Detachable robot for open fracture reduction and fixation and method of use

Abstract

Provided are a detachable robot for open fracture reduction and fixation and a method of use. The detachable robot for reduction and fixation comprises a first assembly, a second assembly, and a brace assembly. The first assembly and the second assembly are detachably connected to form an accommodation space for accommodating a fractured site. The brace assembly is located in the accommodation space and detachably connected with the first assembly. The brace assembly is used for connecting bones on the two sides of the fractured bone. The present invention features compactness, ease of operation, and improved surgery quality and efficiency. The detachable and open-close structure can meet the requirements of treating open fractures at different positions. The present invention also enables the integrated operations of reduction and fixation to ensure a more effective traction and alignment in open fracture reduction and fixing operation, thus effectively ensuring good vision of the doctor in various soft tissue repair operations.

Description

Detachable robot for open fracture reduction and fixation and method of use Technical Field

[0001] The present application relates to the field of surgical instruments, and in particular, to a detachable robot for open fracture reduction and fixation and a method of use. Background Art

[0002] The treatment of open fractures is unique compared to closed fractures. Due to factors such as open wounds and infection, open fractures are often treated with external fixation. The success of this type of surgery depends on two key points: first, effective reduction and fixation of the fracture ends; second, repair of the various soft tissues in the open wound.

[0003] During external fixation treatment for fractures, fracture reduction and fixation are extremely challenging. The common method is to use manual traction for reduction and install an external fixator. Due to the high clinical requirements for fracture reduction angles, achieving these standards often requires more than 10 manual reductions and repeated X-ray inspections. This results in low reduction and fixation efficiency, high labor consumption, and high X-ray exposure risks for both doctors and patients. The key to these problems lies in the lack of a three-dimensional reduction assistance method that can effectively coordinate with the doctor's treatment techniques.

[0004] It is also crucial that the various soft tissues in the wound of an open fracture, such as blood vessels, nerves, muscles, tendons, and skin, all face different repair needs. Doctors need a clear surgical field of view and a larger operating space to ensure the effective operation, guarantee the quality and efficiency of the operation, and avoid operational errors.

[0005] Although the use of robot-assisted technology can effectively improve reduction accuracy, for example, patent CN112998864B discloses a parallel robot system for lower limb fracture reduction surgery, and patent CN102697543B discloses a series-parallel long bone reduction robot, both of which provide robotic technology that can assist doctors in reducing fractures. However, in view of the particularity of open fractures, existing bone reduction robots face several obvious deficiencies: first, there is a lack of auxiliary robots that integrate fracture reduction and fixation for open fractures; second, the robot components are complex and bulky, which cannot meet the effective surgical field and space requirements required for open wound surgery; third, fracture reduction and fixation are difficult to synchronize and integrate, and fourth, it is difficult to take into account the practical application of fractures in different parts of the upper and lower limbs.

[0006] In summary, there is a need in the art to provide a detachable robot suitable for open fracture reduction and fixation and a method of use to overcome the shortcomings of the prior art.

[0007] Application Contents

[0008] The present application provides a detachable robot for open fracture reduction and fixation and a method of use thereof, which can solve the problems existing in the prior art. The purpose of the present application is achieved through the following technical solutions.

[0009] In a first aspect, an embodiment of the present application provides a detachable robot for open fracture reduction and fixation, comprising a first component, a second component, and a support component;

[0010] The first component and the second component are detachably connected to form an accommodating space for accommodating the fracture site; the bracket component is located in the accommodating space and is detachably connected to the first component, and the bracket component is used to connect to the bones on both sides of the fracture site.

[0011] According to the detachable robot for open fracture reduction and fixation provided in one embodiment of the present application, the support assembly includes two first supports and a plurality of bone pins;

[0012] One end of each of the multiple bone needles is located in the bone at the fracture site. Two of the multiple bone needles and the other bone needles are located on both sides of the fracture site respectively. One of the two first brackets connects the two bone needles located on different sides of the fracture site. The multiple bone needles are all connected to the first component through the first bracket.

[0013] According to the detachable robot for reduction and fixation of open fractures provided by one of the above embodiments of the present application, the bracket assembly also includes two second brackets, the second brackets connect the bone needles located on the same side of the fracture, and the first bracket and the second bracket cooperate to fix the position of the bone needles.

[0014] The detachable robot for open fracture reduction and fixation provided in accordance with the above-mentioned embodiment of the present application further includes a needle rod clamp, and the first bracket and the second bracket are fixedly connected to the bone needle through the needle rod clamp respectively.

