An active stiffness-changing clamping device for pelvic fracture robot reduction

Abstract

The application belongs to the technical field of medical robots, and particularly discloses an active variable stiffness clamping device for pelvic fracture robot reduction, which comprises a matched contralateral adjustment support module and a healthy side fixing module, a pair of electric needle rod connecting piece modules connected with the contralateral adjustment support module are arranged on the contralateral adjustment support module; the healthy side fixing module comprises a healthy side bed clamp base, a healthy side support rod is arranged on the healthy side bed clamp base, a healthy side spherical hinge base is arranged on the healthy side support rod, and a pair of healthy side fixers in gap cooperation are arranged on the healthy side spherical hinge base; the clamping device is used for fixing the contralateral side and the healthy side of the pelvis, the healthy side fixing module fixes the part of the healthy side of the pelvis, the healthy side fixing module can be lifted and rotated, multi-directional adjustment and stable clamping of the damaged pelvis are realized.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of medical robots, and particularly relates to an active variable stiffness clamping device for pelvic fracture robot reduction. BACKGROUND

[0002] Pelvic fracture is one of the most challenging fractures in clinical trauma orthopedics. At present, the reduction is manually operated by a doctor, and the doctor needs to hold and maintain the reduction state during the operation. Due to the complex structure of the pelvis, the effect needs to be checked by X-ray multiple times, and the reduction accuracy depends on the clinical experience of the doctor. With the development of robot technology, robots replace traditional surgery, and have the advantages of minimally invasive, high surgical accuracy, fast postoperative recovery, low labor intensity of doctors, and less radiation of doctors and patients.

[0003] The pelvic fracture robot reduction is suitable for unstable pelvic fracture types, and is suitable for B-type or C-type fractures according to the Tile classification of fractures. The clamping device needs to be used before the operation to fix the damaged pelvis and firmly connect with the robot. (1) Because the space between the surgical robot and the patient is very small, the structure of the clamping device should be very compact. (2) Due to the pulling of the soft tissue around the pelvis, the reduction force is usually as high as 500N, and the clamping device is prone to deformation, resulting in uneven deformation and stress, which affects the reduction accuracy of the robot. (3) Because the anatomical parameters of the pelvis of different patients are different, the clamping device should be easily adjusted to meet the needs of different patients. Therefore, the clamping device not only needs to be compact in structure, meet the strength and stiffness requirements, but also needs to have active variable stiffness during the operation to meet the requirement of large reduction force. At present, there is no report on the variable stiffness clamping device for pelvic fracture robot reduction. SUMMARY

[0004] In order to solve the above technical problems, the application provides an active variable stiffness clamping device for pelvic fracture robot reduction, which can stably clamp different patients' personalized pelvis and damage type and improve the operation accuracy of pelvic fracture robot reduction.

[0005] Based on the above purpose, the application is realized by the following technical scheme:

[0006] An active variable stiffness clamping device for pelvic fracture robot reduction, comprising a matched contralateral adjustment support module and a healthy side fixing module, a pair of electric needle rod connecting piece modules connected with the contralateral adjustment support module are arranged on the contralateral adjustment support module; the healthy side fixing module comprises a healthy side bed clamp seat, a healthy side support rod is arranged on the healthy side bed clamp seat, a healthy side spherical hinge seat is arranged on the healthy side support rod, and a pair of healthy side fixers in gap cooperation are arranged on the healthy side spherical hinge seat.

[0007] Preferably, the affected side adjusting support module comprises an affected side spherical hinge base, which is provided with a docking interface, can be quickly docked with the end of the pelvic fracture robot, and is locked, and is provided with an affected side horizontal rod and an affected side spherical hinge horizontal rod in gap cooperation, the affected side horizontal rod is fixedly connected with the affected side spherical hinge base, and the affected side spherical hinge horizontal rod is connected with the affected side spherical hinge base through an affected side adjuster.

