A pelvic clamping device using pneumatic variable stiffness bone needles

Abstract

The present invention relates to a pelvic clamping device using pneumatic variable-stiffness bone needles. The device comprises a pneumatic variable-stiffness module, an affected-side ball-hinged support module, and a healthy-side clamping module. The pneumatic variable-stiffness module is driven by pneumatic artificial muscles that are staggered horizontally and vertically. The stiffness of the bone needles is actively regulated by controlling the air pressure of the pneumatic artificial muscles, thereby achieving stable clamping of the bone needles, improving intraoperative stress distribution, and avoiding uneven deformation or stress concentration between the two bone needles during surgery. The affected-side ball-hinged support module adopts a ball-hinged structure for connection to the pneumatic variable-stiffness clamping module. The healthy-side clamping module is used to clamp the bone needles inserted into the healthy-side pelvis. The present invention has significant advantages such as a compact structure, convenient stiffness adjustment, stable clamping, and easy assembly and disassembly.

Description

Technical Field

[0001] The present invention relates to the technical field of medical robots, and in particular to a pelvic clamping device using a pneumatic variable-rigidity bone needle. Background Art

[0002] Robotic pelvic fracture reduction surgery requires a reduction force of at least 500N. This force is transmitted to the affected side of the pelvis via a clamping device fixed to the end of the robot and a bone pin inserted into the pelvis. During the reduction process, uneven deformation of the pelvic bone and muscle tissue can occur, leading to unstable clamping or pin dislodgement. Therefore, a stable clamping of the pelvis is essential.

[0003] Existing clamping devices for robot-assisted pelvic reduction are mostly rigid structures, forming a rigid contact with the pelvic fracture tissue they clamp. This makes it difficult for them to adapt to the dynamically changing reduction force during the reduction process, which can lead to poor deformation coordination between the rigid-flexible coupling system of the clamping device and the bone and muscle tissue. If the clamping mechanism uses a flexible structure, the clamping force is insufficient and cannot firmly grasp thin bone pins.

[0004] For robotic-assisted pelvic fracture reduction surgery, the space between the robot and the damaged pelvic bone and muscle tissue is very narrow, so the clamping device must be compact and able to autonomously adjust its stiffness based on the dynamic changes in the reduction force during surgery to avoid uneven deformation of the bone needles or stress concentration, thereby achieving stable clamping of the pelvis. There are no reports on variable-stiffness clamping devices for robotic pelvic fracture reduction. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention relates to a pelvic clamping instrument using pneumatic variable stiffness bone needles, which is composed of a pneumatic variable stiffness module, an affected-side ball hinge bracket module, and a healthy-side clamping module. The present invention relates to a flexible pneumatic variable stiffness device based on the principle of bionic winding, which is composed of pneumatic artificial muscles staggered horizontally and vertically, and has stable clamping and variable stiffness characteristics. Among them, the transverse pneumatic artificial muscle is spirally wound on the flexible retaining frame, and the bone needle is clamped or loosened by adjusting the inflation pressure of the transverse pneumatic artificial muscle; three pneumatic artificial muscles are installed upright, and the stiffness of the bone needle is actively adjusted by controlling the air pressure changes of the three longitudinal pneumatic artificial muscles, thereby improving the stress distribution during surgery and avoiding uneven deformation or stress concentration of the two bone needles during surgery. The present invention has the significant advantages of compact structure, convenient stiffness adjustment, stable clamping, and easy assembly and disassembly.

[0006] In order to achieve the above object, the specific technical solutions of the present invention are as follows:

[0007] A pelvic clamping device using pneumatic variable-stiffness bone needles consists of a pneumatic variable-stiffness module, an affected-side ball-hinged support module, and a healthy-side clamping module; the pneumatic variable-stiffness module is formed by pneumatic artificial muscles that are staggered horizontally and vertically, and actively regulates the stiffness of the bone needles by controlling the air pressure of the pneumatic artificial muscles, thereby achieving stable clamping of the bone needles, improving stress distribution during surgery, and avoiding uneven deformation or stress concentration of the two bone needles during surgery; the affected-side ball-hinged support module adopts a ball-hinged structure and is connected to the pneumatic variable-stiffness module; the healthy-side clamping module is used to clamp the healthy-side bone needles inserted into the healthy-side pelvis.

