A variable stiffness clamping device for pelvic fracture reduction robot

Abstract

This invention relates to a variable stiffness clamping device for a pelvic fracture reduction robot, comprising the following structures: a lifting support module for adjusting the height of the clamping device, facilitating preoperative support and connection between the clamping device and the robot; a affected-side support module for fixing two bone pins respectively, with a docking component for quick connection of the clamping device to the robot; a first affected-side bone pin clamping module for clamping the bone pin of the anterior inferior iliac spine of the pelvis, and a second affected-side bone pin clamping module for clamping the bone pin of the anterior superior iliac spine of the pelvis. The affected-side bone pin clamping modules are driven by a motor and wires, actively adjusting the stiffness of the bone pins by changing the clamping position and reducing the cantilever length of the bone pins, thus avoiding uneven deformation or stress concentration of the two bone pins during surgery; and a healthy-side clamping module for clamping the bone pin inserted into the healthy side of the pelvis. This invention has significant advantages such as compact structure, convenient stiffness adjustment, stable clamping, and easy assembly and disassembly.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a variable stiffness clamping device for a pelvic fracture reduction robot. Background Technology

[0002] Pelvic fractures account for 1% to 3% of all fractures and are mostly caused by high-energy trauma. In severe cases, they can lead to hemorrhagic shock, internal organ damage, and a disability rate as high as 50% to 60%. The pelvis has a complex anatomical structure and is surrounded by many important blood vessels and nerves. Secondary injuries and surgical complications are prone to occur during reduction surgery, resulting in a mortality and disability rate of 10% to 50% for unstable pelvic fractures.

[0003] The reduction process for pelvic fractures involves very high reduction forces, requiring stable clamping of the pelvic muscular tissue. In robot-assisted pelvic fracture reduction surgery, under these high reduction forces, uneven deformation or stress concentration of the bone pins can occur, leading to significant surgical navigation errors and hindering the improvement of surgical precision.

[0004] For robot-assisted pelvic fracture surgery, the space between the robot and the damaged pelvic musculoskeletal tissue is extremely limited, requiring the clamping instruments to have a compact structure. The stiffness of the clamping instruments should be adjustable during the operation to avoid uneven deformation of the bone pins or stress concentration. Currently, there are no reports on variable-stiffness clamping instruments for robotic pelvic fracture reduction.

[0005] To address the aforementioned technical problems, this invention relates to a variable stiffness clamping device for a pelvic fracture reduction robot, comprising a affected-side support module, a lifting support module, a first affected-side bone pin clamping module, a second affected-side bone pin clamping module, and a healthy-side clamping module. During surgery, the bone pins are considered cantilever beams. The affected-side bone pin clamping module is driven by a motor and wires, actively adjusting the stiffness of the bone pins by changing their clamping position and reducing their cantilever length, thus avoiding uneven deformation or stress concentration between the two bone pins during surgery. This invention has significant advantages such as compact structure, convenient stiffness adjustment, stable clamping, and easy assembly and disassembly. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a variable stiffness clamping device for a pelvic fracture reduction robot, which has significant advantages such as compact structure, convenient adjustment, stable clamping, and easy assembly and disassembly.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A variable stiffness clamping device for pelvic fracture reduction robots comprises a lifting support module, a affected side support module, a first affected side bone pin clamping module, a second affected side bone pin clamping module, and a healthy side clamping module. The lifting support module adjusts the height of the clamping device, facilitating preoperative connection between the clamping device and the robot. The affected side support module secures two bone pins and includes a docking assembly for quick connection between the clamping device and the robot. The first affected side bone pin clamping module clamps the bone pins of the anterior inferior iliac spine, and the second affected side bone pin clamping module clamps the bone pins of the anterior superior iliac spine. The affected side bone pin clamping modules are driven by a motor and wires, actively adjusting the stiffness of the bone pins by changing their clamping position and reducing their cantilever length, thus preventing uneven deformation or stress concentration of the two bone pins during surgery. The healthy side clamping module clamps the bone pins inserted into the healthy side of the pelvis. This invention offers significant advantages such as compact structure, convenient stiffness adjustment, stable clamping, and easy assembly and disassembly.

