An active and passive parallel reset robot

Abstract

The present invention relates to the technical field of medical equipment, and discloses an active-passive parallel reset robot, comprising: an active mechanical arm, having an active output end with multiple degrees of freedom; a synchronous motion platform, a fracture reduction needle is fixedly installed on the synchronous motion platform, and the active output end of the active mechanical arm is connected to the synchronous motion platform; and a passive mechanical arm, one end of which is fixedly arranged, and the other end has a passive output end with multiple degrees of freedom, and the passive output end is slidably installed on the synchronous motion platform; the passive mechanical arm can keep the degrees of freedom locked when the active mechanical arm drives the synchronous motion platform to insert the fracture reduction needle into the fracture end to be reset, and the active mechanical arm drives the synchronous motion platform to perform the reset operation under the support of the passive mechanical arm. The active-passive parallel reset robot of the present invention realizes the fracture reset operation through the active mechanical arm, the passive mechanical arm and the synchronous motion platform, occupies little space, and is more conducive to the surgeon to perform the surgical operation.

Description

Technical Field

[0001] The invention relates to the technical field of medical equipment, and in particular to an active and passive parallel resetting robot. Background Art

[0002] Fracture reduction is a key step in bone treatment. Due to the complex and powerful muscle and soft tissues around the fractured bone, the reduction operation requires strong reduction force and dexterity. At the same time, due to the limited surgical space, the space occupied and the movement space of the reduction mechanism cannot occupy the space of the surgeon and the patient.

[0003] In order to complete dexterous and large-load movements, traditional resetting mechanisms require surgical robots to achieve multi-degree-of-freedom spatial movements. The structure and assembly are relatively complex, and the robot is often large in size and requires more space for installation and layout. This occupies more space for the surgeon, is not conducive to the surgeon's surgical operations, and cannot meet clinical needs.

[0004] In view of this, the present invention is proposed. Summary of the invention

[0005] The purpose of the present invention is to solve the problem that the structure and assembly of the fracture reduction robot are complex and the space occupied is large, and to provide an active and passive parallel reduction robot with simple structure, small size, reliability and small size.

[0006] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions:

[0007] An active-passive parallel reset robot, comprising:

[0008] Active manipulator with active outputs in multiple degrees of freedom;

[0009] A synchronous motion platform, on which a fracture reduction needle is fixedly mounted, and an active output end of the active mechanical arm is connected to the synchronous motion platform;

[0010] and a passive mechanical arm, one end of which is fixedly arranged and the other end of which has a passive output end with multiple degrees of freedom, and the passive output end is slidably mounted on a synchronous motion platform;

[0011] The passive robotic arm can keep the degree of freedom locked when the active robotic arm drives the synchronous motion platform to insert the fracture reduction needle into the fracture end to be reduced, and the active robotic arm drives the synchronous motion platform to perform the reduction operation under the support of the passive robotic arm.

[0012] As an embodiment of the present invention, the synchronous motion platform comprises:

[0013] The platform body includes a robot end moving platform connected to the active robot arm and a parallel transmission mechanism connected to the robot end moving platform for parallel power transmission;

[0014] A uniform wrist is used to fix the fracture reduction needle, and the uniform wrist is fixedly connected to the parallel transmission mechanism of the platform body.

[0015] As an embodiment of the present invention, the parallel transmission mechanism includes a first parallel transmission mechanism that performs parallel motion in a first plane and a second parallel transmission mechanism that performs parallel motion in a second plane, and the first plane intersects with the second plane.