[0008] The pneumatic variable stiffness module consists of an affected-side needle rod connector, a pneumatic variable stiffness clamp, and a bone needle; the affected-side needle rod connector consists of two opposing needle rod clamping assemblies to form two bone needle mounting holes and a threaded hole. The affected-side needle rod connector is installed on the crossbar of the affected-side ball hinge bracket module using bolts and nuts. The bone needle is clamped by tightening the nut. Before tightening, it can be rotated to adapt to different bone needle postures. The pneumatic variable stiffness clamp is installed on the bone needle.

[0009] The pneumatic variable stiffness clamp consists of a winding transverse pneumatic artificial muscle, a longitudinal pneumatic artificial muscle, a flexible holder, an upper disc, a lower disc, a protective cover, a pneumatic joint, a pneumatic plug, and an trachea; the flexible holder is a variable diameter structure, installed between the upper disc and the lower disc, and is used to shrink inward; the transverse pneumatic artificial muscle passes through all the holes on the flexible holder in turn, one end of which is sleeved on the pneumatic joint, and the other end is sleeved on the pneumatic plug, and is locked by a locking ring, and the bone needle is clamped or loosened by adjusting the air pressure of the transverse pneumatic artificial muscle; the upper disc and the lower disc are both flange structures, which are used to be fixedly connected to the pneumatic joint and the pneumatic plug; an axial through hole is provided in the center of the pneumatic joint, which is used to for inflation; the pneumatic plug serves as a seal; the pneumatic variable stiffness clamp has a total of three longitudinal pneumatic artificial muscles; the three longitudinal pneumatic artificial muscles are installed upright and in parallel, and the flexible part is formed by an elastic rubber tube covered with a layer of woven mesh, and the two ends of the flexible part are respectively connected to the pneumatic connector and the pneumatic plug, and locked with a locking ring. By controlling the changes in the internal pressure of the three longitudinal pneumatic artificial muscles, the stiffness of the bone needle is actively regulated, the stress distribution during the operation is improved, and uneven deformation or stress concentration of the two bone needles during the operation is avoided; the protective cover is a flexible bellows structure on both sides, which is installed on the outside of the transverse pneumatic artificial muscles and the longitudinal pneumatic artificial muscles to prevent the bone needles and the pneumatic artificial muscles from being damaged.

[0010] The affected-side ball joint bracket module consists of a ball joint seat, a ball joint limit pin, a ball joint stopper, a ball joint cover plate, and a ball joint cross bar; one end of the ball joint cross bar is a ball joint for posture adjustment, and the cross bar part is used to fix the needle rod connector on the affected side; the grooved side of the ball joint stopper is tightly attached to the ball joint side of the ball joint cross bar, and the straight side is placed in the ball joint seat; the ball joint cover plate is fixedly connected to the ball joint seat; the structures on both sides of the affected-side ball joint bracket module are the same, and the adjustment flexibility of the clamping instrument is improved by adjusting the angle between the ball joint cross bar and the ball joint seat.

[0011] The healthy side clamping module includes a healthy side fixing frame, a fixing frame gasket, a cross bar, a healthy side needle rod connecting piece, and a healthy side bone needle. The healthy side fixing frame is fixed to the side of the operating table through the fixing frame gasket, the healthy side fixing frame is connected to the cross bar through the healthy side needle rod connecting piece, and the cross bar and the healthy side bone needle are connected and fixed through the healthy side needle rod connecting piece; the cross bar and the healthy side needle rod connecting piece can adapt to different bone needle postures.

[0012] Compared with the prior art, the present invention has the following obvious predictive substantive features and significant advantages:

[0013] 1. The pneumatic variable stiffness module of the present invention combines a rigid structure with a flexible structure, actively adjusts the stiffness of the bone needle during surgery, and achieves stable clamping of the bone needle.

[0014] 2. The pneumatic variable-stiffness clamp of the present invention is based on the bionic winding principle. A transverse pneumatic artificial muscle is spirally wound on a flexible retaining frame. The bone needle is clamped or loosened by adjusting the air pressure of the transverse pneumatic artificial muscle, and has the characteristic of stable clamping.