[0009] Preferably, the lifting support module includes a support platform, a fine-tuning nut, a screw, a locking nut, and a support base; the support platform is used to place the affected side support module; the fine-tuning nut is used to fine-tune the height position of the lifting support module; the screw is threadedly connected to the fine-tuning nut, the locking nut, and the support base, and the screw can flexibly extend and retract within the support base cylinder to adjust the height of the support platform; the locking nut is used to lock the screw.

[0010] Preferably, the affected side support module consists of a first affected side secondary frame, an affected side main frame, a second affected side secondary frame, and a docking assembly. The docking assembly is fixed to the robot via a threaded connection. The affected side main frame has a positioning joint for fastening to the docking assembly via a positioning step. The two sides of the affected side main frame are nested with the affected side secondary frame via matching hexagonal bolts. A rotating joint is formed between the affected side main frame and the affected side secondary frame to adapt to the needs of bone pins in different positions. The first affected side secondary frame is used to fix the bone pins of the anterior superior iliac spine of the pelvis, and the second affected side secondary frame is used to fix the bone pins of the anterior inferior iliac spine of the affected side pelvis.

[0011] Preferably, the first affected-side bone pin clamping module includes a first variable stiffness clamp, a first auxiliary rod, a first affected-side pin rod clamp, a bone pin of the anterior inferior iliac spine of the affected pelvis, a first wire module, and a first motor; the first motor drives the first wire module to drive the first variable stiffness clamp and change the position of the clamped bone pin and reduce the cantilever length of the bone pin to adjust the stiffness of the bone pin, so as to avoid uneven deformation or excessive stress concentration of the bone pin of the anterior inferior iliac spine of the affected pelvis during the reduction process; the first affected-side pin rod clamp is used to clamp the bone pin, and the first auxiliary rod is connected to the affected-side secondary frame.

[0012] Preferably, the second affected-side bone pin clamping module includes a second variable stiffness clamp, a second auxiliary rod, a second affected-side pin rod clamp, a bone pin of the anterior inferior iliac spine of the affected pelvis, a second wire module, and a second motor; the second motor drives the second wire module to drive the second variable stiffness clamp and change the position of the clamped bone pin and reduce the cantilever length of the bone pin to adjust the stiffness of the bone pin, so as to avoid uneven deformation or excessive stress concentration of the bone pin of the anterior inferior iliac spine of the affected pelvis during the reduction process; the second affected-side pin rod clamp is used to clamp the bone pin, and the second auxiliary rod is connected to the affected-side secondary frame module.

[0013] Preferably, the healthy side clamping module includes a healthy side fixation frame, three fixation frame pads, two crossbars, four needle rod connectors, and two bone needles. The healthy side fixation frame is fixed to the side of the operating table via the fixation frame pads. The healthy side fixation frame is connected and fixed to the bone needles via the two crossbars. The crossbars and bone needles are connected and fixed via the needle rod connectors. The crossbars and the bone needle connectors are adapted to different bone needle positions.

[0014] Compared with the prior art, the present invention has the following obvious and prominent substantive features and significant advantages:

[0015] 1. In the affected side bone needle clamping module of the present invention, the affected side needle rod clamp can be flexibly adjusted to adapt to bone needles in different spatial positions, and is suitable for the personalized pelvic physiological structure of different patients to achieve stable clamping;

[0016] 2. In the affected-side bone pin clamping module of the present invention, the affected-side bone pin clamp is driven by a motor and a wire. The stiffness of the bone pin is adjusted by changing the position of the clamping bone pin and reducing the cantilever length of the bone pin, thereby avoiding uneven deformation or stress concentration of the two bone pins during the operation; it has the characteristics of rapid stiffness adjustment and a large adjustment range.