[0016] As an embodiment of the present invention, the parallel transmission mechanism includes a follower end platform for fixedly connecting with the uniform strength wrist;

[0017] The first parallel transmission mechanism includes a first support rod and a second support rod parallel to the first support rod, a first rotating shaft and a second rotating shaft parallel to the first rotating shaft, both ends of the first support rod are respectively fixedly connected to the first parallel hinge seat and the second parallel hinge seat, one end of the first rotating shaft is fixedly connected to the robot end moving platform, and the other end is rotatably connected to the first parallel hinge seat, one end of the second rotating shaft is fixedly connected to the follower end platform, and the other end is rotatably connected to the second parallel hinge seat;

[0018] The second parallel mechanism includes a third support rod parallel to the second support rod, a fourth rotation axis and a fifth rotation axis parallel to the fourth rotation axis, the two ends of the second support rod are respectively fixedly connected to the third parallel hinge seat and the fourth parallel hinge seat, the two ends of the third support rod are respectively fixedly connected to the fifth parallel hinge seat and the sixth parallel hinge seat, the fourth rotation axis can be rotatably passed through the robot end moving platform, and the two ends are respectively rotatably installed on the third parallel hinge seat and the fifth parallel hinge seat, the fifth rotation axis can be rotatably passed through the follower end platform, and the two ends are respectively rotatably installed on the fourth parallel hinge seat and the sixth parallel hinge seat.

[0019] As an embodiment of the present invention, the robot end motion platform includes a platform body and a first connecting block and a second connecting block fixedly connected to the platform body, one end of the first rotating axis is fixedly connected to the first connecting block; the fourth rotating axis can rotatably pass through the second connecting block.

[0020] As an embodiment of the present invention, the follower end platform includes a transverse arm and a vertical arm fixedly connected to the transverse arm, the second rotating shaft is fixedly connected to the vertical arm, and the fifth rotating shaft can rotatably pass through the transverse arm.

[0021] As an embodiment of the present invention, the synchronous motion platform includes a spherical hinge slidably arranged on the second support rod, and the passive output end of the passive mechanical arm is connected to the spherical hinge.

[0022] As an embodiment of the present invention, the uniform strength wrist includes a bracket, a motor, a motor output shaft screw, a sliding shaft, a stress adjustment rod, a universal locking buckle, a sliding shaft fixing plate and a universal locking bayonet fixing shaft;

[0023] The motor is fixed on the bracket, the motor output shaft screw is fixed on the motor output shaft, the motor output shaft screw and the sliding shaft fixing plate are threaded, and the rotation of the motor can drive the sliding shaft fixing plate to move up and down; the sliding shaft is fixedly connected to the sliding shaft fixing plate; the stress adjustment rod is fixedly connected to the bracket; one end of the universal locking buckle is connected to the fracture reduction needle, and the other end can be connected to the stress adjustment rod or the universal locking bayonet fixing shaft;

[0024] When the fracture reduction needle is inserted into the fracture reduction end, the universal locking buckle connects the fracture reduction needle and the frame part together, and the motor rotates to drive the sliding shaft fixing plate to move up and down to adjust the force arm of the stress adjustment rod and the bracket.

[0025] As an implementation manner of the present invention, the active output end of the active robotic arm is an end connection flange with six degrees of freedom in space.

[0026] As an embodiment of the present invention, the passive robotic arm includes a first moving component, a second moving component connected to the first moving component via a first spherical hinge, a third moving component rotatably connected to the second moving component via a rotary hinge, a fourth moving component connected to the third moving component via a second spherical hinge, and a locking component for locking the first spherical hinge, the rotary hinge, and the second spherical hinge.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The present invention proposes an active-passive parallel reset robot structure: an active mechanical arm and a passive mechanical arm parallel mechanism are used, a small-volume and large-load passive mechanical arm is arranged in the surgical space, and a large-rigidity support is used to assist the robot in completing a large-force load output; the active mechanical arm completes a large-power and dexterous movement, and with the support of the passive branch chain, the power requirement of the active mechanical arm is reduced; the synchronous motion platform outputs the movement of the active mechanical arm in a crowbar-like manner to complete a large-load dexterous reset operation. Therefore, the active-passive parallel reset robot structure of the present invention realizes the fracture reset operation through the active mechanical arm, the passive mechanical arm and the synchronous motion platform, and has a simple, stable and reliable structure, is easy to load and unload, occupies a small space, and is more conducive to cooperating with the surgeon to perform the surgical operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of the active and passive parallel reset robot in use according to the present invention;