[0015] 3. The pneumatic variable stiffness clamp of the present invention uses three pneumatic artificial muscles installed vertically in parallel in the longitudinal variable stiffness module. By controlling the air pressure changes of the three longitudinal pneumatic artificial muscles, the stiffness of the bone needle is actively regulated, the stress distribution during the operation is improved, and uneven deformation or stress concentration of the two bone needles during the reduction process is avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is an overall schematic diagram of a pelvic clamping device using a pneumatic variable-rigidity bone needle according to the present invention.

[0017] Figure 2 The figure is a schematic structural diagram of a pneumatic variable stiffness module of a pelvic clamping device using a pneumatic variable stiffness bone needle according to the present invention.

[0018] Figure 3 The present invention is a schematic structural diagram of the needle-rod connecting piece on the affected side of a pelvic clamping device using a pneumatic variable-rigidity bone needle.

[0019] Figure 4The figure is a schematic diagram of the appearance of a pneumatic variable stiffness clamp of a pelvic clamping device using a pneumatic variable stiffness bone needle according to the present invention.

[0020] Figure 5 The figure is a schematic diagram of the internal structure of a pneumatic variable stiffness clamp of a pelvic clamping device using a pneumatic variable stiffness bone needle according to the present invention.

[0021] Figure 6 This is a schematic structural diagram of the affected-side ball-joint bracket module of a pelvic clamping device using a pneumatic variable-rigidity bone needle according to the present invention.

[0022] Figure 7 The figure is a structural schematic diagram of the healthy side clamping module of a pelvic clamping device using a pneumatic variable stiffness bone needle according to the present invention. DETAILED DESCRIPTION

[0023] The present invention will be further described below in conjunction with the accompanying drawings and preferred embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0024] like Figure 1 As shown, a pelvic clamping device using pneumatic variable-stiffness bone needles consists of a pneumatic variable-stiffness module 1, an ipsilateral ball-jointed support module 2, and a contralateral clamping module 3. The pneumatic variable-stiffness module 1 is formed by pneumatic artificial muscles staggered horizontally and vertically. By controlling the air pressure of the pneumatic artificial muscles, the stiffness of the bone needles 6 is actively regulated, and stable clamping of the bone needles 6 is achieved, improving stress distribution during surgery and avoiding uneven deformation or stress concentration between the two bone needles 6 during surgery. The ipsilateral ball-jointed support module 2 adopts a ball-jointed structure and is connected to the pneumatic variable-stiffness module 1. The contralateral clamping module 3 is used to clamp the contralateral bone needles 35 inserted into the contralateral pelvis. The present invention has significant advantages such as compact structure, convenient stiffness adjustment, stable clamping, and easy assembly and disassembly.

[0025] like Figure 2 and Figure 3 As shown, the pneumatic variable stiffness module 1 is composed of an ipsilateral needle rod connector 4, a pneumatic variable stiffness clamp 5, and a bone needle 6; the ipsilateral needle rod connector 4 is composed of two parallel needle rod clamping assemblies 42 to form two bone needle mounting holes and a threaded hole, and the ipsilateral needle rod connector 4 is installed on the cross bar of the ipsilateral ball joint bracket module 2 using a bolt 41 and a nut 43. The bone needle 6 is clamped by tightening the nut 43. Before tightening, the bone needle 6 is adapted to different postures of the bone needle 6 by rotating it. The pneumatic variable stiffness clamp 5 is installed on the bone needle 6.

