A long bone fracture reduction robot

Abstract

The present invention discloses a long bone fracture reduction surgical robot, comprising a robot carrier body, a lifting push rod integrated inside the robot carrier body; a ball screw slide connected to the robot carrier body via the lifting push rod, the lifting push rod drives the ball screw slide to move along the Z direction; and a centering connection mechanism connected to the ball screw slide via a telescopic rod structure, the centering connection mechanism being away from an end electric cylinder mechanism at one end of the telescopic rod structure, the end electric cylinder mechanism driving the Kirschner wire holding ring to move via two electric cylinders; the Kirschner wire holding ring clamps the Kirschner wire and drives the Kirschner wire to move. The robot of the present invention adopts a hybrid structure to perform linear motion through mechanisms such as push rods, ball screw linear modules and cylinders to complete the six-degree-of-freedom reduction and transformation operation. The overall structure of the present invention is simple and lightweight, and is convenient to fold and move, effectively reducing the doctor's physical exertion and radiation damage, and can be adapted to different occasions to improve the accuracy of reduction surgery.

Description

Technical Field

[0001] The present invention relates to the technical field of medical robots, and in particular to a long bone fracture reduction surgical robot suitable for fracture reduction. Background Art

[0002] Robotic technology has been gradually designed, researched and developed in the field of fracture reduction surgery. Currently, serial and parallel reduction surgical robots are the main types. Traditional fracture reduction schemes require doctors to fix equipment manually, which is very traumatic. Medical staff will be exposed to radiation environment for a long time, causing irreversible damage to the body. Manual assistance requires a lot of physical strength, the reduction process is not stable enough, and the operation is cumbersome and time-consuming. Serial and parallel reduction surgical robots have problems such as narrow range of activities and poor environmental adaptability. There is insufficient experience in actual human surgical operations. There is still great room for improvement in the development and clinical application of robotic technology in terms of reduction accuracy, radiation damage, and operational stability.

[0003] Therefore, based on the above technical problems, technicians in this field urgently need to develop a long bone fracture reduction surgical robot suitable for fracture reduction. Summary of the Invention

[0004] The purpose of the present invention is to provide a long bone fracture reduction surgical robot suitable for fracture reduction, which can reduce the physical damage caused by radiation to medical staff while further solving the problems of accuracy, flexibility, versatility and other issues in fracture reduction surgery.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] A long bone fracture reduction surgical robot according to the present invention comprises:

[0007] A robot-carrying vehicle body, wherein a lifting push rod is integrated inside the robot-carrying vehicle body;

[0008] A ball screw slide connected to the robot carrying body via the lifting push rod, wherein the lifting push rod drives the ball screw slide to move in the Z direction; and

[0009] A centering connection mechanism connected to the ball screw slide via a telescopic rod structure, wherein the centering connection mechanism is remote from an end electric cylinder mechanism at one end of the telescopic rod structure, and the end electric cylinder mechanism drives the Kirschner wire to hold the circular ring through two electric cylinders;

[0010] The Kirschner wire holding ring clamps the Kirschner wire and drives the Kirschner wire to move.

[0011] Furthermore, the robot-carrying vehicle body includes:

[0012] A load-bearing vehicle body shell, wherein the bottom of the load-bearing vehicle body shell is provided with universal wheels;

[0013] The lifting push rod is integrated into the interior of the carrier body shell, the bottom of the lifting push rod is connected to the bottom of the interior of the carrier body shell, the upper end of the lifting push rod is connected to the lifting platform, and the ball screw slide is connected to the lifting push rod through the lifting platform;

[0014] The inner wall of the load-bearing vehicle body shell is provided with a guide rail;

[0015] Both sides of the lifting platform are slidably connected to the guide rails through lifting sliders.

[0016] Furthermore, the ball screw slide comprises:

[0017] A slide base plate fixedly connected to the lifting platform, wherein slide guide rails extending along the Y direction are provided on both sides of the slide base plate;

[0018] A ball screw linear module is slidably connected to the slide base plate, and the bottom of the ball screw linear module is slidably connected to the slide guide rail via a slide block to achieve movement of the ball screw linear module along the Y direction;

[0019] There are two groups of ball screw linear modules, and the two groups of ball screw linear modules are arranged side by side on the slide rail;

[0020] A small push rod structure is slidably connected to the ball screw linear module, and one end of the small push rod structure cooperates with the telescopic rod structure and is bent toward the telescopic rod structure to form a connecting portion;

[0021] The telescopic rod structure is connected to the connecting portion.