[0030] Figure 2A schematic diagram of the three-dimensional structure of the active mechanical arm of the active-passive parallel reset robot of the present invention;

[0031] Figure 3 A schematic diagram of the three-dimensional structure of the synchronous motion platform of the active and passive parallel reset robot of the present invention;

[0032] Figure 4 A schematic diagram of the three-dimensional structure of the platform body of the synchronous motion platform of the present invention;

[0033] Figure 5 A schematic diagram of the three-dimensional structure of the uniform strength wrist of the synchronous motion platform of the present invention;

[0034] Figure 6 A schematic three-dimensional structural diagram of a passive mechanical arm of the active-passive parallel reset robot of the present invention.

[0035] Explanation of the numbers in the accompanying drawings: 1-active robot arm 101-end connecting flange 2-synchronous motion platform 200-platform body 201-robot end moving platform 202-first parallel hinge seat 203-first support rod 204-fourth rotation axis 205-second support rod 206-fifth parallel hinge seat 207-third support rod 208-follow-up end platform 209-fifth rotation axis 2010-second rotation axis 2011-spherical hinge 2012-second parallel hinge seat 2013-first rotation axis 2014-third parallel hinge seat 2016-sixth Parallel hinge seat 2017-fourth parallel hinge seat 210-uniform wrist 211-bracket 212-motor 213-motor output shaft screw 214-sliding shaft 215-stress adjustment rod 216-universal locking buckle 217-fracture reduction needle 218-sliding shaft fixing plate 219-universal locking bayonet fixing shaft 3-passive robotic arm 301-first spherical hinge 302-rotating hinge 303-second spherical hinge 304-fourth moving component 305-locking component 306-first moving component 307-second moving component 308-third moving component. DETAILED DESCRIPTION

[0036] To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them.

[0037] Therefore, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the invention claimed for protection, but merely represents some embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features and technical solutions in the embodiments may be combined with each other.

[0039] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0040] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the invention product is usually placed when in use, or the orientation or positional relationship commonly understood by those skilled in the art. Such terms are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0041] See also Figure 1 As shown, this embodiment provides an active-passive parallel reset robot, comprising:

[0042] An active manipulator 1, having an active output end with multiple degrees of freedom;

[0043] A synchronous motion platform 2, on which a fracture reduction needle is fixedly installed, and an active output end of the active mechanical arm is connected to the synchronous motion platform;

[0044] and a passive mechanical arm 3, one end of which is fixedly arranged and the other end of which has a passive output end with multiple degrees of freedom, and the passive output end is slidably mounted on a synchronous motion platform;

[0045] The passive robotic arm 3 can keep the degree of freedom locked when the active robotic arm 1 drives the synchronous motion platform 2 to insert the fracture reduction needle into the fracture end to be reduced. The active robotic arm 1 drives the synchronous motion platform 2 to perform the reduction operation under the support of the passive robotic arm 3.

[0046] This embodiment proposes an active-passive parallel reset robot structure: an active robotic arm 1 and a passive robotic arm 3 are used in parallel, and the passive robotic arm 3 with a small volume and a large load is arranged in the surgical space, and a large-rigidity support is used to assist the robot in completing a large-force load output; the active robotic arm 1 completes high-power and dexterous movements, and with the support of the passive branch chain, the power requirement of the active robotic arm 1 is reduced; the synchronous motion platform 2 outputs the movement of the active robotic arm 1 in a crowbar-like manner to complete a large-load dexterous reset operation.

[0047] Therefore, the active-passive parallel reduction robot structure of this embodiment realizes the fracture reduction operation through the active robotic arm 1, the passive robotic arm 3 and the synchronous motion platform 2. The structure is simple, stable and reliable, easy to load and unload, occupies a small space, and is more conducive to cooperation with the surgeon to perform surgical operations.

[0048] Furthermore, the active-passive parallel reset robot of this embodiment includes an active robotic arm 1 with six degrees of freedom, a passive robotic arm 3 with seven degrees of freedom, and a synchronous motion platform 2 including two synchronous motions.