[0026] like Figure 4 and Figure 5As shown, the pneumatic variable stiffness clamp 5 is composed of a winding transverse pneumatic artificial muscle 56, a longitudinal pneumatic artificial muscle 57, a flexible holder 55, an upper disc 54, a lower disc 58, a protective cover 53, a pneumatic connector 52, a pneumatic plug 59, and an trachea 51; the flexible holder 55 is a variable diameter structure, installed between the upper disc 54 and the lower disc 58, and is used for inward contraction; the transverse pneumatic artificial muscle 56 is sequentially inserted through all the holes on the flexible holder 55, one end of which is sleeved on the pneumatic connector 52, and the other end is sleeved on the pneumatic plug 59, and is locked by a locking ring, and the bone needle 6 is clamped or released by adjusting the air pressure of the transverse pneumatic artificial muscle 56; the upper disc 54 and the lower disc 58 are both flange structures, which are used to be fixedly connected to the pneumatic connector 52 and the pneumatic plug 59; the pneumatic connector An axial through hole is provided in the center of the head 52 for inflation; the pneumatic plug 59 serves as a seal; the pneumatic variable stiffness clamp 5 has a total of three longitudinal pneumatic artificial muscles 57; the three longitudinal pneumatic artificial muscles 57 are installed upright and in parallel, and their flexible parts are formed by an elastic rubber tube covered with a layer of woven mesh, and the two ends of the flexible part are respectively connected to the pneumatic connector 52 and the pneumatic plug 59, and locked with a locking ring. By controlling the changes in the internal pressure of the three longitudinal pneumatic artificial muscles 57, the stiffness of the bone needle 6 is actively regulated, the stress distribution during the operation is improved, and uneven deformation or stress concentration of the two bone needles 6 during the operation is avoided; the protective cover 53 is a flexible bellows structure on both sides, which is installed on the outside of the transverse pneumatic artificial muscle 56 and the longitudinal pneumatic artificial muscle 57 to prevent the bone needle 6 and the pneumatic artificial muscle from being damaged.

[0027] like Figure 6 As shown, the affected-side ball-joint bracket module 2 consists of a ball-joint seat 21, a ball-joint limit pin 22, a ball-joint stopper 23, a ball-joint cover plate 24, and a ball-joint cross bar 25; one end of the ball-joint cross bar 25 is a ball joint for posture adjustment, and the cross bar part is used to fix the affected-side needle rod connector 4; the grooved side of the ball-joint stopper 23 is tightly attached to the ball-joint side of the ball-joint cross bar 25, and the straight side is placed in the ball-joint seat 21; the ball-joint cover plate 24 is fixedly connected to the ball-joint seat 21; the structures on both sides of the affected-side ball-joint bracket module 2 are the same, and the adjustment flexibility of the clamping instrument is improved by adjusting the angle between the ball-joint cross bar 25 and the ball-joint seat 21.

[0028] like Figure 7 As shown, the healthy side clamping module 3 includes a healthy side fixing frame 31, a fixing frame gasket 32, a cross bar 33, a healthy side needle rod connector 34, and a healthy side bone needle 35. The healthy side fixing frame 31 is fixed to the side of the operating table through the fixing frame gasket 32, the healthy side fixing frame 31 is connected to the cross bar 33 through the healthy side needle rod connector 34, and the cross bar 33 and the healthy side bone needle 35 are connected and fixed through the healthy side needle rod connector 34; the cross bar 33 and the healthy side needle rod connector 34 can adapt to different bone needle postures.

[0029] The working principle of the above embodiment of the present invention is as follows:

[0030] Before the operation, the healthy side clamping module 3 is first fixed to a reasonable position on the operating table, and the bone needles are placed on the patient's affected and healthy sides respectively. After adjusting the posture, the pneumatic variable stiffness clamp 5 is inserted, and the affected side needle rod connector 4 is used to fasten it to the affected side ball hinge bracket module 2. During the grasping process, the wound transverse pneumatic artificial muscle 56 is inflated to stably clamp the bone needle 6 with a large clamping force; the longitudinal pneumatic artificial muscle 57 is inflated to actively regulate the stiffness of the bone needle 6, so as to achieve stable clamping of the bone needle 6, improve the stress distribution during the operation, and avoid uneven deformation or stress concentration of the two bone needles 6 during the operation. The present invention adopts transverse and longitudinal pneumatic artificial muscles to cooperate with each other, and has the characteristics of stable clamping and variable stiffness.

[0031] The above embodiment of the present invention adopts a pelvic clamping device with pneumatic variable stiffness bone needles, which is composed of a pneumatic variable stiffness module, an affected-side ball-hinged support module, and a healthy-side clamping module; the pneumatic variable stiffness module is driven by a pneumatic artificial muscle that is staggered horizontally and vertically, and actively regulates the stiffness of the bone needle by controlling the air pressure of the pneumatic artificial muscle, thereby achieving stable clamping of the bone needle, improving stress distribution during surgery, and avoiding uneven deformation or stress concentration of the two bone needles during surgery; the affected-side ball-hinged support module adopts a ball-hinged structure for connection with the pneumatic variable stiffness clamping module; the healthy-side clamping module is used to clamp the bone needle inserted into the healthy-side pelvis. The above embodiment of the present invention adopts a pelvic clamping device with pneumatic variable stiffness bone needles, which has significant advantages such as compact structure, convenient stiffness adjustment, stable clamping, and easy assembly and disassembly.