[0015] According to the detachable robot for open fracture reduction and fixation provided in one embodiment of the present application, the first component includes a first end frame, a second end frame and two sets of first branch chain components;

[0016] The first end frame and the second end frame are both arc-shaped, and the two groups of first branch chain components are connected between the first end frame and the second end frame. Each group of the two groups of first branch chain components includes two branch chain units. In the direction from the first end frame to the second end frame, the distance between the two branch chain units in each group of first branch chain components gradually increases.

[0017] According to the detachable robot for open fracture reduction and fixation provided by one embodiment of the present application, the two groups of first branch chain components are connected to the first end frame to form a connection point, and the distance between the connection point and the end of the first end frame is equal;

[0018] The central angle between the connection points of the two groups of first branch chain components and the first end frame is an obtuse angle.

[0019] According to the detachable robot for open fracture reduction and fixation provided by one embodiment of the present application, the four branch units of the two groups of first branch components are connected to the second end frame to form four connection points, and the distance between any two adjacent connection points among the four connection points is equal;

[0020] The central angle between any two adjacent connection points among the four connection points is an acute angle °.

[0021] According to the detachable robot for open fracture reduction and fixation provided by one embodiment of the present application, the second component includes a third end frame, a fourth end frame and a set of second branch chain components;

[0022] The third end frame and the fourth end frame are arc-shaped, the second branch chain component is connected between the third end frame and the fourth end frame, the second branch chain component includes two branch chain units, and in the direction from the third end frame to the fourth end frame, the distance between the two branch chain units in the second branch chain component gradually increases.

[0023] According to the detachable robot for open fracture reduction and fixation provided by one embodiment of the present application, the connection point between the second branch chain component and the third end frame is located at the arc top of the third end frame.

[0024] According to the detachable robot for open fracture reduction and fixation provided by one of the above embodiments of the present application, the two branch units of the second branch component are connected to the fourth end frame to form two connection points, the two connection points are symmetrically distributed about the arc top position of the fourth end frame, and the central angle between the two connection points is an acute angle.

[0025] According to the detachable robot for open fracture reduction and fixation provided in one embodiment of the present application, the first end frame and the third end frame are connected to form a ring shape, and the second end frame and the fourth end frame are connected to form a ring shape.

[0026] According to the detachable robot for open fracture reduction and fixation provided by one of the above embodiments of the present application, the two ends of the first end frame are respectively provided with a fifth connecting structure, and the two ends of the second end frame are respectively provided with a sixth connecting structure. The fifth connecting structure and the sixth connecting structure are arranged in a one-to-one correspondence. In each group of the one-to-one corresponding fifth connecting structure and the sixth connecting structure, the two ends of the first bracket are respectively detachably connected to the fifth connecting structure and the sixth connecting structure.

[0027] According to the detachable robot for open fracture reduction and fixation provided by one of the above embodiments of the present application, the first end frame is respectively provided with a first connecting structure at both ends, the second end frame is respectively provided with a second connecting structure at both ends, the third end frame is respectively provided with a third connecting structure at both ends, and the fourth end frame is respectively provided with a fourth connecting structure at both ends. The first connecting structures at both ends of the first end frame are respectively connected to the third connecting structures at both ends of the third end frame in a detachable manner; the second connecting structures at both ends of the second end frame are respectively connected to the fourth connecting structures at both ends of the fourth end frame in a detachable manner.

[0028] According to the detachable robot for open fracture reduction and fixation provided in one embodiment of the present application, the branch unit in the first branch component includes a telescopic rod and a universal hinge, the universal hinge being mounted at both ends of the telescopic rod, and the ends of the telescopic rod being connected to the first end frame and the second end frame respectively via the universal hinge;

[0029] The branch unit in the second branch component includes a telescopic rod and a universal hinge, and both ends of the telescopic rod are respectively connected to the third end frame and the fourth end frame through the universal hinge.

[0030] In a second aspect, a method for using a detachable robot for open fracture reduction and fixation according to one embodiment of the present application includes:

[0031] Clean the fracture wound and insert bone pins on both sides of the fracture;

[0032] Using two first brackets to connect the bone pins located on both sides of the fracture respectively;

[0033] Placing the first component below the fracture site, and detachably connecting the first brackets on both sides of the fracture site to the first component;

[0034] The second component is placed above the fracture site, the first component and the second component are connected in a detachable manner, and the telescopic rods of the first component and the second component are controlled to extend and retract to perform a preliminary reduction of the fracture site;

[0035] removing the second component from above the first component and treating the fracture wound;

[0036] The second component is placed above the fracture site again, the first component and the second component are detachably connected, and the telescopic rods of the first component and the second component are controlled to extend and retract to precisely reduce the fracture site;

[0037] Use a second stent to connect the bone pins on both sides of the fracture;

[0038] and removing the first component and the second component.

