A three-degree-of-freedom closed fracture reduction clamping and nailing device

Abstract

The application discloses a three-degree-of-freedom closed fracture reduction clamping and nail placing device, and relates to the technical field of medical apparatuses.The device comprises a nail placing module, a first clamping device, a second clamping device and two six-degree-of-freedom passive arms.The nail placing module is used for placing a plurality of Kirschner wires at the proximal end and the distal end of a human fracture;the proximal end refers to the end of a human fracture bone close to the heart;the distal end refers to the end of a human fracture bone far from the heart;the first clamping device is used for clamping all the Kirschner wires at the proximal end;the second clamping device is used for clamping all the Kirschner wires at the distal end;one end of the six-degree-of-freedom passive arm is fixedly connected with an operating bed;the other end of the six-degree-of-freedom passive arm is fixedly connected with the two ends of the first clamping device;the second clamping device is connected with the clamping end of a reduction robot through a linkage locking mechanism;and the second clamping device can rotate relative to the reduction robot when the linkage mechanism is unlocked.The device has high stability and high precision in nail placing.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a three-degree-of-freedom closed fracture reduction clamping and nail placement device. BACKGROUND

[0002] Due to the rapid development of China's industry, transportation industry and construction industry, the number of patients with high-energy injury fractures caused by accidents is increasing. According to the latest research published in the recent issue of The Lancet Healthy Longevity, there were about 455 million cases of fractures worldwide in 2019, an increase of 70.1% compared with 1990; about 178 million new cases of fractures, an increase of 33.4% compared with 1990, which not only affects the health status and quality of life of patients, but also brings heavy burden to families and even society. Among so many cases of fractures, 79.35% of them need surgical treatment.

[0003] Traditional fracture reduction has two types: open reduction and closed reduction. Open reduction causes damage to blood supply and soft tissue, infection at the incision, nonunion at the fracture site, and complications such as osteomyelitis. In closed reduction, the doctor cannot directly touch and visually inspect the fracture end, which makes it difficult to achieve reasonable reduction effect, or even unable to complete the reduction. Robots can provide greater reduction operating force, effectively reducing the work intensity of doctors, without considering the radiation, infection and other problems that doctors may be exposed to in traditional surgery, achieving minimally invasive surgery, improving postoperative healing effect and reducing patient pain.

[0004] In the operation of closed fracture reduction of long bone, the reduction resistance generated by muscles and ligaments and other tissues can reach about 400N, so in the operation of robot-assisted closed fracture reduction, it is crucial to stabilize and clamp the fractured bone at the injury site by clamping instruments. Since there are various types of long bone fractures and pelvic fractures, the clamping end should adapt to different types of fractures, and the nail placement method should also be more accurate and simple.

[0005] In robot-assisted closed reduction operation of fracture, a reduction robot needs to be fixed with a long bone. Common long bone fixation methods include muscle gripping fixation, direct long bone gripping fixation and Kirschner wire fixation. Since muscle is a flexible tissue, the muscle gripping fixation method is difficult to firmly connect the robot with the long bone. The direct long bone gripping fixation method solves the problem of firmness, but the surgical instrument needs to invade the human body when gripping the long bone, which can cause certain harm to the human body, violating the principle of minimally invasive. Therefore, the Kirschner wire fixation method is the most suitable for fixing the long bone in closed fracture reduction. However, due to the weak rigidity of the Kirschner wire, the long bone often cannot be reduced according to the expected route planned by the robot, and the bending of the Kirschner wire can cause loss of reduction accuracy. At present, there is a universal adjusting pelvic clamping instrument for pelvic fracture reduction robots, but this clamping instrument is only suitable for pelvic fractures and cannot be used for clamping long bone fractures. At the same time, the insertion of the fracture clamping Kirschner wire is mostly operated by the doctor manually, which has two problems: first, the insertion of the Kirschner wire under the C-arm causes greater radiation to the doctor and the patient, and second, the doctor's manual operation has a failure rate. SUMMARY

[0006] The purpose of the present application is to provide a three-degree-of-freedom closed fracture reduction clamping and pinning device to solve the problems existing in the prior art and improve the stability of clamping and the accuracy of pinning.

