three-dimensional guide rail 2, a 3-RRR spherical parallel mechanism 3, a docking mechanism 4, a pelvic clamping device 5 on the affected side, a pelvic clamping device 6 on the healthy side, and bone Needle holders 53, 54, 64, 66, 68, 69; said box 1 has universal wheels 11 and fixed foot cups 12, which are respectively used for moving and fixing robots; said three-dimensional guide rail 2 is used for 3 The degree of freedom is translated and reset, and a 3-RRR spherical parallel mechanism 3 is fixed on it. The 3-RRR spherical parallel mechanism 3 is used for 3 degrees of freedom to rotate and reset; The system is quickly connected to the pelvic clamping device 5 on the affected side, which is also convenient for preoperative disinfection; the pelvic clamping device 5 is provi...

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Abstract

The invention relates to a series-parallel pelvic fracture reduction robot. The robot comprises a box body, a three-dimensional guide rail, a 3-RRR spherical parallel mechanism, a docking mechanism and an affected side pelvic clamping instrument. The three-dimensional guide rail is fixed on the box body, the 3-RRR spherical parallel mechanism is fixed on the three-dimensional guide rail, and the docking mechanism is fixed on a movable platform of the spherical parallel mechanism, so that a reduction robot system is quickly connected with the affected side pelvic clamping instrument, and preoperative disinfection is facilitated; and the docking mechanism is fixedly connected with the affected side pelvic clamping instrument, a bone needle holder is arranged on the pelvic clamping instrument and used for clamping bone needles, and a six-dimensional force sensor is arranged on the affected side pelvic clamping instrument and used for detecting the change condition of reduction force in the reduction process in real time, providing reduction force information for real-time monitoring in an operation and improving the safety of the reduction operation. The pelvic fracture reduction robot has the advantages of both a series configuration and a parallel configuration, and has the remarkable advantages of being large in working space, high in rigidity, large in bearing capacity, compact in structure, convenient to quickly connect and disinfect and the like.

Description

technical field [0001] The invention relates to the technical field of medical robots, in particular to a serial-parallel hybrid pelvic fracture reduction robot. Background technique [0002] Pelvic fracture is a serious trauma, accounting for 1% to 3% of the total fractures, mostly caused by high-energy trauma, more than half of which are accompanied by complications or multiple injuries, and the disability rate is as high as 50% to 60%. Pelvic fracture surgery usually requires 6 degrees of freedom of movement in three directions and rotation in three directions, and the restoring force is as high as 500N. [0003] The reduction effect of traditional pelvic fracture reduction surgery depends on the doctor's experience. There are disadvantages such as low surgical accuracy, radiation exposure to both the doctor and the patient during the operation, many postoperative complications, and high repair rate. Manual reset is laborious for doctors. [0004] With the rapid developm...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30A61B34/00A61B17/60
CPCA61B34/30A61B34/70A61B17/60
Inventor 雷静桃蔡申旸李亚男陈欣怡
Owner SHANGHAI UNIV
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