[0049] The active robotic arm 1 described in this embodiment can be fixed on an operating trolley or on a permanent support; the active robotic arm 1 can actively move according to the route planned before or during surgery; the active robotic arm 1 has six degrees of freedom and can realize the movement and rotation of the spatial coordinate system. The moving platform at one end of the synchronous motion platform 2 is fixed on the active robotic arm 1, and the moving platform at the other end can move synchronously with the moving platform fixed on the active robotic arm 1. One end of the passive robotic arm 3 is fixed on the spherical hinge of the synchronous motion platform 2, and the other end is fixed on the operating table or a permanent support, or it can be fixed on the trolley; the passive robotic arm 3 has seven degrees of freedom, including two spherical hinges and one rotary hinge, which can be passively locked to serve as a motion support for the synchronous motion platform 2.

[0050] The specific implementation method is as follows: the active manipulator 1 is fixed on a trolley or a permanent support; one end of the synchronous motion platform 2 is mounted on the active manipulator 1. One end of the passive manipulator 3 is mounted on an operating table or a trolley, and the other end is fixed on the spherical hinge of the synchronous motion platform 2, and the spherical hinge can slide on the support rod of the synchronous motion platform 2. When the active manipulator 1 has not reached the predetermined position, it is in a relaxed state, and each joint can move freely. After the active manipulator 1 drives the synchronous motion platform 2 to reach the predetermined position, the fracture reduction needle is nailed into the fracture end to be reduced, and the passive manipulator 3 is locked. At this time, the passive manipulator 3 has no degree of freedom, which is equivalent to a rigid fixed support rod. The synchronous motion platform 2 can rotate with three degrees of freedom around its own spherical hinge and slide along the support rod. The active and passive parallel reset robot can perform the reset operation at this time, and the passive manipulator 3 provides support for the active manipulator 1 to reduce its load. When the spherical hinge of the synchronous motion platform 2 does not move, the active robot arm 1 drives the synchronous motion platform 2 to move to achieve the movement of the fracture end. When the spherical hinge of the synchronous motion platform 2 moves, the synchronous motion platform 2 can rotate around its own spherical hinge with three degrees of freedom and slide along the support rod, using the spherical hinge to perform a crowbar-like movement to drive the movement of the terminal fracture end, thereby reducing the load of the active robot arm 1.

[0051] See also Figure 2 As shown, the active output end of the active robotic arm 1 of this embodiment is an end connection flange 101 with six degrees of freedom in space, which can realize arbitrary movement of spatial posture and provide power for the fracture end reduction operation.

[0052] See also Figure 6 As shown, the passive robotic arm 3 described in this embodiment includes a first moving component 306, a second moving component 307 connected to the first moving component 306 via a first spherical hinge 301, a third moving component 308 rotatably connected to the second moving component 307 via a rotating hinge 302, a fourth moving component 304 connected to the third moving component 308 via a second spherical hinge 303, and a locking component 305 for locking the first spherical hinge 301, the rotating hinge 302, and the second spherical hinge 303.

[0053] In the present embodiment, the first spherical hinge connection 301 and the second spherical hinge 303 of the passive robotic arm 3 each have three degrees of freedom of movement around the center of the sphere; the rotating hinge 302 has one degree of freedom of rotation; the fourth motion component 304 has six degrees of freedom in space; when the locking component 305 is in a relaxed state, the first spherical hinge connection 301, the second spherical hinge 303 and the rotating hinge 302 can move freely, and the fourth motion component 304 has six degrees of freedom in space. When the locking component 305 is in a locked state, the first spherical hinge connection 301, the second spherical hinge 303 and the rotating hinge 302 are all in a locked state, and the fourth motion component 304 is also immovable. At this time, the seven-degree-of-freedom passive branch chain is also in a locked state to form a rigid part.