[0017] 3. The clamping device of the present invention has a docking module, which facilitates the individual disinfection of the clamping device and enables rapid connection with the reset robot;

[0018] 4. The clamping device described in this invention has significant advantages in general, such as compact structure, convenient stiffness adjustment, stable clamping, and easy assembly and disassembly. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the variable stiffness clamping device of the pelvic fracture reduction robot according to a preferred embodiment of the present invention.

[0020] Figure 2 This is a schematic diagram of the lifting support module of the variable stiffness clamping device of the pelvic fracture reduction robot according to a preferred embodiment of the present invention.

[0021] Figure 3This is a schematic diagram of the affected side support module structure of the variable stiffness clamping device of the pelvic fracture reduction robot according to a preferred embodiment of the present invention.

[0022] Figure 4 This is a schematic diagram of the first affected-side bone pin clamping module of the variable stiffness clamping device of the pelvic fracture reduction robot according to a preferred embodiment of the present invention.

[0023] Figure 5 This is a schematic diagram of the second affected-side bone pin clamping module of the variable stiffness clamping device of the pelvic fracture reduction robot according to a preferred embodiment of the present invention.

[0024] Figure 6 This is a schematic diagram of the healthy side clamping module of the variable stiffness clamping device of the pelvic fracture reduction robot according to a preferred embodiment of the present invention. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and preferred embodiments. It should be understood that the following specific embodiments are only for illustrating the present invention and are not intended to limit the scope of the present invention.

[0026] Example 1:

[0027] like Figure 1 As shown, a variable stiffness clamping device for pelvic fracture reduction robot comprises a lifting support module 1, a affected side support module 2, a first affected side bone pin clamping module 3, a second affected side bone pin clamping module 4, and a healthy side clamping module 5. The lifting support module 1 is used to adjust the height of the clamping device, facilitating preoperative support and connection between the clamping device and the robot. The affected side support module 2 is used to fix two bone pins respectively and has a docking component 24 for quick connection of the clamping device to the robot. The first affected side bone pin clamping module 3 clamps the bone pin 34 of the anterior inferior iliac spine of the pelvis, and the second affected side bone pin clamping module 4 clamps the bone pin 44 of the anterior superior iliac spine of the pelvis. The affected side bone pin clamping modules are driven by a motor and wires, actively adjusting the stiffness of the bone pins by changing their clamping position and reducing the cantilever length, thus avoiding uneven deformation or stress concentration of the two bone pins during reduction. The healthy side clamping module 5 clamps the bone pin 55 inserted into the healthy side of the pelvis. The variable stiffness clamping device of the pelvic fracture reduction robot in this embodiment has significant advantages such as compact structure, convenient stiffness adjustment, stable clamping, and easy assembly and disassembly.

[0028] Example 2:

[0029] This embodiment is basically the same as Embodiment 1, with the following differences:

[0030] like Figure 2As shown, the lifting support module 1 includes a support platform 11, a fine-tuning nut 12, a screw 13, a locking nut 14, and a support base 15. The support platform 11 is used to place the affected side support module 2. The fine-tuning nut 12 is used to fine-tune the height position of the lifting support module 1. The screw 13 is threadedly connected to the fine-tuning nut 12, the locking nut 14, and the support base 15. The screw 13 can flexibly extend and retract within the cylinder of the support base 15 to adjust the height of the lifting support module 1. The locking nut 14 is used to lock the screw 13.