[0007] To achieve the above purpose, the present application provides the following solutions:

[0008] The present application provides a three-degree-of-freedom closed fracture reduction clamping and pinning device, comprising:

[0009] A pinning module is used to insert a plurality of Kirschner wires at the proximal end and the distal end of the human fracture; the proximal end refers to the end of the human fracture bone close to the heart, and the distal end refers to the end of the human fracture bone away from the heart;

[0010] A first clamping device is used to clamp all the Kirschner wires located at the proximal end;

[0011] A second clamping device is used to clamp all the Kirschner wires located at the distal end;

[0012] Two six-degree-of-freedom passive arms are fixed to the operating bed at one end, and the other ends of the six-degree-of-freedom passive arms are fixed to the two ends of the first clamping device;

[0013] The linkage locking mechanism comprises a connecting block, a rotating shaft, a locking box, a locking shaft and a shaft support frame, one end of the connecting block is fixedly connected with the second holder, the other end of the connecting block is fixedly connected with the rotating shaft, the rotating shaft is rotationally connected with the locking box and extends into the locking box, a first bevel gear is arranged on the end of the rotating shaft extending into the locking box, the locking shaft penetrates through the shaft support frame and the locking box, a knob is arranged on one end of the locking shaft, the other end of the locking shaft is threadedly connected with a locking nut, the locking shaft is perpendicular to the rotating shaft, a second bevel gear capable of meshing with the first bevel gear is arranged on the locking shaft, a stop ring is further arranged on the locking shaft and a spring is sleeved on the locking shaft, one end of the spring is abutted against the inner wall of the locking box and the other end of the spring is abutted against the stop ring, and the shaft support frame is fixedly connected with the clamping end of the reset robot.

[0014] Preferably, the nail placing module comprises a first connecting seat, a first linear slide rail, a first motor, a first lead screw, a first sliding table, a second connecting seat, a second motor, a second linear slide rail, a second motor, a second lead screw, a second sliding table, a third connecting seat and a third motor; the first linear slide rail and the first motor are fixedly arranged on the first connecting seat, the first motor is used for driving the first lead screw to rotate, the first lead screw is threadedly connected with the first sliding table, the first sliding table is slidingly matched with the first linear slide rail, and the second connecting seat is fixedly connected with the first sliding table; the second linear slide rail and the second motor are fixedly arranged on the second connecting seat, the second motor is used for driving the second lead screw to rotate, the second lead screw is threadedly connected with the second sliding table, the second sliding table is slidingly matched with the second linear slide rail, the third connecting seat is fixedly connected with the second sliding table, the third motor is fixedly arranged on the third connecting seat, an elastic chuck for clamping the Kirschner wire is arranged on the output end of the third motor, and the third motor is used for driving the Kirschner wire to rotate; the length direction of the first linear slide rail is perpendicular to the length direction of the second linear slide rail.

[0015] Preferably, a sliding block is arranged on the first connecting seat, and a slide rail corresponding to the sliding block is arranged on each of the first holder and the second holder; the sliding block is slidingly matched with the slide rail.

[0016] Preferably, the first holder and the second holder are both multi-plane holders, the multi-plane holder comprises a circular arc type clamp, an L type clamp, a straight plate clamp and a semi-circular arc type clamp, the L type clamp comprises a circular arc segment and a straight plate segment, one end of the circular arc segment is fixedly connected with one end of the straight plate segment, the other end of the circular arc segment is hingedly connected with one end of the circular arc type clamp, one end of the straight plate clamp is hingedly connected with the other end of the straight plate segment, and one end of the semi-circular arc type clamp is hingedly connected with the other end of the circular arc type clamp; the circular arc segment and the semi-circular arc type clamp are matched to clamp the Kirschner wire, and the straight plate segment and the straight plate clamp are matched to clamp the Kirschner wire; the circular arc type clamp, the L type clamp, the straight plate clamp and the semi-circular arc type clamp are respectively provided with through holes for mounting screws.