[0054] As an implementation mode of this embodiment, the locking component 305 includes a transmission connecting rod and a locking block respectively contacting the first spherical hinge 301 and the second spherical hinge 303. The transmission connecting rod is driven by rotation to drive the locking block to tightly contact and lock with the first spherical hinge 301 and the second spherical hinge 303 respectively.

[0055] See also Figure 3 As shown, the synchronous motion platform 2 described in this embodiment includes:

[0056] The platform body 200 includes a robot end moving platform 201 connected to the active robot arm 1 and a parallel transmission mechanism connected to the robot end moving platform 201 for parallel power transmission;

[0057] The uniform wrist 210 is fixedly mounted with the fracture reduction needle 217 , and the uniform wrist 210 is fixedly connected to the parallel transmission mechanism of the platform body 200 .

[0058] See also Figure 4As shown, the parallel transmission mechanism described in this embodiment includes a first parallel transmission mechanism that performs parallel movement in a first plane and a second parallel transmission mechanism that performs parallel movement in a second plane, and the first plane intersects the second plane. The first parallel transmission mechanism and the second parallel transmission mechanism are respectively located in the intersecting first plane and second plane, so that the follower end moving platform can be kept parallel to the robot end moving platform in space.

[0059] Specifically, the parallel transmission mechanism described in this embodiment includes a follower end platform 208 for fixedly connecting to the uniform strength wrist 210 .

[0060] The first parallel transmission mechanism described in this embodiment includes a first support rod 203 and a second support rod 205 parallel to the first support rod 203, a first rotating axis 2013 and a second rotating axis 2010 parallel to the first rotating axis 2013, the two ends of the first support rod 203 are respectively fixedly connected to the first parallel hinge seat 202 and the second parallel hinge seat 2012, one end of the first rotating axis 2013 is fixedly connected to the robot end moving platform 201, and the other end is rotatably connected to the first parallel hinge seat 202, one end of the second rotating axis 2010 is fixedly connected to the follower end platform 208, and the other end is rotatably connected to the second parallel hinge seat 2012.

[0061] The second parallel mechanism described in this embodiment includes a third support rod 207 parallel to the second support rod 205, a fourth rotation axis 204 and a fifth rotation axis 209 parallel to the fourth rotation axis 204, the second support rod 205 is respectively fixedly connected at both ends to the third parallel hinge seat 2014 and the fourth parallel hinge seat 2017, the third support rod 207 is respectively fixedly connected at both ends to the fifth parallel hinge seat 206 and the sixth parallel hinge seat 2016, the fourth rotation axis 204 can be rotatably passed through the robot end moving platform 201, and the two ends can be rotatably installed on the third parallel hinge seat 2014 and the fifth parallel hinge seat 206, the fifth rotation axis 209 can be rotatably passed through the follower end platform 208, and the two ends can be rotatably installed on the fourth parallel hinge seat 2017 and the sixth parallel hinge seat 2016.

[0062] Specifically, the robot end motion platform 201 described in this embodiment includes a platform body and a first connection block and a second connection block fixedly connected to the platform body, one end of the first rotation axis 2013 is fixedly connected to the first connection block; the fourth rotation axis 204 can rotatably pass through the second connection block. Preferably, the platform body is a circular connection flange, and the first connection block and the second connection block are respectively fixed on the outer peripheral wall of the circular connection flange.

[0063] Specifically, the follower end platform described in this embodiment includes a horizontal arm and a vertical arm fixedly connected to the horizontal arm, the second rotating shaft 2010 is fixedly connected to the vertical arm, and the fifth rotating shaft 209 rotatably passes through the horizontal arm. Preferably, the follower end platform includes a horizontal arm and two vertical arms located at both ends of the horizontal arm, and the overall structure is U-shaped.

[0064] in Figure 4 The axis a, axis b, axis c and axis d shown in the figure form a first parallelogram mechanism, and axis a and axis c, axis b and axis d will move in parallel during the movement of the mechanism; the axis a1, axis b1, axis c1 and axis d shown in the figure form a second parallelogram mechanism, and axis a1 and axis c1, axis b1 and axis d will move in parallel during the movement of the mechanism. The first parallelogram and the second parallelogram are perpendicular to each other, and axis a and axis a1 are perpendicular to each other and intersect at one point, and axis c and axis c1 are perpendicular to each other and intersect at one point. The first parallelogram mechanism and the second parallelogram mechanism can realize that the follower end moving platform remains parallel to the robot end moving platform in space.