[0039] According to the method for using a detachable robot for open fracture reduction and fixation provided in one embodiment of the present application, the controlling the telescopic rods of the first component and the second component to extend and retract to perform preliminary reduction of the fracture specifically includes:

[0040] A dislocation image of the fracture site is obtained through medical imaging technology, and the telescopic rods of the first component and the second component are controlled to extend and retract according to the dislocation image to perform preliminary reduction of the fracture site.

[0041] According to the method for using the detachable robot for open fracture reduction and fixation provided in one embodiment of the present application, wherein the controlling the telescopic rods of the first component and the second component to extend and retract to precisely reduce the fracture specifically includes:

[0042] The medical imaging technology is used to obtain a dislocation image of the fracture site after preliminary reduction, and the telescopic rods of the first component and the second component are controlled to extend and retract according to the dislocation image of the fracture site after further reduction to accurately reduce the fracture site.

[0043] The advantages of the detachable robot and method of use for open fracture reduction and fixation according to the embodiment of the present application are: the use of a detachable, openable and closable robot structure solves the need for treating open fractures in different parts of the body; the first component and the second component form an integral structure with the bracket component serving as a fixed bracket, which can avoid the disconnection between robot reduction and fixation, and realize the synchronous integrated operation of reduction and fixation; it can provide effective traction force and force line in bone reduction surgery, and at the same time meet the doctor's surgical field requirements for various soft tissue repair operations; the device is small in size and easy to operate, and only one person is needed to complete open fracture reduction and soft tissue repair, thereby improving the quality and efficiency of surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Other features, objects and advantages of the present application will become more apparent through the detailed description of non-limiting embodiments of the present application with reference to the following drawings.

[0045] FIG1 shows a schematic diagram of a detachable robot for open fracture reduction and fixation according to one embodiment of the present application.

[0046] FIG2 shows a schematic diagram of a support assembly of a detachable robot for open fracture reduction and fixation according to an embodiment of the present application as shown in FIG1 .

[0047] FIG3 shows a schematic diagram of a first component of a detachable robot for open fracture reduction and fixation according to an embodiment of the present application as shown in FIG1 .

[0048] FIG4 shows a schematic diagram of a first end frame of a detachable robot for open fracture reduction and fixation according to an embodiment of the present application as shown in FIG1 .

[0049] FIG5 shows a schematic diagram of a second end frame of the detachable robot for open fracture reduction and fixation according to one embodiment of the present application as shown in FIG1 .

[0050] FIG6 is a schematic diagram showing a second component of the detachable robot for open fracture reduction and fixation according to one embodiment of the present application as shown in FIG1 .

[0051] FIG7 is a schematic diagram showing a method for using a detachable robot for open fracture reduction and fixation according to one embodiment of the present application.

[0052] Numbers and component names: 1-first component, 2-second component, 3-bracket assembly, 11-first end frame, 12-second end frame, 13-first branch component, 21-third end frame, 22-fourth end frame, 23-second branch component, 31-first bracket, 32-second bracket, 33-bone needle, 34-needle rod clamp, 341-first clamp, 342-second clamp, 111-first connecting structure, 112-fifth connecting structure, 121-second connecting structure, 122-sixth connecting structure, 211-third connecting structure, 221-fourth connecting structure, 131, 231-branch unit, 132, 232-telescopic rod, 133, 233-universal hinge, A-wound, B-proximal end, C-distal end, 11a, 12a, 22a-connection point, 112a, 122a-perforation. DETAILED DESCRIPTION

[0053] The following describes the specific implementation methods of the present application in conjunction with the accompanying drawings and examples. Through the contents of this specification, those skilled in the art can clearly and completely understand the technical solutions, technical problems solved, and technical effects produced by the present application. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. In addition, for ease of description, only the parts relevant to the present application are shown in the accompanying drawings.

[0054] It should be noted that the structures, proportions, sizes, etc. depicted in the drawings of the specification are only used to match the contents recorded in the specification for technical personnel in this field to understand and read, and are not used to limit the conditions for the implementation of this application. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should fall within the scope of the technical content disclosed in this application without affecting the efficacy and purpose that can be achieved by this application.

[0055] References such as "first", "second", "the" and similar words do not indicate a quantitative limitation and may indicate the singular or plural. The terms "include", "comprising", "having" and any variations thereof involved in this application are intended to cover non-exclusive inclusions; for example, a process, method, system, product or device that includes a series of steps or modules is not limited to the listed steps or units, but may also include steps or units that are not listed, or may also include other steps or units inherent to these processes, methods, products or devices. Similar words such as "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may also include direct or indirect electrical connections.