[0017] Preferably, the circular arc type clamp, the L type clamp, the straight plate clamp and the semi-circular arc type clamp are all uniformly distributed with fixed teeth on the clamping surface, and the fixed teeth are in the form of sharp teeth.

[0018] Preferably, the first holder and the second holder are both made of medical grade nylon material.

[0019] Preferably, the six-degree-of-freedom passive arm is provided with a connecting shaft at one end connected with the first holder, a limiting block is fixedly arranged on the connecting shaft, the semi-circular arc type clamp and the circular arc type clamp are rotationally connected with the same connecting shaft, the circular arc segment and the circular arc type clamp are rotationally connected with the same connecting shaft, and a nut is threadedly connected on the connecting shaft, and the first holder is located between the limiting block and the nut on the same connecting shaft.

[0020] The present application has the following technical effects compared with the prior art:

[0021] The three-degree-of-freedom closed fracture reduction clamping and nail placing device has high stability of clamping and high precision of nail placing. The three-degree-of-freedom closed fracture reduction clamping and nail placing device can firmly clamp multiple Kirschner wires through the multi-plane holder, and the fixed teeth of the nylon material on the clamping surface of the multi-plane holder can be deformed after being pressed, so as to firmly clamp the Kirschner wire and improve the stability of clamping.

[0022] Further, the three-degree-of-freedom closed fracture reduction clamping and nail placing device can realize multi-pose connection of the second holder and the Kirschner wire through the linkage locking mechanism, and the linkage locking mechanism can be in a locked state or an unlocked state, so as to conveniently adjust the pose of the second holder.

[0023] Furthermore, the screw placement module of this invention has three degrees of freedom. During surgery, the surgeon can accurately insert Kirschner wires using the screw placement module by combining the X-ray images of the fracture site taken by the C-arm. In addition, the screw placement module of this invention can slide on the slide rails of the first and second clamps, ensuring the stability of the screw placement module's sliding, thereby improving the accuracy of screw placement and avoiding the potential for low accuracy that may exist when the surgeon manually inserts the screws using a screw placement device. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the structure of the three-degree-of-freedom closed fracture reduction clamping and nail placement device of the present invention;

[0026] Figure 2 This is a schematic diagram of the linkage locking mechanism in the three-degree-of-freedom closed fracture reduction clamping and pin placement device of the present invention;

[0027] Figure 3 This is a schematic diagram of the multi-plane clamp in the open state of the three-degree-of-freedom closed fracture reduction clamping and nailing device of the present invention;

[0028] Figure 4 This is a schematic diagram of the multi-plane clamp in the closed state of the three-degree-of-freedom closed fracture reduction clamping and nailing device of the present invention;

[0029] Figure 5 This is a partial structural schematic diagram of the three-degree-of-freedom closed fracture reduction clamping and nail placement device of the present invention;

[0030] Figure 6 This is a schematic diagram of the structure of a straight bar clamp;

[0031] Figure 7 This is a schematic diagram of the right-angled clamp.

[0032] Figure 8 This is a schematic diagram of the arc-shaped clamp.

[0033] Figure 9 This is a schematic diagram of the screw placement module in the three-degree-of-freedom closed fracture reduction clamping and screw placement device of the present invention;

[0034] Wherein, 1, linkage locking mechanism; 101, rotating shaft support frame; 102, locking box; 103, locking rotating shaft; 104, second shaft seat; 105, second bevel gear; 106, first bevel gear; 107, first shaft seat; 108, connecting block; 109, rotating rotating shaft; 110, spring; 111, check ring; 112, knob; 2, first holder; 201, arc type clamp; 202, first hinged shaft; 203, L type clamp; 204, second hinged shaft; 205, straight plate clamp; 206, semicircular arc type clamp; 207, third hinged shaft; 3, Kirschner wire; 4, six degrees of freedom passive arm; 5, second holder; 6, locking device; 7, operating bed; 8, nail placement module; 501, nut; 502, limiting block; 503, screw nut; 801, sliding rail; 802, sliding block; 803, first motor; 804, first linear slide; 805, first sliding table; 806, second connecting seat; 807, elastic chuck; 808, first connecting seat; 809, second motor; 810, second linear slide; 811, second sliding table; 812, third motor. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0036] The purpose of the present application is to provide a three-degree-of-freedom closed fracture reduction clamping and nail placement device to solve the problems existing in the prior art and improve the stability of clamping and the accuracy of nail placement.