[0031] like Figure 3 As shown, the affected side support module consists of a first affected side secondary frame 21, an affected side main frame 22, a second affected side secondary frame 23, and a docking assembly 24. The docking assembly 24 is fixed to the robot via a threaded connection. The affected side main frame 22 has a positioning joint for fastening to the docking assembly 24 via a positioning step. The two sides of the affected side main frame 22 are nested with the affected side secondary frame via matching hexagonal bolts. A rotating joint is formed between the affected side main frame 22 and the affected side secondary frame to adapt to the needs of bone pins in different positions. The first affected side secondary frame 21 is used to fix the bone pin 44 of the anterior superior iliac spine of the pelvis, and the second affected side secondary frame 23 is used to fix the bone pin 34 of the anterior inferior iliac spine of the affected side pelvis.

[0032] like Figure 4 As shown, the first affected-side bone pin clamping module 3 includes a first variable stiffness clamp 31, a first auxiliary rod 32, a first affected-side pin rod clamp 33, a bone pin 34 of the anterior inferior iliac spine of the affected side pelvis, a first wire module 35, and a first motor 36. The first motor 36 drives the first wire module 35 to drive the first variable stiffness clamp 31, thereby changing the position of the clamped bone pin and reducing the cantilever length of the bone pin, so as to adjust the stiffness of the bone pin 34 of the anterior inferior iliac spine of the affected side pelvis and avoid deformation or excessive stress concentration of the bone pin during surgical reduction. The first affected-side pin rod clamp 33 is used to clamp the bone pin 34, and the first auxiliary rod 32 is connected to the affected-side secondary frame 22.

[0033] like Figure 5 As shown, the second affected-side bone pin clamping module 4 includes a second variable stiffness clamp 41, a second auxiliary rod 42, a second affected-side pin rod clamp 43, a bone pin 44 of the anterior inferior iliac spine of the affected side pelvis, a second wire module 45, and a second motor 46. The second motor 46 drives the second wire module 45 to drive the second variable stiffness clamp 41, thereby changing the position of the clamped bone pin and reducing the cantilever length of the bone pin, realizing the adjustment of the stiffness of the bone pin 44 of the anterior superior iliac spine of the affected side pelvis, and avoiding deformation or excessive stress concentration of the bone pin during surgical reduction. The second affected-side pin rod clamp 43 is used to clamp the bone pin 44, and the second auxiliary rod 42 is connected to the affected-side secondary frame module 22.

[0034] like Figure 6As shown, the healthy side clamping module 5 includes a healthy side fixation frame 51, three fixation frame pads 52, two crossbars 53, four needle rod connectors 54, and two bone needles 55. The healthy side fixation frame 51 is fixed to the side of the operating table through the fixation frame pads 52. The healthy side fixation frame 51 is connected and fixed to the bone needles 55 through the two crossbars 53. The crossbars 53 and the bone needles 55 are connected and fixed through the needle rod connectors 54. The crossbars 53 and the bone needle connectors 54 are adapted to different bone needle positions.

[0035] The working principle of the above embodiments of the present invention:

[0036] First, fix the healthy side clamping module in a suitable position on the operating table. Insert the bone pins into the patient's affected and healthy sides respectively. Place the affected side support module on the lifting support module and adjust its position. Then, use the bone pin clamp to fix the corresponding bone pins. Connect the affected side bone pin clamp and motor with a rope. After fixing the instruments on the affected and healthy sides, the robot can dock with the clamping instruments to complete the subsequent repositioning operation. During the operation, the rigidity of the bone pin is adjusted by driving the affected side bone pin clamp with the motor and the rope and changing the position of the clamped bone pin and reducing the cantilever length of the bone pin.

[0037] The significant advantages of the above embodiments of the present invention are as follows:

[0038] 1. In the affected side bone needle clamping module of the present invention, the affected side needle rod clamp can be flexibly adjusted to adapt to bone needles in different spatial positions, and is suitable for the personalized pelvic physiological structure of different patients to achieve stable clamping;

[0039] 2. In the affected-side bone pin clamping module of the present invention, the affected-side bone pin clamp is driven by a motor and a wire. The stiffness of the bone pin is adjusted by changing the position of the clamping bone pin and reducing the cantilever length of the bone pin, thereby avoiding uneven deformation or stress concentration of the two bone pins during the operation; it has the characteristics of rapid stiffness adjustment and a large adjustment range.