[0008] Preferably, the affected side adjuster comprises an affected side spherical hinge hole arranged on the affected side spherical hinge base, and the affected side spherical hinge hole is matched with an affected side spherical hinge head arranged at the end of the affected side spherical hinge horizontal rod; the affected side spherical hinge base is provided with an affected side spherical hinge cover plate, the affected side spherical hinge cover plate is sleeved with an affected side spherical hinge block matched with the affected side spherical hinge horizontal rod; the affected side spherical hinge base is provided with an affected side spherical hinge limiting pin, which is matched with the affected side spherical hinge head through an affected side limiting hole communicated with the affected side spherical hinge hole arranged on the affected side spherical hinge base; the affected side adjusting support module adjusts the angle of the affected side spherical hinge horizontal rod and the affected side spherical hinge base, and the flexibility of the clamping instrument is improved.

[0009] Preferably, the electric needle rod connecting piece module comprises a horizontal rod clamping assembly connected with the affected side horizontal rod and the affected side spherical hinge horizontal rod respectively, the horizontal rod clamping assembly is connected with a bone needle clamping assembly through a gasket stud, the gasket stud is sleeved in the horizontal rod clamping assembly and is rotationally connected with the horizontal rod clamping assembly, the bone needle clamping assembly comprises a primary cylinder connected with the gasket stud, the primary cylinder is provided with an elastic chuck at the top end, and the elastic chuck is provided with a nut threadedly connected with the elastic chuck; the elastic chuck comprises a chuck sleeve arranged at the top end of the primary cylinder, the top end of the chuck sleeve is uniformly provided with gap-matched chuck elastic sheets, one end of the chuck elastic sheet is connected with the chuck sleeve, and the other end is inclined to the central axis of the chuck sleeve; the horizontal rod clamping assembly can be rotationally adjusted around the gasket stud axis and is fixedly connected with the affected side horizontal rod or the affected side spherical hinge horizontal rod by screwing the nut.

[0010] Preferably, the primary cylinder is sleeved with a secondary cylinder in gap cooperation with the primary cylinder, the secondary cylinder is sleeved with an inner cylinder holder, and the inner cylinder holder is matched with a straight groove arranged in the primary cylinder; the secondary cylinder is sleeved with a tertiary cylinder in gap cooperation with the primary cylinder.

[0011] Preferably, the secondary cylinder is provided with a secondary adjusting convex column matched with a primary screw hole arranged on the primary cylinder; the primary cylinder is provided with a speed reducer motor, the movable end of the speed reducer motor is provided with a gear, the gear is engaged with an adjusting gear tooth arranged on the secondary cylinder, and the adjusting gear tooth is in gap cooperation with the inner surface of the primary cylinder; the electric needle rod connecting piece module is driven by the speed reducer motor, the secondary cylinder and the tertiary cylinder are synchronously extended and retracted, and the rigidity of the clamping instrument can be actively controlled during the operation.

[0012] Preferably, the secondary screw hole is arranged on the secondary cylinder body, and the secondary screw hole is matched with the tertiary adjusting convex column arranged on the tertiary cylinder body; the affected side bone needle is sleeved in the primary cylinder body and is matched with the gap between the secondary cylinder body and the tertiary cylinder body, the affected side bone needle is rolling matched with the ball bushing sleeved in the tertiary cylinder body, the top end of the affected side bone needle is matched with the elastic chuck; the inner cylinder holder is arranged with the inner cylinder straight slot matched with the tertiary adjusting convex column; the primary cylinder body is arranged with the gear box matched with the gear; the spiral directions of the primary screw hole and the secondary screw hole are opposite; the bone needle clamping assembly is driven by the gear rotating of the speed reducer motor, and drives the secondary sleeve and the tertiary sleeve to move along the axial direction of the affected side bone needle, the secondary sleeve and the tertiary sleeve are used to improve the rigidity of the affected side bone needle when being extended, and the rigidity of the clamping instrument under the action of the large reduction force in the operation is actively controlled.

[0013] Preferably, the healthy side ball hinge seat is arranged with the healthy side ball hinge cross rod hinged with the healthy side ball hinge seat, the healthy side ball hinge cross rod is arranged with the needle rod connecting piece adjustably connected with the healthy side ball hinge cross rod, and the needle rod connecting piece is arranged with the healthy side bone needle adjustably connected with the needle rod connecting piece.

[0014] Preferably, the healthy side bed clamp seat is arranged with the healthy side support rod knob matched with the healthy side support rod, and the healthy side bed clamp knob is matched with the healthy side bed clamp groove arranged on the healthy side bed clamp seat through the healthy side bed clamp gasket.