[0037] In order to make the above-mentioned purposes, features and advantages of the present application more apparent and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0038] As shown in the drawings, Figures 1-9 The present embodiment provides a three-degree-of-freedom closed fracture reduction clamping and nail placement device, which comprises a nail placement module 8, a first holder 2, a second holder 5, a linkage locking mechanism 1 and two six-degree-of-freedom passive arms 4.

[0039] The first holder 2 is used to clamp all Kirschner wires 3 located at the proximal end, and the second holder 5 is used to clamp all Kirschner wires 3 located at the distal end. The proximal end refers to the end of the fractured bone of the human body close to the heart, and the distal end refers to the end of the fractured bone of the human body away from the heart.

[0040] In the embodiment, the first holder 2 and the second holder 5 are both multi-plane holders, which include a circular-arc holder 201, an L-shaped holder 203, a straight-plate holder 205 and a semi-circular-arc holder 206. The L-shaped holder 203 includes a circular-arc segment and a straight-plate segment, the circular-arc segment is fixedly connected with one end of the straight-plate segment, the other end of the circular-arc segment is hingedly connected with one end of the circular-arc holder 201 through a first hinge shaft 202, one end of the straight-plate holder 205 is hingedly connected with the other end of the straight-plate segment through a second hinge shaft 204, and one end of the semi-circular-arc holder 206 is hingedly connected with the other end of the circular-arc holder 201 through a third hinge shaft 207. The circular-arc segment and the semi-circular-arc holder 206 are used to hold the Kirschner wire 3 in cooperation with the circular-arc holder 201, and the straight-plate segment is used to hold the Kirschner wire 3 in cooperation with the straight-plate holder 205. The circular-arc holder 201, the L-shaped holder 203, the straight-plate holder 205 and the semi-circular-arc holder 206 are respectively provided with through holes for mounting screw nuts 503, and the holders are applied with holding force by screwing the screw nuts 503. It should be noted that the circular-arc holder 201 is provided with through holes which are in one-to-one correspondence with the through holes on the circular-arc segment and the semi-circular-arc holder 206, and the through holes on the straight-plate segment are in one-to-one correspondence with the through holes on the straight-plate holder 205.

[0041] The circular-arc holder 201, the L-shaped holder 203, the straight-plate holder 205 and the semi-circular-arc holder 206 are all provided with fixed teeth on the holding surfaces, and the fixed teeth are in the form of sharp teeth. The first holder 2 and the second holder 5 are both made of medical-grade nylon material. The nylon material can be elastically deformed under pressure, and the elastic deformation of the fixed teeth can increase the holding force of the Kirschner wire 3, thereby improving the stability of the holding. The multi-plane holder in the embodiment can hold multiple Kirschner wires 3 at the same time, and is convenient to use.

[0042] It should be noted that, in actual application, the first holder 2 and the second holder 5 are not limited to the multi-plane holder in the embodiment, and can also be selected according to actual needs, such as a straight-bar holder, a right-angle holder or a circular-arc holder. The straight-bar holder is a holder formed by hingely connecting two straight plates, the right-angle holder is a holder formed by hingely connecting two L-shaped plates, and the circular-arc holder is a holder formed by hingely connecting two circular-arc plates. However, no matter what shape of holder is used, the medical-grade nylon material should be used first, and the fixed teeth in the embodiment should be provided on the holding surface first, so as to improve the stability of the holding.