[0065] Furthermore, the synchronous motion platform 2 described in this embodiment includes a spherical hinge 2011 slidably arranged on the second support rod 205, and the passive output end of the passive manipulator 3 is connected to the spherical hinge 2011. The spherical hinge 2011 includes three rotational degrees of freedom around the center of the ball, is installed on the second support rod 205, and can slide along the second support rod 205; the platform body 200 can rotate around the spherical hinge 2011, and can also slide along the second support rod 205 to achieve the synchronous reset movement of the spatial mechanism.

[0066] See also Figure 5 As shown, the uniform strength wrist 210 described in this embodiment includes a bracket 211, a motor 212, a motor output shaft screw 213, a sliding shaft 214, a stress adjustment rod 215, a universal locking buckle 216, a fracture reduction needle 217, a sliding shaft fixing plate 218 and a universal locking bayonet fixing shaft 219.

[0067] The motor 212 is fixed on the bracket 211, the motor output shaft screw 213 is fixed on the motor output shaft, the motor output shaft screw 213 is threaded with the sliding shaft fixing plate 218, and the rotation of the motor 212 can drive the sliding shaft fixing plate 218 to move up and down; the sliding shaft 214 is fixedly connected to the sliding shaft fixing plate 218; the stress adjustment rod 215 is fixedly connected to the bracket 211; one end of the universal locking buckle 216 is connected to the fracture reduction needle 217, and the other end can be fixed to the stress adjustment rod 215 or the universal locking buckle The fixed axis 219 is connected together; when the universal locking buckle 216 is in a relaxed state, the buckles at both ends can move freely, and after locking, the buckles at both ends are relatively fixed; when the fracture reduction needle 217 is inserted into the fracture reduction end, the universal locking buckle 216 fixes the fracture reduction needle 217 and the frame part together, and the motor 212 rotates to drive the sliding axis fixing plate 218 to move up and down to adjust the force arm of the stress adjustment rod 215 and the bracket 211, so as to prevent secondary fractures caused by excessive stress between the fracture reduction needle 217 and the fracture reduction end.

[0068] Preferably, the nail 211 of this embodiment is an L-shaped bracket, and the uniform wrist of this embodiment includes two sets of fracture reduction needles 217 and corresponding clamping, fixing and adjusting mechanisms.

[0069] The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. Although the present invention has been described in detail with reference to the above embodiments, the present invention is not limited to the above specific implementation methods. Therefore, any modification or equivalent replacement of the present invention; and all technical solutions and improvements thereof that do not depart from the spirit and scope of the invention are included in the scope of the claims of the present invention.

Claims

1. An active-passive parallel reset robot, characterized in that: include: Active manipulator with active outputs in multiple degrees of freedom; A synchronous motion platform, on which a fracture reduction needle is fixedly mounted, and an active output end of the active mechanical arm is connected to the synchronous motion platform; and a passive mechanical arm, one end of which is fixedly arranged and the other end of which has a passive output end with multiple degrees of freedom, and the passive output end is slidably mounted on a synchronous motion platform; The passive robotic arm can keep the degree of freedom locked when the active robotic arm drives the synchronous motion platform to insert the fracture reduction needle into the fracture end to be reduced, and the active robotic arm drives the synchronous motion platform to perform the reduction operation under the support of the passive robotic arm; The synchronous motion platform comprises: The platform body includes a robot end moving platform connected to the active robot arm and a parallel transmission mechanism connected to the robot end moving platform for parallel power transmission; A uniform wrist, on which the fracture reduction needle is fixedly mounted, and the uniform wrist is fixedly connected to the parallel transmission mechanism of the platform body; The passive robotic arm includes a first moving component, a second moving component connected to the first moving component via a first spherical hinge, a third moving component rotatably connected to the second moving component via a rotary hinge, a fourth moving component connected to the third moving component via a second spherical hinge, and a locking component for locking the first spherical hinge, the rotary hinge, and the second spherical hinge.