[0056] Figure 1 shows a schematic diagram of a detachable robot for open fracture reduction and fixation according to one embodiment of the present application. As shown in Figure 1, the detachable robot for open fracture reduction and fixation is used for open fracture reduction and includes a first component 1, a second component 2, and a bracket component 3. The first component 1 and the second component 2 are detachably connected to form a storage space for accommodating the fracture site; the bracket component 3 is located in the storage space and is detachably connected to the first component 1. The bracket component 3 is used to connect to the bones on both sides of the fracture site. That is, the second component 2 is detachably arranged above the first component 1, the bracket component 3 is detachably arranged above the first component 1, and the second component 2 is located outside the bracket component 3. The bracket component 3 connects to the bones on both sides of the fracture site.

[0057] According to the above-mentioned embodiment of the present application, a detachable robot for open fracture reduction and fixation is provided, wherein the first component 1 and the support component 3 can be installed and separated during surgery, and the second component 2 and the first component 1 can be installed and separated during surgery.

[0058] Figure 2 shows a schematic diagram of a support assembly of a detachable robot for open fracture reduction and fixation, as shown in Figure 1, according to one embodiment of the present application. As shown in Figure 2, the support assembly includes two first supports 31 and multiple bone pins 33. One end of each bone pin 33 is driven into the bones on either side of the fracture. The two first supports 31 are respectively connected to the bone pins 33 located on one side of the fracture. All bone pins 33 are connected to the first assembly 1 via the first supports 31. The detachable robot for open fracture reduction and fixation adjusts the relative positions of the bones on both ends of the fracture using the first supports 31 and bone pins 33 to reduce the fracture.

[0059] According to the detachable robot for open fracture reduction and fixation provided in one embodiment of the present application, the bracket assembly further includes two second brackets 32. The second brackets 32 connect to the bone pins 33 on both sides of the fracture site, and the first bracket 31 and the second bracket 32 ​​cooperate to fix the positions of the bone pins 33. The second brackets 32 are installed after the detachable robot for open fracture reduction and fixation completes the reduction of the fracture site, thereby cooperating with the first brackets 31 to fix the bone at the fracture site.

[0060] According to the detachable robot for open fracture reduction and fixation provided by one embodiment of the present application, the first bracket 31 and the second bracket 32 ​​are fixedly connected to the bone needle 33 via the needle rod clamp 34 respectively.

[0061] According to the above-mentioned embodiment of the present application, a detachable robot for reduction and fixation of open fractures is provided, wherein the needle rod clamp 34 includes a first clamp 341 and a second clamp 342, the first clamp 341 and the second clamp 342 are connected, the angles of the first clamp 341 and the second clamp 342 are adjustable, the first clamp 341 is used to clamp the first bracket 31 or the second bracket 32, and the second clamp 342 is used to clamp the bone needle 33.

[0062] FIG3 is a schematic diagram of the first component of the detachable robot for open fracture reduction and fixation according to an embodiment of the present application as shown in FIG1 . As shown in FIG3 , the first component 1 includes a first end frame 11, a second end frame 12, and two groups of first branch components 13. Each group of first branch components 13 includes two branch units 131. The first end frame 11 and the second end frame 12 are both arc-shaped. The two groups of first branch components 13 are connected between the first end frame 11 and the second end frame 12. The distance between the two branch units in each group of first branch components gradually increases. That is, the two branch units 131 of each group of first branch components 13 are close to each other at the connection with the first end frame 11, and the two branch units 131 of each group of first branch components 13 are separated from each other at the connection with the second end frame 12.

[0063] According to the above-mentioned embodiment of the present application, a detachable robot for reduction and fixation of open fractures is provided, wherein the connection points of the two groups of first branch components 13 and the first end frame 11 are symmetrically distributed about the arc top position of the first end frame 11, and the central angle α between the connection point 11a of the two groups of first branch components 13 and the first end frame 11 is an obtuse angle, that is, the range of the central angle α is 110°-130°, for example, the central angle α can be 110°, 120° or 130°, and the central angle refers to the angle formed by two points on the arc with the center of the circle as the vertex, and the central angle α is the angle between the two connection points 11a and the center of the first end frame 11.