[0022] Furthermore, the telescopic rod structure includes two telescopic rods arranged in a sleeve;

[0023] The telescopic rod is connected to the connecting portion of the small push rod structure on the corresponding side via a deep groove ball bearing;

[0024] The centering connection mechanism comprises:

[0025] A sleeve sleeved at the connection between the two telescopic rods;

[0026] A connecting tube located at the bottom of the sleeve, wherein a connecting plate is installed at one end of the connecting tube away from the sleeve;

[0027] The connecting plate is divided into two parts, namely a connecting plate proximal end and a connecting plate distal end;

[0028] A pull rod is connected between the sleeve and the distal end of the connecting plate;

[0029] A collar is sleeved on the connecting tube, and connecting rods are hinged at both ends of the collar, and the connecting rods are hinged to the telescopic rod on the corresponding side.

[0030] Furthermore, the lower parts of both ends of the distal end of the connecting plate in the longitudinal direction are hingedly connected to the electric cylinder via single-ear connectors;

[0031] The cylinder body of the electric cylinder is hinged to the distal end of the connecting plate through the single-ear connector, and the cylinder rod of the electric cylinder is connected to the Kirschner wire holding ring.

[0032] In the above technical solution, the present invention provides a long bone fracture reduction surgical robot, which has the following beneficial effects:

[0033] The robot utilizes a hybrid structure, utilizing a push rod, ball screw linear module, and pneumatic cylinders to perform linear motion, completing six degrees of freedom repositioning and transformation operations. The robot's overall structure is simple and lightweight, allowing for easy folding and movement. This effectively reduces physician exertion and radiation exposure, allowing for adaptability to diverse scenarios and improving the precision of repositioning surgeries. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments described in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0035] Figure 1 A schematic structural diagram of a long bone fracture reduction surgical robot provided by an embodiment of the present invention;

[0036] Figure 2 A schematic structural diagram of a robot-carrying body of a long bone fracture reduction surgical robot provided by an embodiment of the present invention;

[0037] Figure 3 A schematic structural diagram of a ball screw slide for a long bone fracture reduction surgical robot provided by an embodiment of the present invention;

[0038] Figure 4 A schematic structural diagram of a telescopic rod structure of a long bone fracture reduction surgical robot provided by an embodiment of the present invention;

[0039] Figure 5 A schematic structural diagram of a centering connection mechanism of a long bone fracture reduction surgical robot provided by an embodiment of the present invention;

[0040] Figure 6 This is a schematic structural diagram of the end electric cylinder mechanism of a long bone fracture reduction surgical robot provided by an embodiment of the present invention.

[0041] Description of reference numerals:

[0042] 1. Robot carrier body; 2. Ball screw slide; 3. Telescopic rod structure; 4. Centering connection mechanism; 5. End cylinder mechanism;

[0043] 101. Car body shell; 102. Universal wheel; 103. Lifting push rod; 104. Guide rail; 105. Lifting platform; 106. Lifting slider;

[0044] 201, slide base plate; 202, slide guide rail; 203, ball screw linear module; 204, slide block; 205, small push rod structure;

[0045] 301, telescopic rod;

[0046] 401, sleeve; 402, pin; 403, deep groove ball bearing; 404, connecting rod; 405, collar; 406, pull rod; 407, proximal end of connecting plate; 408, distal end of connecting plate;

[0047] 501. Single-ear connector; 502. Electric cylinder; 503. K-wire holding ring. DETAILED DESCRIPTION

[0048] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0049] See also Figures 1 to 6 As shown;

[0050] This embodiment provides a long bone fracture reduction surgical robot, which includes:

[0051] The robot carrying body 1 has a lifting push rod 103 integrated therein;

[0052] The ball screw slide 2 is connected to the robot carrying body 1 through the lifting push rod 103, and the lifting push rod 103 drives the ball screw slide 2 to move along the Z direction; and

[0053] A centering connection mechanism 4 is connected to the ball screw slide 2 via a telescopic rod structure 3. The centering connection mechanism 4 is away from an end electric cylinder mechanism 5 at one end of the telescopic rod structure 3. The end electric cylinder mechanism 5 drives the Kirschner wire holding ring 503 to move via two electric cylinders 502.