2. The active-passive parallel reset robot according to claim 1, characterized in that: Said The parallel transmission mechanism comprises a first parallel transmission mechanism that performs parallel motion in a first plane and a second parallel transmission mechanism that performs parallel motion in a second plane, wherein the first plane intersects with the second plane.

3. The active-passive parallel reset robot according to claim 2, characterized in that: Said The parallel transmission mechanism includes a follower end platform for fixed connection with the uniform wrist; The first parallel transmission mechanism includes a first support rod and a second support rod parallel to the first support rod, a first rotating shaft and a second rotating shaft parallel to the first rotating shaft, both ends of the first support rod are respectively fixedly connected to the first parallel hinge seat and the second parallel hinge seat, one end of the first rotating shaft is fixedly connected to the robot end moving platform, and the other end is rotatably connected to the first parallel hinge seat, one end of the second rotating shaft is fixedly connected to the follower end platform, and the other end is rotatably connected to the second parallel hinge seat; The second parallel transmission mechanism includes a third support rod parallel to the second support rod, a fourth rotating axis and a fifth rotating axis parallel to the fourth rotating axis, the two ends of the second support rod are respectively fixedly connected to the third parallel hinge seat and the fourth parallel hinge seat, the two ends of the third support rod are respectively fixedly connected to the fifth parallel hinge seat and the sixth parallel hinge seat, the fourth rotating axis can be rotatably passed through the robot end moving platform, and the two ends are respectively rotatably installed on the third parallel hinge seat and the fifth parallel hinge seat, the fifth rotating axis can be rotatably passed through the follower end platform, and the two ends are respectively rotatably installed on the fourth parallel hinge seat and the sixth parallel hinge seat.

4. The active-passive parallel reset robot according to claim 3, characterized in that: Said The robot end moving platform includes a platform body and a first connecting block and a second connecting block fixedly connected to the platform body, one end of the first rotating shaft is fixedly connected to the first connecting block; the fourth rotating shaft can rotatably pass through the second connecting block.

5. The active-passive parallel reset robot according to claim 3, characterized in that: Said The follower end platform includes a transverse arm and a vertical arm fixedly connected to the transverse arm, the second rotating shaft is fixedly connected to the vertical arm, and the fifth rotating shaft can rotatably pass through the transverse arm.

6. The active-passive parallel reset robot according to claim 3, characterized in that: Said The synchronous motion platform comprises a spherical hinge slidably arranged on the second support rod, and the passive output end of the passive mechanical arm is connected to the spherical hinge.

7. The active-passive parallel reset robot according to claim 1, characterized in that: Said The uniform strength wrist comprises a bracket, a motor, a motor output shaft screw, a sliding shaft, a stress adjustment rod, a universal locking buckle, a sliding shaft fixing plate and a universal locking bayonet fixing shaft; The motor is fixed on the bracket, the motor output shaft screw is fixed on the motor output shaft, the motor output shaft screw and the sliding shaft fixing plate are threaded, and the rotation of the motor can drive the sliding shaft fixing plate to move up and down; the sliding shaft is fixedly connected to the sliding shaft fixing plate; the stress adjustment rod is fixedly connected to the bracket; one end of the universal locking buckle is connected to the fracture reduction needle, and the other end can be connected to the stress adjustment rod or the universal locking bayonet fixing shaft; When the fracture reduction needle is inserted into the fracture reduction end, the universal locking buckle connects the fracture reduction needle and the frame part together, and the motor rotates to drive the sliding shaft fixing plate to move up and down to adjust the force arm of the stress adjustment rod and the bracket.

8. The active-passive parallel reset robot according to claim 1, characterized in that: Said The active output end of the active robot arm is an end connection flange with six degrees of freedom in space.

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