[0064] According to the above-mentioned embodiment of the present application, a detachable robot for open fracture reduction and fixation is provided, in which the connection points of the four branch units 131 of the two groups of first branch components 13 and the second end frame 12 are symmetrically distributed about the arc top position of the second end frame 12, and the central angle β between the connection point 12a of two adjacent branch units 131 and the second end frame 12 is an acute angle, that is, the central angle β can be in the range of 50°-70°. For example, the central angle β can be 50°, 60° or 70°, and the central angle β is the angle between the two connection points 12a and the center of the second end frame 12.

[0065] Figure 4 shows a schematic diagram of the first end frame of the detachable robot for open fracture reduction and fixation, as shown in Figure 1 , according to one embodiment of the present application. As shown in Figure 4 , the first end frame 11 is annular with an opening. The central angle ε of the opening of the first end frame 11 ranges from 175° to 185°. The central angle ε is the angle between the two ends of the first end frame 11 and the center of the first end frame 11. Preferably, the central angle ε is 180°.

[0066] Figure 5 shows a schematic diagram of the second end frame of the detachable robot for open fracture reduction and fixation, as shown in Figure 1 , according to one embodiment of the present application. As shown in Figure 5 , the second end frame 12 is annular with an opening. The central angle δ of the opening of the second end frame 12 ranges from 195° to 205°. The central angle δ is the angle between the two ends of the second end frame 12 and the center of the second end frame 12. Preferably, the central angle δ is 200°.

[0067] FIG6 is a schematic diagram of the second assembly of the detachable robot for open fracture reduction and fixation according to one embodiment of the present application, as shown in FIG1 . As shown in FIG6 , the second assembly 2 includes a third end frame 21, a fourth end frame 22, and a set of second branch components 23. The second branch components 23 include two branch units 231. The third end frame 21 and the fourth end frame 22 are arc-shaped. The second branch component 23 is connected between the third end frame 21 and the fourth end frame 22. The two branch units 231 of the second branch component 23 are close to each other at the connection with the third end frame 21. The two branch units 231 of each set of second branch components 23 are separated from each other at the connection with the fourth end frame 22.

[0068] According to the detachable robot for open fracture reduction and fixation provided by one embodiment of the present application, the connection point between the second branch chain component 23 and the third end frame 21 is located at the arc top of the third end frame 21.

[0069] According to the above-mentioned embodiment of the present application, a detachable robot for open fracture reduction and fixation is provided, wherein the connection points between the two branch units 231 of the second branch component 23 and the fourth end frame 22 are symmetrically distributed about the arc top position of the fourth end frame 22, and the central angle γ between the two branch units 231 and the connection point 22a of the fourth end frame 22 is 60°.

[0070] As shown in Figures 1-6, a detachable robot for open fracture reduction and fixation is provided according to the above-mentioned embodiment of the present application, wherein the first end frame 11 is respectively provided with a first connecting structure 111 at both ends, the second end frame 12 is respectively provided with a second connecting structure 121 at both ends, the third end frame 21 is respectively provided with a third connecting structure 211 at both ends, and the fourth end frame 22 is respectively provided with a fourth connecting structure 221 at both ends, the first connecting structures 111 at both ends of the first end frame 11 are respectively connected to the third connecting structures 211 at both ends of the third end frame 21 in a detachable manner; the second connecting structures 121 at both ends of the second end frame 12 are respectively connected to the fourth connecting structures 221 at both ends of the fourth end frame 22 in a detachable manner.

[0071] According to the above-mentioned embodiment of the present application, a detachable robot for open fracture reduction and fixation is provided, wherein the first connecting structure 111 includes a plurality of threaded holes (unlabeled), the second connecting structure 121 includes a plurality of threaded holes (unlabeled), the third connecting structure 211 includes a plurality of threaded holes (unlabeled), and the fourth connecting structure 221 includes a plurality of threaded holes (unlabeled). The threaded holes of the first connecting structure 111 are aligned with the threaded holes of the third connecting structure 211 and fixedly connected by screws, and the threaded holes of the second connecting structure 121 are aligned with the threaded holes of the fourth connecting structure 221 and fixedly connected by screws.

[0072] According to the above-mentioned embodiment of the present application, a detachable robot for open fracture reduction and fixation is provided, wherein the first end frame 11 and the third end frame 21 are connected to form a ring shape and are located at the proximal end B of the detachable robot for open fracture reduction and fixation, and the two connection points of the two groups of first branch chain components 13 and the first end frame 11 and the one connection point of the third end frame 21 and the second branch chain component 23 are evenly distributed on the circular ring formed after the first end frame 11 and the third end frame 21 are connected; the second end frame 12 and the fourth end frame 22 are connected to form a ring shape and are located at the distal end C of the detachable robot for open fracture reduction and fixation, and the four branch chain units 131 of the two groups of first branch chain components 13 and the four connection points of the second end frame 12 and the two branch chain units 231 of the second branch chain component 23 and the two connection points of the fourth end frame 22 are evenly distributed on the circular ring formed after the second end frame 12 and the fourth end frame 22 are connected. The above distribution of the first branch components 13 and the second branch components 23 enables the detachable robot for open fracture reduction and fixation to provide effective and stable traction force and force line during bone reduction surgery.