[0054] The Kirschner wire holding ring 503 clamps the Kirschner wire and drives the Kirschner wire to move.

[0055] Specifically, this embodiment discloses a long bone fracture reduction surgical robot, which mainly includes a robot carrier body 1, a ball screw slide 2, a centering connection mechanism 3 and an end electric cylinder mechanism 4. The lifting push rod 103 in the robot carrier body 1 can realize the lifting and lowering of all the mechanisms carried thereon to adjust the height; at the same time, the ball screw slide 2 can realize the Y-direction and X-direction movement of the small push rod structure 205 thereon. At the same time, when the two small push rod structures 205 move in opposite directions along the X direction at the same time, the telescopic rod structure 3 and the front end centering connection mechanism 4 and the end electric cylinder mechanism 5 can be rotated around the Z direction. This application installs the Kirschner wire holding ring 503 through the two electric cylinders 502 of the end electric cylinder mechanism 5, and uses the extension and retraction of the cylinder rod of the electric cylinder 502 to control the operation of the Kirschner wire holding ring 503.

[0056] Preferably, the robot carrying vehicle body 1 of this embodiment includes:

[0057] The supporting vehicle body shell 101 has a universal wheel 102 at the bottom of the supporting vehicle body shell 101;

[0058] A lifting push rod 103 is integrated into the interior of the carrier body shell 101. The bottom of the lifting push rod 103 is connected to the bottom of the interior of the carrier body shell 101. The upper end of the lifting push rod 103 is connected to the lifting platform 105. The ball screw slide 2 is connected to the lifting push rod 103 through the lifting platform 105.

[0059] The inner wall of the load-bearing body shell 101 has a guide rail 104;

[0060] Both sides of the lifting platform 105 are slidably connected to the guide rails 104 through lifting sliders 106 .

[0061] First, this embodiment further defines the structure of the robot carrying body, which includes a carrying body shell 101, an internal lifting push rod 103 and four guide bars 104 with the same structure. The lifting platform 105 is fixed to the upper end of the lifting push rod 103, and a lifting slider 106 is used to achieve a sliding connection with the guide bar 104. The above-mentioned ball screw slide 2 is assembled and fixed on the lifting platform 105 to drive the lifting of the entire device thereon through the lifting push rod 103.

[0062] Preferably, the ball screw slide 2 of this embodiment includes:

[0063] A slide base plate 201 fixedly connected to the lifting platform 105, with slide guide rails 202 extending along the Y direction provided on both sides of the slide base plate 201;

[0064] A ball screw linear module 203 is slidably connected to the slide base plate 201. The bottom of the ball screw linear module 203 is slidably connected to the slide guide rail 202 via the slide block 204 to achieve movement of the ball screw linear module 203 along the Y direction;

[0065] There are two sets of ball screw linear modules 203, and the two sets of ball screw linear modules 203 are arranged side by side on the slide rail 202;

[0066] A small push rod structure 205 is slidably connected to the ball screw linear module 203. The small push rod structure 205 cooperates with the telescopic rod structure 3 and one end thereof is bent toward the telescopic rod structure 3 to form a connecting portion.

[0067] The telescopic rod structure 3 is connected to the connecting portion.

[0068] Secondly, this embodiment further defines the structure of the ball screw slide 2, which is connected to the lifting platform 105 through a slide base plate 201. A slide guide rail 202 extending along the Y direction is provided on the slide base plate 201 to enable the ball screw linear module 203 thereon to move along the Y direction; and a small push rod structure 205 capable of moving along the X direction is slidably connected to the ball screw linear module 203. As an expanded implementation method: the small push rod structure 205 of the present application moves along the extension direction of the ball screw linear module through the screw to adjust the X-direction position of the small push rod structure. At the same time, the small push rod structure of the present application is provided with a servo motor, and the output end of the servo motor drives the screw inside the small push rod structure 205 to move through the transmission of the gear to achieve the lifting and lowering of the upper structure of the small push rod structure 205.