[0015] Preferably, the healthy side ball hinge seat is arranged with the healthy side ball hinge seat fixing knob matched with the healthy side support rod on the side away from the healthy side ball hinge cross rod, and the healthy side ball hinge cover plate matched with the healthy side ball hinge cross rod on the side close to the healthy side ball hinge cross rod; the healthy side ball hinge limit pin is arranged on the healthy side ball hinge seat and matched with the healthy side ball hinge head arranged at the end of the healthy side ball hinge cross rod, the healthy side ball hinge head is matched with the healthy side ball hinge hole arranged on the healthy side ball hinge seat, and the healthy side ball hinge hole is matched with the healthy side ball hinge cover plate; the healthy side support rod is connected with the healthy side bed clamp seat and is pressed and fixed through the healthy side support rod knob; the healthy side ball hinge seat is fixed on the healthy side support rod after being adjusted in tightness and looseness through the two healthy side ball hinge fixing knobs, and the healthy side ball hinge limit pin is similar to the affected side ball hinge limit pin in structure and function and adjusts the inner stopper of the healthy side ball hinge seat.

[0016] Compared with the prior art, the beneficial effects of the present application are as follows:

[0017] The clamping instrument can adapt to the different space positions of the bone needle in the pelvis according to the size of the pelvis and the type of fracture of different patients, and can actively control the rigidity of the clamping instrument under the action of a large reduction force in the operation.

[0018] The clamping device of the application is used for fixing the affected side and the healthy side of the pelvis, the healthy side fixing module fixes the part of the healthy side of the pelvis, the healthy side fixing module can be lifted and rotated to realize multi-directional adjustment, so that the healthy side bone needle in different spatial positions of the pelvis can be adapted according to the individualized pelvis structure of the patient, the type of pelvis fracture, and the stable clamping of the damaged pelvis is realized. The motor needle rod connecting piece module is driven by a reduction motor to drive the secondary cylinder and the tertiary cylinder to move along the axis of the affected side bone needle, so as to realize the active regulation of the rigidity of the clamping device under the action of a large reduction force in the operation, reduce the uneven deformation of the clamping device in the operation, improve the stress and strain distribution state under the action of a large reduction force in the operation, and is beneficial to improve the accuracy of the pelvis fracture robot reduction operation. The affected side ball hinge seat of the affected side adjusting support is provided with a mechanical interface, so as to facilitate the quick docking of the clamping device of the application and the end of the pelvis fracture robot. The clamping device of the application has the advantages of compact structure, flexible adjustment, active rigidity regulation, stable clamping, easy assembly and disassembly, etc. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is the structure schematic diagram of the initial state of the application in example 1;

[0020] Figure 2 is the structure schematic diagram of the elongated state of the application in example 1;

[0021] Figure 3 is the structure schematic diagram of the affected side adjusting support module in example 1;

[0022] Figure 4 is the structure schematic diagram of the motor needle rod connecting piece in example 1;

[0023] Figure 5 is the structure schematic diagram of the motor needle rod connecting piece in example 1;

[0024] Figure 6 is the structure schematic diagram of the healthy side fixing module in example 1.

[0025] In the figure, the affected side adjusting support module 1, the electric needle rod connecting piece module 2, the healthy side fixing module 3; the affected side cross bar 11, the affected side spherical hinge base 12, the affected side spherical hinge limiting pin 13, the affected side spherical hinge stopper 14, the affected side spherical hinge head 15, the affected side spherical hinge cover plate 16, the affected side spherical hinge cross bar 17, the bone needle clamping assembly 21, the gasket stud 22, the cross bar clamping assembly 23, the nut 211, the elastic chuck 212, the speed reducer motor 213, the first-stage cylinder 214, the gear 215, the inner cylinder holder 216, the second-stage cylinder 217, the ball bushing 218, the third-stage cylinder 219, the gear box 2110, the first-stage helical hole 2111, the inner cylinder protruding column 2112, the inner cylinder straight groove 2113, the second-stage adjusting protruding column 2114, the second-stage helical hole 2115, the adjusting gear tooth 2116, the third-stage adjusting protruding column 2117, the healthy side bed clamp knob 31, the healthy side bed clamp gasket 32, the healthy side bed clamp base 33, the healthy side support rod knob 34, the healthy side support rod 35, the healthy side spherical hinge base 36, the healthy side spherical hinge base fixing knob 37, the healthy side spherical hinge limiting pin 38, the healthy side spherical hinge cover plate 39, the healthy side spherical hinge cross bar 310, the needle rod connecting piece 311, the healthy side bone needle 312. DETAILED DESCRIPTION

[0026] The application will be further described in detail through specific examples, but the scope of the application is not limited.