[0073] According to the above-mentioned embodiment of the present application, a detachable robot for open fracture reduction and fixation is provided, wherein the proximal end B of the detachable robot for open fracture reduction and fixation refers to the end close to the patient's torso, and the distal end C of the detachable robot for open fracture reduction and fixation refers to the end away from the patient's torso.

[0074] According to one embodiment of the present application, a detachable robot for open fracture reduction and fixation is provided, wherein the first component 1 and the second component 2 are combined to form a Stewart parallel mechanism with annular ends and 6 degrees of freedom. The Stewart parallel mechanism is a parallel manipulator device used for positioning and motion control, and has the advantages of multiple degrees of freedom, high rigidity, high precision, and modular production.

[0075] According to the above-mentioned embodiment of the present application, a detachable robot for open fracture reduction and fixation is provided, wherein the two ends of the first end frame 11 are respectively provided with a fifth connecting structure 112, and the two ends of the second end frame 12 are respectively provided with a sixth connecting structure 122, and the two first brackets 31 are respectively connected to the first end frame 11 and the second end frame 12 in a detachable manner through the fifth connecting structure 112 and the sixth connecting structure 122.

[0076] According to the above-mentioned embodiment of the present application, a detachable robot for open fracture reduction and fixation is provided, wherein the fifth connecting structure 112 is a fixing clamp provided with a through-hole 112a, and the sixth connecting structure 122 is a fixing clamp provided with a through-hole 122a, and the two ends of the two first brackets 31 are respectively inserted into the through-holes 112a and 122a of the fifth connecting structure 112 and the sixth connecting structure 122 and then clamped and fixed above the first component.

[0077] According to the detachable robot for open fracture reduction and fixation provided by one embodiment of the present application, the branch units 131, 231 include telescopic rods 132, 232 and universal hinges 133, 233. The universal hinges 133, 233 are mounted at both ends of the telescopic rods 132, 232. The ends of the branch unit 131 of the first branch component 13 are respectively connected to the first end frame 11 and the second end frame 12 via the universal hinges 133. The ends of the branch units 131, 231 of the second branch component 23 are respectively connected to the third end frame 21 and the fourth end frame 22 via the universal hinges 233. The detachable robot for open fracture reduction and fixation adjusts the position of the bones at both ends of the fracture by extending and shortening the telescopic rods 132, 232.

[0078] According to the detachable robot for reduction and fixation of open fractures provided by one embodiment of the present application, the detachable robot for reduction and fixation of open fractures can be remotely controlled by accessing the Internet or a communication network to perform remote treatment on the patient.

[0079] Figure 7 shows a schematic diagram of a method for using a detachable robot for open fracture reduction and fixation according to one embodiment of the present application. As shown in Figure 7, the method for using a detachable robot for open fracture reduction and fixation includes multiple steps:

[0080] Step 401: Clean the fracture wound A and insert bone needles on both sides of the fracture; the wound A includes but is not limited to a complex open wound;

[0081] Step 402: using two first brackets to connect the bone pins located on both sides of the fracture respectively;

[0082] Step 403: placing the first assembly below the fracture site, and detachably connecting the first brackets on both sides of the fracture site to the first assembly; by connecting the first bracket and the first assembly, the bracket assembly and the first assembly form an integrated structure;

[0083] Step 404: placing the second component above the fracture site, detachably connecting the first component to the second component, and controlling the telescopic rods of the first component and the second component to extend and retract to perform preliminary reduction of the fracture site;

[0084] Step 405: Remove the second component from above the first component, and treat the fracture wound A, including but not limited to suturing the wound and applying a dressing. Removing the second component from above the first component can provide sufficient surgical space for the doctor to treat the fracture wound A.

[0085] Step 406: The second component is again placed above the fracture site, the first component and the second component are detachably connected, and the telescopic rods of the first and second components are controlled to extend and retract to precisely reduce the fracture site. At this point, the first and second components have completed the reduction of the fracture site through the bone pins and the first bracket.

[0086] Step 407: Use a second bracket to connect the bone pins on both sides of the fracture. At this time, the bone pins are still fixedly connected to the first component via the first bracket. Installing the second bracket will not cause the position of the bone pins to move, thereby reducing the risk of bone dislocation caused by bracket installation.