[0043] The linkage locking mechanism 1 comprises a connecting block 108, a rotating shaft 109, a locking box 102, a locking shaft 103 and a shaft support frame 101. One end of the connecting block 108 is fixedly connected with the second gripper 5, and the other end is fixedly connected with the rotating shaft 109. The rotating shaft 109 is rotatably connected with the locking box 102 through bearings in the first shaft seat 107 and extends into the locking box 102. A first bevel gear 106 is fixedly arranged on the end of the rotating shaft 109 extending into the locking box 102. The locking shaft 103 penetrates the shaft support frame and the locking box 102. One end of the locking shaft 103 is fixedly arranged with a knob 112, and the other end is threadedly connected with a locking nut. The locking nut is not shown in the figure, but it is threadedly connected with the part of the locking shaft 103 extending out of the shaft support frame 101. The locking shaft 103 is perpendicular to the rotating shaft 109. A second bevel gear 105 is fixedly arranged on the locking shaft 103 and can mesh with the first bevel gear 106. A retaining ring 111 is also fixedly arranged on the locking shaft 103 and is sleeved with a spring 110. One end of the spring 110 abuts against the inner wall of the locking box 102, and the other end abuts against the retaining ring 111. The shaft support frame 101 is fixedly connected with the gripping end of the reset robot.

[0044] The retaining ring 111 is an open retaining ring 111. The spring 110, the retaining ring 111, the first bevel gear 106 and the second bevel gear 105 are all located in the locking box 102. When the locking nut is loosened, the locking shaft 103 can move axially. At this time, the elastic force of the spring 110 can make the locking shaft 103 move axially through the retaining ring 111, so that the second bevel gear 105 moves away from the first bevel gear 106, and the second bevel gear 105 no longer meshes with the first bevel gear 106. At this time, not only can the locking box 102 rotate around the locking shaft 103, but also the rotating shaft 109 can rotate around itself, so that the connecting block 108 and the second gripper 5 can rotate in two directions. When the locking nut is tightened through the knob 112, the second bevel gear 105 meshes with the first bevel gear 106. At this time, the shaft support frame 101 clamps the locking box 102 under the pressure of the locking nut, so the locking box 102 cannot rotate. Since the first bevel gear 106 meshes with the second bevel gear 105, the rotating shaft 109 cannot rotate, so the locking between the second gripper 5 and the reset robot is achieved.

[0045] Two six-degree-of-freedom passive arms 4 are arranged on both sides of the operating bed 7. Each six-degree-of-freedom passive arm 4 is fixedly connected with the track on the side of the operating bed 7 through a locking device 6. The locking device 6 adopts the locking bolt principle and is a very mature prior art, which will not be described in detail in this embodiment.

[0046] The two ends of the first gripper 2 are respectively fixedly connected with the other ends of the six-degree-of-freedom passive arms 4; specifically, each six-degree-of-freedom passive arm 4 is provided with a connecting shaft at the end connected with the first gripper 2, a limiting block 502 is fixedly arranged on each connecting shaft, the semicircular-arc-shaped clamps 206 and the circular-arc-shaped clamps are rotatably arranged on the connecting shaft of one six-degree-of-freedom passive arm 4, and the circular-arc segments and the circular-arc-shaped clamps are rotatably arranged on the connecting shaft of the other six-degree-of-freedom passive arm 4, that is, the two connecting shafts are used as the first hinge shaft 202 and the third hinge shaft 207 in the first gripper 2; a nut 501 is threadedly connected on each connecting shaft, the first gripper 2 is located between the limiting block 502 and the nut 501 on the same connecting shaft, and the first gripper 2 can be stably clamped between the two nuts 501 and the two limiting blocks 502 by tightening the nuts 501 on the two connecting shafts, so that the stable connection between the first gripper 2 and the two six-degree-of-freedom passive arms 4 is realized.

[0047] The pin placement module 8 is used for placing a plurality of Kirschner wires 3 at the proximal end and the distal end of the human body fracture.