[0027] Example 1

[0028] A bone fracture robot reduction active variable stiffness clamping device, as shown in the structure Figures 1-6 The device comprises an affected side adjusting support module 1 and a healthy side fixing module 3 which are matched, the affected side adjusting support module 1 is provided with a pair of electric needle rod connecting piece modules 2 connected with the affected side adjusting support module 1; the healthy side fixing module 3 comprises a healthy side bed clamp base 33, the healthy side bed clamp base 33 is provided with a healthy side support rod 35, the healthy side support rod 35 is provided with a healthy side spherical hinge base 36, and the healthy side spherical hinge base 36 is provided with a pair of healthy side fixers in gap cooperation.

[0029] The affected side adjusting support module 1 comprises an affected side spherical hinge base 12, the affected side spherical hinge base 12 is provided with an affected side cross bar 11 and an affected side spherical hinge cross bar 17 in gap cooperation, the affected side cross bar 11 is fixedly connected with the affected side spherical hinge base 12, and the affected side spherical hinge cross bar 17 is connected with the affected side spherical hinge base 12 through an affected side adjuster.

[0030] The affected side adjuster comprises an affected side ball hinge hole arranged on the affected side ball hinge base 12 and matched with an affected side ball hinge head 15 arranged at the end of the affected side ball hinge crossbar 17; the affected side ball hinge base 12 is provided with an affected side ball hinge cover plate 16, and the affected side ball hinge cover plate 16 is sleeved with an affected side ball hinge stopper 14 matched with the affected side ball hinge crossbar 17; the affected side ball hinge base 12 is provided with an affected side ball hinge limiting pin 13 matched with the affected side ball hinge head 15 through an affected side limiting hole communicated with the affected side ball hinge hole arranged on the affected side ball hinge base 12.

[0031] The electric needle rod connecting piece module 2 comprises a crossbar clamping assembly 23 connected with the affected side crossbar 11 and the affected side ball hinge crossbar 17 respectively, and the crossbar clamping assembly 23 is connected with a bone needle clamping assembly 21 through a gasket stud 22; the bone needle clamping assembly 21 comprises a primary cylinder 214 connected with the gasket stud 22, and the primary cylinder 214 is provided at the top end with an elastic chuck 212, and the elastic chuck 212 is provided with a nut 211 threadedly connected with the elastic chuck 212.

[0032] The primary cylinder 214 is sleeved with a secondary cylinder 217 matched with the primary cylinder 214 in a clearance fit, and the secondary cylinder 217 is provided at the top end with an inner cylinder retaining frame 216 matched with a straight groove arranged in the primary cylinder 214; the secondary cylinder 217 is sleeved with a tertiary cylinder 219 matched with the primary cylinder 214 in a clearance fit.

[0033] The secondary cylinder 217 is provided with a secondary adjusting convex column 2114 matched with a primary screw hole 2111 arranged on the primary cylinder 214; the primary cylinder 214 is provided with a speed reducer motor 213, and the movable end of the speed reducer motor 213 is provided with a gear 215 engaged with an adjusting gear tooth 2116 arranged on the secondary cylinder 217, and the adjusting gear tooth 2116 is matched with the inner surface of the primary cylinder 214 in a clearance fit.

[0034] The secondary cylinder 217 is provided with a secondary screw hole 2115 matched with a tertiary adjusting convex column 2117 arranged on the tertiary cylinder 219; the primary cylinder 214 is sleeved with an affected side bone needle matched with the secondary cylinder 217 and the tertiary cylinder 219 in a clearance fit, and the affected side bone needle is rolling matched with a ball bushing 218 sleeved in the tertiary cylinder 219, and the top end of the affected side bone needle is matched with the elastic chuck 212; the inner cylinder retaining frame 216 is provided with an inner cylinder straight groove 2113 matched with the tertiary adjusting convex column 2117; the primary cylinder 214 is provided with a gear box 2110 matched with the gear 215.