[0087] Step 408: The first and second components are removed, and the bone pins, first bracket, and second bracket form a bracket assembly to fix the patient's fractured bone. Prior to removal, the bone pins, first bracket, and second bracket have already formed a stable framework, thereby reducing the risk of bone dislocation caused by removal of the first and second components.

[0088] According to the method for using a detachable robot for open fracture reduction and fixation provided by one of the above embodiments of the present application, controlling the telescopic rods of the first component and the second component to extend and retract to perform a preliminary reduction of the fracture includes obtaining a dislocated image of the fracture through medical imaging technology, and controlling the telescopic rods of the first component and the second component to extend and retract to perform a preliminary reduction of the fracture based on the dislocated image.

[0089] According to the method for using a detachable robot for open fracture reduction and fixation provided in one embodiment of the present application, controlling the telescopic rods of the first component and the second component to extend and retract to precisely reduce the fracture includes obtaining a dislocation image of the fracture after preliminary reduction through medical imaging technology, and controlling the telescopic rods of the first component and the second component to extend and retract to precisely reduce the fracture based on the dislocation image of the fracture after the further reduction.

[0090] The advantages of the detachable robot and usage method for open fracture reduction and fixation according to the embodiment of the present application are: the use of a detachable, openable and closable robot structure solves the need for treating open fractures in different parts of the body; the first component and the second component form an integrated structure with the bracket component serving as a fixed bracket, which can avoid the disconnection between robot reduction and fixation, and realize the synchronous integrated operation of reduction and fixation; it can provide effective traction force and force line in bone reduction surgery, and at the same time meet the doctor's surgical field requirements for various soft tissue repair operations; the device is small in size and easy to operate, and only one person is needed to complete open fracture reduction and soft tissue repair, thereby improving the quality and efficiency of surgery.

[0091] Although the present application has been described and illustrated with reference to specific embodiments of the present application, these descriptions and illustrations are not intended to limit the present application. It will be clearly understood by those skilled in the art that various changes may be made and that equivalent elements may be substituted within the embodiments without departing from the scope of protection of the present application as defined by the claims. Due to variables in the manufacturing process, etc., there may be differences between the technical reproduction in the present application and the actual device. There may be other embodiments of the present application that are not specifically described. The description and illustrations should be regarded as illustrative, not restrictive, and modifications may be made according to the purpose and spirit of the present application, all of which are within the scope of protection of the claims. Although the methods disclosed herein have been described with reference to specific operations performed in a specific order, it should be understood that these operations may be recombined, subdivided, or arranged to form equivalent methods without departing from the teachings of the present application. Therefore, unless specifically indicated herein, the order and grouping of operations do not limit the present application.

Claims

1. A detachable robot for open fracture reduction and fixation, wherein, It includes a first component, a second component and a bracket component; The first component and the second component are detachably connected to form a receiving space for receiving a fracture site; the bracket component is located in the receiving space and is detachably connected to the first component, and the bracket component is used to connect to the bones on both sides of the fracture.

2. The detachable robot for open fracture reduction and fixation according to claim 1, wherein, The bracket component includes two first brackets and multiple bone pins; One end of each of the multiple bone pins is located in the bone at the fracture site. Among the multiple bone pins, there are two bone pins located on different sides of the fracture site respectively, and one of the two first brackets connects the two bone pins on different sides of the fracture site. The multiple bone pins are all connected to the first component through the first bracket.

3. The detachable robot for open fracture reduction and fixation according to claim 2, wherein, The bracket component further includes two second brackets. The second brackets connect the bone pins on the same side of the fracture site, and the first brackets and the second brackets cooperate to fix the positions of the bone pins.

4. The detachable robot for open fracture reduction and fixation according to claim 3, wherein, It further includes a needle rod clip. The first brackets and the second brackets are respectively fixedly connected to the bone pins through the needle rod clip.

5. The detachable robot for open fracture reduction and fixation according to claim 3, wherein, The first component includes a first end frame, a second end frame and two groups of first chain components; Both the first end frame and the second end frame are arc-shaped. The two groups of first chain components are connected between the first end frame and the second end frame. Each group of the two groups of first chain components includes two chain units. In the direction from the first end frame to the second end frame, the distance between the two chain units in each group of first chain components gradually increases.

6. The detachable robot for open fracture reduction and fixation according to claim 5, wherein, The two groups of first chain components and the first end frame are connected to form connection points, and the distances from the connection points to the ends of the first end frame are equal; The central angle range between the connection points of the two groups of first chain components and the first end frame is an obtuse angle.