[0040] 3. The clamping device of the present invention has a docking module, which facilitates the individual disinfection of the clamping device and enables rapid connection with the reset robot;

[0041] 4. The clamping device described in this invention has significant advantages in general, such as compact structure, convenient stiffness adjustment, stable clamping, and easy assembly and disassembly.

[0042] In summary, the variable stiffness clamping device of the pelvic fracture reduction robot of the above embodiments of the present invention consists of a lifting support module, a affected side support module, a first affected side bone pin clamping module, a second affected side bone pin clamping module, and a healthy side clamping module. The lifting support module is used to adjust the height of the clamping device, facilitating preoperative support and connection between the clamping device and the robot. The affected side support module is used to fix the two bone pins respectively and has a docking component for quick connection of the clamping device to the robot. The first affected side bone pin clamping module clamps the bone pins of the anterior inferior iliac spine of the pelvis, and the second affected side bone pin clamping module clamps the bone pins of the anterior superior iliac spine of the pelvis. The affected side bone pin clamping modules are driven by a motor and wires, actively adjusting the stiffness of the bone pins by changing the clamping position and reducing the cantilever length of the bone pins, avoiding uneven deformation or stress concentration of the two bone pins during surgery. The healthy side clamping module clamps the bone pins inserted into the healthy side of the pelvis. The above embodiments of the present invention have significant advantages such as compact structure, convenient stiffness adjustment, stable clamping, and easy assembly and disassembly.

[0043] The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made according to the purpose of the invention. Any changes, modifications, substitutions, combinations or simplifications made based on the spirit and principle of the technical solution of the present invention shall be equivalent substitutions. As long as they meet the purpose of the invention and do not deviate from the technical principle and inventive concept of the present invention, they shall fall within the protection scope of the present invention.

Claims

1. A variable stiffness clamping device for a pelvic fracture reduction robot, comprising a lifting support module (1), a affected side support module (2), a first affected side bone pin clamping module (3), a second affected side bone pin clamping module (4), and a healthy side clamping module (5); characterized in that: The lifting support module (1) is used to adjust the height of the clamping instrument and to support the clamping instrument and connect it to the robot before surgery. The affected side support module (2) is used to fix two bone pins respectively, and the docking component (24) is used to quickly connect the clamping device to the robot; The first affected side bone needle clamping module (3) is used to clamp the bone needle (34) of the anterior inferior iliac spine of the affected side pelvis; The second affected-side bone needle clamping module (4) is used to clamp the bone needle (44) of the anterior superior iliac spine of the affected-side pelvis; The first affected side bone pin clamping module (3) includes a first variable stiffness clamp (31), and the second affected side bone pin clamping module (4) includes a second variable stiffness clamp (41). Both the first variable stiffness clamp (31) and the second variable stiffness clamp (41) are driven by a motor and a line. The first variable stiffness clamp (31) adjusts the stiffness of the bone pin (34) of the anterior inferior iliac spine of the affected pelvis by changing the clamping position of the bone pin (34) of the anterior inferior iliac spine of the affected pelvis and reducing the cantilever length of the bone pin (34) of the anterior inferior iliac spine of the affected pelvis, so as to avoid uneven deformation or excessive stress concentration of the bone pin (34) of the anterior inferior iliac spine of the affected pelvis during the operation. The second variable stiffness clamp (41) adjusts the stiffness of the bone pin (44) of the anterior superior iliac spine of the affected pelvis by changing the clamping position of the bone pin (44) of the anterior superior iliac spine of the affected pelvis and reducing the cantilever length of the bone pin (44) of the anterior superior iliac spine of the affected pelvis, so as to avoid uneven deformation or excessive stress concentration of the bone pin (44) of the anterior superior iliac spine of the affected pelvis during the operation. The healthy side clamping module (5) is used to clamp the bone needle (55) inserted into the healthy side pelvis.