[0035] The healthy side fixator comprises a healthy side spherical hinge horizontal rod 310 hingedly connected with the healthy side spherical hinge base 36, and the healthy side spherical hinge horizontal rod 310 is provided with a needle rod connecting piece 311 adjustably connected with the healthy side spherical hinge horizontal rod 310, and the needle rod connecting piece 311 is provided with a healthy side bone needle 312 adjustably connected with the needle rod connecting piece 311. The healthy side bed clamp base 33 is provided with a healthy side support rod knob 34 matched with the healthy side support rod 35, and the healthy side bed clamp base 33 is provided with a healthy side bed clamp knob 31, and the healthy side bed clamp knob 31 is matched with a healthy side bed clamp groove arranged on the healthy side bed clamp base 33 through a healthy side bed clamp gasket 32. The healthy side spherical hinge base 36 is provided with a healthy side spherical hinge base fixing knob 37 matched with the healthy side support rod 35 on the side away from the healthy side spherical hinge horizontal rod 310, and is provided with a healthy side spherical hinge cover plate 39 matched with the healthy side spherical hinge horizontal rod 310 on the side close to the healthy side spherical hinge horizontal rod 310; and the healthy side spherical hinge base 36 is provided with a healthy side spherical hinge limiting pin 38 matched with the healthy side spherical hinge horizontal rod 310.

[0036] The working principle of the application is as follows:

[0037] ①, respectively place a bone needle and a healthy side bone needle 312 into the injured pelvic side iliac wing and the healthy side iliac wing.

[0038] ②, connect the healthy side bed clamp base 33 with the healthy side support rod 35, rotate the healthy side bed clamp knob 31, the healthy side bed clamp knob 31 drives the healthy side bed clamp gasket 32 to fix the healthy side bed clamp base 33, so that the healthy side bed clamp base 33 is fixed on one side of the operating bed, rotate the healthy side support rod 35 to an appropriate angle, twist the healthy side support rod knob 34 to fix the position of the healthy side support rod 35, adjust the healthy side spherical hinge base 36 to an appropriate height, fix the healthy side spherical hinge base 36 with the healthy side spherical hinge base fixing knob 37, connect the healthy side bone needle 312 with the healthy side spherical hinge horizontal rod 310 with the needle rod connecting piece 311, adjust the healthy side spherical hinge limiting pin 38 to lock the healthy side spherical hinge horizontal rod 310, the healthy side spherical hinge cover plate 39 protects the healthy side spherical hinge horizontal rod 310, and tighten and check the fastness of each connection of the healthy side fixing module 3.

[0039] ③、Adjust the angle of the sick side ball hinge crossbar 17 and the sick side ball hinge seat 12 in the sick side adjusting support module 1, the sick side ball hinge head 15 rotates in the sick side ball hinge hole, the sick side ball hinge cover plate 16 cooperates with the sick side ball hinge block 14 to protect the sick side ball hinge crossbar 17, after the angle adjustment of the sick side ball hinge crossbar 17 is completed, the sick side ball hinge limit pin 13 is fixed and limited through the sick side limiting hole to the sick side ball hinge head 15; The electric needle rod connecting piece module 2 connects the sick side bone needle placed in the sick side iliac wing with the sick side adjusting support module 1, the specific steps are as follows: the bone needle clamping assembly 21 fixes the sick side bone needle, the sick side bone needle enters the elastic clamp head 212 in turn through the three-stage cylinder 219, the ball bushing 218, the two-stage cylinder 217, the one-stage cylinder 214, rotates the nut 211 to clamp the elastic clamp head 212, and fixes and clamps the sick side bone needle, the one-stage cylinder 214 is connected with the crossbar clamping assembly 23 through the gasket stud 22, the crossbar clamping assembly 23 rotates around the gasket stud 22 axis, after adjustment, the crossbar clamping assembly 23 is respectively clamped to the sick side crossbar 11 and the sick side ball hinge crossbar 17, and then the nut is used to fix the crossbar clamping assembly 23, and finally the fastening degree of each connection of the sick side adjusting support module 1 and the electric needle rod connecting piece module 2 is checked.