7. The detachable robot for open fracture reduction and fixation according to claim 6, wherein, The four chain units of the two groups of first chain components are connected to the second end frame to form four connection points, and the distances between any two adjacent connection points among the four connection points are all equal; The central angle between any two adjacent connection points among the four connection points is an acute angle °.

8. The detachable robot for open fracture reduction and fixation according to claim 7, wherein, The second component includes a third end frame, a fourth end frame and a group of second chain components; Both the third end frame and the fourth end frame are arc-shaped. The second chain component is connected between the third end frame and the fourth end frame. The second chain component includes two chain units. In the direction from the third end frame to the fourth end frame, the distance between the two chain units in the second chain component gradually increases.

9. The detachable robot for open fracture reduction and fixation according to claim 8, wherein, The connection point of the second chain component and the third end frame is located at the apex of the third end frame.

10. The detachable robot for open fracture reduction and fixation according to claim 9, wherein, The two chain units of the second chain component are connected to the fourth end frame to form two connection points. The two connection points are symmetrically distributed about the apex position of the fourth end frame, and the central angle between the two connection points is an acute angle.

11. The detachable robot for open fracture reduction and fixation according to claim 8, wherein, The first end frame and the third end frame are connected to form a ring shape, and the second end frame and the fourth end frame are connected to form a ring shape.

12. The detachable robot for open fracture reduction and fixation according to claim 11, wherein, Both ends of the first end frame are respectively provided with a fifth connection structure, both ends of the second end frame are respectively provided with a sixth connection structure, the fifth connection structures and the sixth connection structures are arranged in one-to-one correspondence, and in each group of fifth connection structures and sixth connection structures arranged in one-to-one correspondence, both ends of the first bracket are detachably connected to the fifth connection structure and the sixth connection structure respectively.

13. The detachable robot for open fracture reduction and fixation according to claim 8, wherein, Both ends of the first end frame are respectively provided with a first connection structure, both ends of the second end frame are respectively provided with a second connection structure, both ends of the third end frame are respectively provided with a third connection structure, both ends of the fourth end frame are respectively provided with a fourth connection structure, and the first connection structures at both ends of the first end frame are respectively connected to the third connection structures at both ends of the third end frame in a detachable manner; the second connection structures at both ends of the second end frame are respectively connected to the fourth connection structures at both ends of the fourth end frame in a detachable manner.

14. The detachable robot for open fracture reduction and fixation according to claim 8, wherein, The chain unit in the first chain component includes a telescopic rod and a universal hinge, the universal hinge is installed at both ends of the telescopic rod, and both ends of the telescopic rod are respectively connected to the first end frame and the second end frame through the universal hinge; The chain unit in the second chain component includes a telescopic rod and a universal hinge, and both ends of the telescopic rod are respectively connected to the third end frame and the fourth end frame through the universal hinge.

15. A method for using a detachable robot for open fracture reduction and fixation, wherein, Comprising: Clean the wound at the fracture site, and drive bone pins on both sides of the fracture site; Use two first brackets to respectively connect the bone pins located on both sides of the fracture site; Place the first component below the fracture position, and detachably connect the first brackets on both sides of the fracture site to the first component; Place the second component above the fracture position, detachably connect the first component and the second component, and control the telescopic rods of the first component and the second component to expand and contract to perform a preliminary reduction on the fracture site; Remove the second component from above the first component and treat the wound at the fracture site; Place the second component above the fracture position again, detachably connect the first component and the second component, and control the telescopic rods of the first component and the second component to expand and contract to perform an accurate reduction on the fracture site; Use the second bracket to connect the bone pins on both sides of the fracture site; And remove the first component and the second component.

16. The method of using a detachable robot for open fracture reduction and fixation according to claim 15, wherein, The controlling the telescopic rods of the first component and the second component to expand and contract to perform a preliminary reduction on the fracture site specifically includes: Obtain the dislocation image of the fracture site through medical imaging technology, and control the telescopic rods of the first component and the second component to expand and contract to perform a preliminary reduction on the fracture site according to the dislocation image.

17. The method of using a detachable robot for open fracture reduction and fixation according to claim 15, wherein, The controlling the telescopic rods of the first component and the second component to expand and contract to perform an accurate reduction on the fracture site specifically includes: Obtain the dislocation image of the fracture site after the preliminary reduction through medical imaging technology, and control the telescopic rods of the first component and the second component to expand and contract to perform an accurate reduction on the fracture site according to the dislocation image of the fracture site after the preliminary reduction.

Images