[0048] In the embodiment, the pin placement module 8 includes a first connecting seat 808, a first linear slide rail 804, a first motor 803, a first lead screw, a first sliding table 805, a second connecting seat 806, a second motor 809, a second linear slide rail 810, a second motor 809, a second lead screw, a second sliding table 811, a third connecting seat and a third motor 812; the first linear slide rail 804 and the first motor 803 are fixedly arranged on the first connecting seat 808, the first motor 803 is used for driving the first lead screw to rotate, the first lead screw is threadedly connected with the first sliding table 805, the first sliding table 805 is in sliding fit with the first linear slide rail 804, and the first sliding table 805 slides along the first linear slide rail 804 when the first motor 803 drives the first lead screw to rotate; the second connecting seat 806 is fixedly connected with the first sliding table 805; the second linear slide rail 810 and the second motor 809 are fixedly arranged on the second connecting seat 806, the second motor 809 is used for driving the second lead screw to rotate, the second lead screw is threadedly connected with the second sliding table 811, the second sliding table 811 is in sliding fit with the second linear slide rail 810, and the second sliding table 811 slides along the second linear slide rail 810 when the second motor 809 drives the second lead screw to rotate; the third connecting seat is fixedly connected with the second sliding table 811, the third motor 812 is fixedly arranged on the third connecting seat, an elastic chuck 807 for clamping the Kirschner wire 3 is arranged at the output end of the third motor 812, and the third motor 812 is used for driving the Kirschner wire 3 to rotate; the length direction of the first linear slide rail 804 is perpendicular to the length direction of the second linear slide rail 810.

[0049] In operation, the third motor 812 drives the Kirschner wire 3 to rotate, and the first motor 803 drives the Kirschner wire 3 held by the elastic chuck 807 of the third motor 812 to move up and down, so as to drive the Kirschner wire 3 into the designated position of the human body; and the second motor 809 is used to adjust the front and back positions of the third motor 812 and the Kirschner wire 3, so as to facilitate the alignment of the position where the Kirschner wire 3 is needed to be driven into.

[0050] In addition, the first connecting seat 808 is provided with a sliding block 802, and the first holder 2 and the second holder 5 are both provided with a sliding rail 801 corresponding to the sliding block 802, and the sliding block 802 can be slidably matched with the sliding rail 801. It should be noted that, since the first holder 2 and the second holder 5 of the embodiment are multi-plane holders, and the sliding rail 801 on the multi-plane holder is arranged on the circular-arc type clamp 201, the sliding rail 801 on the first holder 2 and the second holder 5 is circular-arc type, so as to adapt to the need that the Kirschner wire 3 needs to be driven into the position by the needling module 8 along the circumferential direction in the embodiment, and in actual application, the shape of the sliding rail 801 can be adaptively adjusted according to the shape of the holder according to actual needs.

[0051] The principles and implementation manners of the present application are described by using specific examples in the present application, and the above embodiment is only used to help understand the method of the present application and its core idea; meanwhile, for the general skilled in the art, the specific implementation manners and application ranges will be changed according to the idea of the present application. In conclusion, the content of the present application should not be understood as the limitation of the present application.

Claims

1. A three degree of freedom closed fracture reduction clamping and nailing device, characterized in that, The application relates to a bone fracture fixation device. The device comprises: a pin setting module for setting a plurality of Kirschner wires at the proximal end and the distal end of a human bone fracture; the proximal end refers to the end of the human bone fracture close to the heart, and the distal end refers to the end of the human bone fracture far from the heart; a first holder for holding all the Kirschner wires at the proximal end; a second holder for holding all the Kirschner wires at the distal end; two six-degree-of-freedom passive arms, one end of each of the six-degree-of-freedom passive arms being fixedly connected to a surgical bed, and the other end of each of the six-degree-of-freedom passive arms being fixedly connected to the first holder; 2. The three degree of freedom closed fracture reduction clamping and nailing device of claim 1, wherein: a linkage locking mechanism, the linkage locking mechanism comprising a connecting block, a rotating shaft, a locking box, a locking shaft and a shaft support frame, one end of the connecting block being fixedly connected to the second holder, the other end of the connecting block being fixedly connected to the rotating shaft, the rotating shaft being rotationally connected to the locking box and extending into the locking box at one end, a first bevel gear being fixedly arranged at the end of the rotating shaft extending into the locking box, the locking shaft penetrating through the shaft support frame and the locking box, a knob being fixedly arranged at one end of the locking shaft, the other end of the locking shaft being threadedly connected to a locking nut, the locking shaft being perpendicular to the rotating shaft, a second bevel gear being fixedly arranged on the locking shaft and capable of meshing with the first bevel gear, a stop washer being further fixedly arranged on the locking shaft and being sleeved with a spring, one end of the spring being abutted against the inner wall of the locking box, the other end of the spring being abutted against the stop washer, and the shaft support frame being fixedly connected to the clamping end of a reset robot.