[0040] When the stiffness of the sick side bone needle is actively regulated through the electric needle rod connecting piece module 2, the reduction motor 213 is engaged with the adjusting gear teeth 2116 through the gear 215, so as to drive the two-stage cylinder 217 to rotate with the gear 215, the inner cylinder retaining frame 216 in the two-stage cylinder 217 is provided with an inner cylinder protruding column 2112, the inner cylinder protruding column 2112 moves linearly along the straight groove in the one-stage cylinder 214, when the two-stage adjusting protruding column 2114 moves along the one-stage spiral hole 2111, the two-stage spiral hole 2115 rotates with the two-stage cylinder 217, at this time, the inner cylinder retaining frame 216 moves linearly with the two-stage cylinder 217, the inner cylinder straight groove 2113 moves with the inner cylinder retaining frame 216, the three-stage adjusting protruding column 2117 cooperates with the two-stage spiral hole 2115 and the inner cylinder straight groove 2113, and the two-stage cylinder 217 spirally extends and retracts, so that the reduction motor 213 drives the two-stage cylinder 217 and the three-stage cylinder 219 to extend and retract, thereby actively regulating the stiffness of the sick side bone needle.

[0041] ④, After the pelvis is fixed firmly, the mechanical interface of the pelvis fracture robot and the sick side ball hinge seat 12 in the sick side adjusting support module 1 is quickly connected, and the connection between the clamping device and the pelvis fracture robot is completed.

[0042] Example 2

[0043] A kind of active variable stiffness clamping instrument of pelvic fracture robot reduction, different from the embodiment 1, the difference is that: the affected side adjusting support module 1 includes the affected side spherical hinge base 12, a pair of angle matching affected side spherical hinge cross bar 17 is equipped on the affected side spherical hinge base 12, the affected side spherical hinge cross bar 17 is connected with the affected side spherical hinge base 12 by the affected side adjuster, and the affected side spherical hinge cross bar 17 is replaced with the affected side cross bar 11.

[0044] Embodiment 3

[0045] A kind of active variable stiffness clamping instrument of pelvic fracture robot reduction, different from the embodiment 1, the difference is that: the affected side adjusting support module 1 includes the affected side spherical hinge base 12, a pair of angle matching affected side cross bar 11 is equipped on the affected side spherical hinge base 12, the affected side cross bar 11 is fixedly connected with the affected side spherical hinge base 12, and the affected side cross bar 11 is replaced with the affected side spherical hinge cross bar 17.

[0046] Embodiment 4

[0047] A kind of active variable stiffness clamping instrument of pelvic fracture robot reduction, different from the embodiment 1, the difference is that: the angle between the affected side cross bar and the affected side spherical hinge cross bar is α, 0°≤ α ≤ 135°, α It can be one of 0°, 15°, 30°, 45°, 60°, 75°, 90°, 105°, 120°, 135°.

[0048] The above only describes the preferred embodiment of the present application, but not limited to the above examples, any modification, equivalent replacement and improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. An active variable stiffness clamping device for robotic reduction of pelvic fractures, characterized in that, It includes a matching affected-side adjustment bracket module and a healthy-side fixation module. The affected-side adjustment bracket module is provided with a pair of electric needle bar connector modules that are connected to the affected-side adjustment bracket module. The healthy-side fixation module includes a healthy-side bed clamp, a healthy-side support rod on the healthy-side bed clamp, a healthy-side ball joint seat on the healthy-side support rod, and a pair of clearance-fitted healthy-side fixators on the healthy-side ball joint seat. The affected side adjustment bracket module includes an affected side ball joint seat, an affected side crossbar and a affected side ball joint crossbar with clearance fit on the affected side ball joint seat, the affected side crossbar is fixedly connected to the affected side ball joint seat, and the affected side ball joint crossbar is connected to the affected side ball joint seat through an affected side adjuster. The affected side adjuster includes an affected side ball joint hole disposed on the affected side ball joint seat, which mates with an affected side ball joint head disposed at the end of the affected side ball joint crossbar; the affected side ball joint seat is provided with an affected side ball joint cover plate, and an affected side ball joint stop block that mates with the affected side ball joint crossbar is sleeved inside the affected side ball joint cover plate; the affected side ball joint seat is provided with an affected side ball joint limiting pin, which mates with the affected side ball joint head through an affected side limiting hole disposed on the affected side ball joint seat that communicates with the affected side ball joint hole; The electric needle bar connector module includes a crossbar clamping assembly that is connected to the affected side crossbar and the affected side ball joint crossbar respectively. The crossbar clamping assembly is connected to a bone needle clamping assembly through a washer stud. The bone needle clamping assembly includes a primary cylinder connected to the washer stud. The top of the primary cylinder is provided with an elastic chuck, and the elastic chuck is provided with a nut that is threadedly connected to the elastic chuck. The gasket stud is sleeved inside the crossbar clamping assembly and is rotatably connected to the crossbar clamping assembly. The crossbar clamping assembly can be rotated and adjusted around the axis of the gasket stud for fixed connection with the crossbar on the affected side or the ball joint crossbar on the affected side. The elastic chuck includes a chuck sleeve disposed at the top of the primary cylinder. The top of the chuck sleeve is evenly distributed with clearance-fitted chuck springs. One end of each chuck spring is connected to the chuck sleeve, and the other end is inclined toward the central axis of the chuck sleeve.