[0032] The above describes the embodiments of the present invention in conjunction with the accompanying drawings, but 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 according to the spirit and principles of the technical solution of the present invention should be equivalent replacement methods. As long as they comply with the purpose of the invention and do not deviate from the technical principles and inventive concepts of the present invention, they belong to the scope of protection of the present invention.

Claims

1. A pelvic clamping device using a pneumatic variable stiffness bone needle, comprising a pneumatic variable stiffness module (1), an affected-side ball hinge support module (2), and a healthy-side clamping module (3); the pneumatic variable stiffness modules (1) are two and have identical structures, each connected to the affected-side pelvic tissue and the affected-side ball hinge support module (2); the healthy-side clamping module (3) is connected to the healthy-side pelvis; The pneumatic variable stiffness module (1) comprises an affected-side needle-rod connector (4), a pneumatic variable stiffness clamp (5), and a bone needle (6); the affected-side needle-rod connector (4) is mounted on the crossbar of the affected-side ball-joint bracket module (2) via a bolt (41) and a nut (43), and the bone needle (6) is clamped via the nut (43); The pneumatic variable stiffness clamp (5) comprises a transversely wound pneumatic artificial muscle (56), a longitudinally wound pneumatic artificial muscle (57), a flexible holder (55), an upper disc (54), a lower disc (58), a protective cover (53), a pneumatic joint (52), a pneumatic plug (59), and a trachea (51); the flexible holder (55) is a variable diameter structure for inward contraction; the transversely wound pneumatic artificial muscle (56) sequentially passes through all the holes on the flexible holder (55), one end of which is sleeved on the pneumatic joint (52), and the other end is sleeved on the pneumatic plug (59), and is locked by a locking ring, and the bone needle (6) is clamped or released by adjusting the air pressure of the transversely wound pneumatic artificial muscle (56); the upper disc (54) and the lower disc (58) are connected to each other. The discs (58) are all flange-type structures, which are used to be fixedly connected to the pneumatic joint (52) and the pneumatic plug (59); the center of the pneumatic joint (52) is provided with an axial through hole for inflation; the pneumatic plug (59) serves as a seal; the longitudinal pneumatic artificial muscles (57) are three and are installed vertically and in parallel, and the two ends of the flexible part formed by the elastic rubber tube covered with a layer of woven mesh are respectively connected to the pneumatic joint (52) and the pneumatic plug (59), and are locked with a locking ring. By controlling the change of the internal pressure of the three longitudinal pneumatic artificial muscles (57), the stiffness of the bone needle (6) is actively regulated to avoid uneven deformation of the two bone needles during the operation; the protective cover (53) is a flexible bellows structure on both sides, which is used to prevent the bone needle and the pneumatic artificial muscle from being damaged; The affected-side ball-joint support module (2) is composed of a ball-joint seat (21), a ball-joint stopper (22), a ball-joint stopper (23), a ball-joint cover plate (24), and a ball-joint crossbar (25); one end of the ball-joint crossbar (25) is a ball-joint for posture adjustment, and the crossbar is used to fix the affected-side needle-rod connector (4); the grooved side of the ball-joint stopper (23) is in close contact with the ball-joint crossbar (25), and the straight side is placed in the ball-joint seat (21); the ball-joint cover plate (24) is fixedly connected to the ball-joint seat (21); the structures of both sides of the affected-side ball-joint support module (2) are the same, and the adjustment flexibility of the clamping device is improved by adjusting the angle between the ball-joint crossbar (25) and the ball-joint seat (21); The healthy side clamping module (3) comprises a healthy side fixing frame (31), a fixing frame gasket (32), a cross bar (33), a healthy side needle rod connector (34), and a healthy side bone needle (35). The healthy side fixing frame (31) is fixed to the side of the operating table via the fixing frame gasket (32), the healthy side fixing frame (31) is connected to the cross bar (33) via the healthy side needle rod connector (34), and the cross bar (33) and the healthy side bone needle (35) are connected and fixed via the healthy side needle rod connector (34); the cross bar (33) and the healthy side needle rod connector (34) can adapt to different bone needle positions.

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