3. The three degree of freedom closed fracture reduction clamping and nailing device of claim 2, wherein: The pin setting module comprises a first connecting seat, a first linear slide rail, a first motor, a first screw rod, a first sliding table, a second connecting seat, a second motor, a second linear slide rail, a second screw rod, a second sliding table, a third connecting seat and a third motor; the first linear slide rail and the first motor are fixedly arranged on the first connecting seat respectively, the first motor is used for driving the first screw rod to rotate, the first screw rod is threadedly connected to the first sliding table, the first sliding table is slidably matched with the first linear slide rail, and the second connecting seat is fixedly connected to the first sliding table; the second linear slide rail and the second motor are fixedly arranged on the second connecting seat respectively, the second motor is used for driving the second screw rod to rotate, the second screw rod is threadedly connected to the second sliding table, the second sliding table is slidably matched with the second linear slide rail, the third connecting seat is fixedly connected to the second sliding table, the third motor is fixedly arranged on the third connecting seat, an elastic chuck for clamping the Kirschner wire is arranged on the output end of the third motor, and the third motor is used for driving the Kirschner wire to rotate; the length direction of the first linear slide rail is perpendicular to the length direction of the second linear slide rail. A sliding block is arranged on the first connecting seat, a slide rail corresponding to the sliding block is arranged on each of the first holder and the second holder, and the sliding block is slidably matched with the slide rail.

4. The three degree of freedom closed fracture reduction clamping and nailing device of claim 1 wherein: The first holder and the second holder are both multi-plane holders, which include a circular-arc holder, an L-shaped holder, a straight-plate holder and a semi-circular-arc holder, the L-shaped holder includes a circular-arc segment and a straight-plate segment, one end of the circular-arc segment is fixedly connected with one end of the straight-plate segment, the other end of the circular-arc segment is hingedly connected with one end of the circular-arc holder, one end of the straight-plate holder is hingedly connected with the other end of the straight-plate segment, and one end of the semi-circular-arc holder is hingedly connected with the other end of the circular-arc holder; the circular-arc segment and the semi-circular-arc holder are used for clamping the Kirschner wire in cooperation with the circular-arc holder, and the straight-plate segment is used for clamping the Kirschner wire in cooperation with the straight-plate holder; the circular-arc holder, the L-shaped holder, the straight-plate holder and the semi-circular-arc holder are respectively provided with through holes for mounting screws.

5. The three degree of freedom closed fracture reduction clamping and nailing device of claim 4, wherein: The circular-arc holder, the L-shaped holder, the straight-plate holder and the semi-circular-arc holder are all provided with fixed teeth on clamping surfaces, and the fixed teeth are in the form of tines.

6. The three degree of freedom closed fracture reduction clamping and nailing device of claim 4, wherein: The first holder and the second holder are both made of medical-grade nylon material.

7. The three degree of freedom closed fracture reduction clamping and nailing device of claim 4, wherein: One end of the six-degree-of-freedom passive arm connected with the first holder is provided with a connecting shaft, a limiting block is fixedly arranged on the connecting shaft, the semi-circular-arc holder and the circular-arc holder are rotationally connected with the same connecting shaft, the circular-arc segment and the circular-arc holder are rotationally connected with the same connecting shaft, and a nut is threadedly connected with the connecting shaft, and the first holder is located between the limiting block and the nut on the same connecting shaft.

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