2. The active variable stiffness clamping device for robotic reduction of pelvic fractures according to claim 1, characterized in that, The first-stage cylinder is fitted with a second-stage cylinder that is clearance-fitted with the first-stage cylinder. The second-stage cylinder is fitted with an inner cylinder retainer that mates with a straight groove located inside the first-stage cylinder. The second-stage cylinder is fitted with a third-stage cylinder that is clearance-fitted with the first-stage cylinder.

3. The active variable stiffness clamping device for robotic reduction of pelvic fractures according to claim 2, characterized in that, The secondary cylinder is provided with a secondary adjusting protrusion, which cooperates with a primary spiral hole provided on the primary cylinder; the primary cylinder is provided with a reduction motor, and the movable end of the reduction motor is provided with a gear, which meshes with the adjusting gear teeth provided on the secondary cylinder, and the adjusting gear teeth are in clearance fit with the inner surface of the primary cylinder.

4. The active variable stiffness clamping device for robotic reduction of pelvic fractures according to claim 3, characterized in that, The secondary cylinder is provided with a secondary spiral hole, which cooperates with the tertiary adjusting protrusion on the tertiary cylinder; the primary cylinder is fitted with a bone pin on the affected side that is in clearance fit with the secondary and tertiary cylinders, and the bone pin on the affected side is in rolling fit with a ball bushing fitted in the tertiary cylinder, with the top of the bone pin cooperating with an elastic clamp; the inner cylinder retainer is provided with an inner cylinder straight groove that cooperates with the tertiary adjusting protrusion; the primary cylinder is provided with a gearbox that cooperates with a gear.

5. The active variable stiffness clamping device for robotic reduction of pelvic fractures according to claim 1 or 4, characterized in that, Each of the healthy side fixation devices includes a healthy side ball joint crossbar that is hinged to the healthy side ball joint seat. The healthy side ball joint crossbar is provided with a needle bar connector that is adjustablely connected to the healthy side ball joint crossbar. The needle bar connector is provided with a healthy side bone needle that is adjustablely connected to the needle bar connector.

6. The active variable stiffness clamping device for robotic reduction of pelvic fractures according to claim 5, characterized in that, The healthy side bed clamp seat is equipped with a healthy side support rod knob that cooperates with the healthy side support rod, and the healthy side bed clamp seat is equipped with a healthy side bed clamp knob. The healthy side bed clamp knob cooperates with the healthy side bed clamp groove provided on the healthy side bed clamp seat through the healthy side bed clamp gasket.

7. The active variable stiffness clamping device for robotic reduction of pelvic fractures according to claim 6, characterized in that, The healthy side ball joint seat has a healthy side ball joint seat fixing knob that cooperates with the healthy side support rod on the side away from the healthy side ball joint crossbar, and a healthy side ball joint cover plate that cooperates with the healthy side ball joint crossbar on the side closer to the healthy side ball joint crossbar; the healthy side ball joint seat has a healthy side ball joint limiting pin that cooperates with the healthy side ball joint crossbar.

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