2. The variable stiffness clamping device of the pelvic fracture reduction robot according to claim 1, characterized in that: The lifting support module (1) includes a support platform (11), a fine-tuning nut (12), a screw (13), a locking nut (14), and a support base (15); the support platform (11) is used to place the affected side support module (2); the fine-tuning nut (12) is used to fine-tune the height position of the lifting support module (1); the screw (13) is threadedly connected to the fine-tuning nut (12), the locking nut (14), and the support base (15), and the screw (13) can flexibly extend and retract within the cylinder of the support base (15) to adjust the height of the lifting support module (1); the locking nut (14) is used to lock the screw (13).

3. The variable stiffness clamping device of the pelvic fracture reduction robot according to claim 1, characterized in that: The affected side support module (2) consists of a first affected side secondary frame (21), an affected side main frame (22), a second affected side secondary frame (23), and a docking assembly (24). The docking assembly (24) is fixed to the robot by a threaded connection. The affected side main frame (22) has a positioning joint for fastening to the docking assembly (24) by a positioning step. The two sides of the affected side main frame (22) are nested with the affected side secondary frame by matching hexagonal bolts. A rotating joint is formed between the affected side main frame (22) and the affected side secondary frame, which can adapt to the needs of the bone pins (34) of the anterior inferior iliac spine or the bone pins (44) of the anterior superior iliac spine of the affected side pelvis in different positions. The first affected side secondary frame (21) is used to fix the bone pins (44) of the anterior superior iliac spine of the affected side pelvis, and the second affected side secondary frame (23) is used to fix the bone pins (34) of the anterior inferior iliac spine of the affected side pelvis.

4. The variable stiffness clamping device of the pelvic fracture reduction robot according to claim 1, characterized in that: The first affected-side bone pin clamping module (3) includes a first variable stiffness clamp (31), a first auxiliary rod (32), a first affected-side pin rod clamp (33), a bone pin (34) of the anterior inferior iliac spine of the affected side pelvis, a first wire module (35), and a first motor (36); the first motor (36) drives the first wire module (35) to drive the first variable stiffness clamp (31); the first affected-side pin rod clamp (33) is used to clamp the bone pin (34) of the anterior inferior iliac spine of the affected side pelvis, and the first auxiliary rod (32) is connected to the second affected-side secondary frame (23).

5. The variable stiffness clamping device of the pelvic fracture reduction robot according to claim 1, characterized in that: The second affected-side bone pin clamping module (4) includes a second variable stiffness clamp (41), a second auxiliary rod (42), a second affected-side pin bar clamp (43), a bone pin (44) of the anterior superior iliac spine of the affected side pelvis, a second wire module (45), and a second motor (46); the second motor (46) drives the second wire module (45) to drive the second variable stiffness clamp (41); the second affected-side pin bar clamp (43) is used to clamp the bone pin (44) of the anterior superior iliac spine of the affected side pelvis, and the second auxiliary rod (42) is connected to the first affected-side secondary frame (21).

6. The variable stiffness clamping device of the pelvic fracture reduction robot according to claim 1, characterized in that: The healthy side clamping module (5) includes a healthy side fixation frame (51), three fixation frame pads (52), two crossbars (53), four pin bar connectors (54), and two bone pins (55) of the healthy side pelvis. The healthy side fixation frame (51) is fixed to the side of the operating table through the fixation frame pads (52). The healthy side fixation frame (51) is connected and fixed to the bone pins (55) of the healthy side pelvis through the two crossbars (53). The crossbars (53) and the bone pins (55) of the healthy side pelvis are connected and fixed through the pin bar connectors (54). The crossbars (53) and the pin bone connectors (54) are adapted to different positions of the bone pins (55) of the healthy side pelvis.

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