[0069] In addition, the telescopic rod structure 3 of this embodiment includes two telescopic rods 301 arranged in a sleeve;

[0070] The connecting portion of the telescopic rod 301 and the small push rod structure 205 on the corresponding side is connected via a deep groove ball bearing 403;

[0071] The centering connection mechanism 4 includes:

[0072] A sleeve 401 is sleeved on the connection between the two telescopic rods 301;

[0073] A connecting tube is located at the bottom of the sleeve 401, and a connecting plate is installed at one end of the connecting tube away from the sleeve 401;

[0074] The connecting plate is divided into two parts, namely the connecting plate proximal end 407 and the connecting plate distal end 408;

[0075] A pull rod 406 is connected between the sleeve 401 and the distal end 408 of the connecting plate;

[0076] A collar 405 is sleeved on the connecting tube, and connecting rods 404 are hinged at both ends of the collar 405. The connecting rod 404 is hinged to the telescopic rod 301 on the corresponding side.

[0077] The connecting part of the small push rod structure 205 is connected to the telescopic rod structure 3 through a deep groove ball bearing 403. The telescopic rod structure 3 of this embodiment is two telescopic rods 301 arranged in a sleeve. When the small push rod structure 205 moves in opposite directions at the same time, it will drive the telescopic rod 301 and the centering connection mechanism 4 to rotate. The telescopic rod structure 3 forms a rotating pair with the small push rod structure 205 through the pin 402 and the deep groove ball bearing 403.

[0078] Secondly, the centering connection mechanism 4 of the present application is provided with a sleeve 401, which serves as a connection component to the telescopic rod structure 3. Its end is connected to a pull rod 406, and the distal end of the pull rod 406 is connected to the distal end of the connecting plate. At the same time, for adaptive adjustment, a collar 405 is mounted on the connecting sleeve. The connecting rods 404 at both ends are hinged to the corresponding side of the telescopic rod 301. When the length of the telescopic rod structure 3 changes, the collar 405 moves up and down with the connecting rod 404 to adapt and adjust.

[0079] Preferably, the lower parts of both ends of the distal end 408 of the connecting plate in the length direction of this embodiment are hingedly connected to the electric cylinder 502 through the single-ear connector 501;

[0080] The cylinder body of the electric cylinder 502 is hinged to the distal end 408 of the connecting plate via a single-ear connector 501 , and the cylinder rod of the electric cylinder 502 is connected to a Kirschner wire holding ring 503 .

[0081] One end of the connecting plate of the present application is connected to the sleeve 401 through a pull rod 406 to ensure that the bottom mechanism does not deviate from the center when the mechanism produces an angular displacement, and the other end is hinged to the electric cylinder 502 through a single-ear connector 501. When no operation is performed, the connecting plate can be removed and the terminal electric cylinder mechanism 5 can be stored together in the supporting vehicle body shell 101 to facilitate the storage and movement of the entire mechanism. When performing a surgical operation, it is fastened with bolts and nuts. With the drive of the motor, it can be fine-tuned in the Z direction at the same time, and can simultaneously drive the Kirschner wire holding ring 503 to achieve centering movement around the Y direction in the reverse direction to complete the reset operation within a certain angle range.

[0082] In the above technical solution, the present invention provides a long bone fracture reduction surgical robot, which has the following beneficial effects:

[0083] The robot utilizes a hybrid structure, utilizing a push rod, ball screw linear module, and pneumatic cylinders to perform linear motion, completing six degrees of freedom repositioning and transformation operations. The robot's overall structure is simple and lightweight, allowing for easy folding and movement. This effectively reduces physician exertion and radiation exposure, allowing for adaptability to diverse scenarios and improving the precision of repositioning surgeries.

[0084] The above description is merely illustrative of certain exemplary embodiments of the present invention. It goes without saying that those skilled in the art will be able to modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and description are illustrative in nature and should not be construed as limiting the scope of protection of the claims.

Claims

1. A long bone fracture reduction surgical robot, characterized in that: The reduction surgical robot includes: A robot-carrying vehicle body (1), wherein a lifting push rod (103) is integrated inside the robot-carrying vehicle body (1); A ball screw slide (2) connected to the robot carrying vehicle body (1) via the lifting push rod (103), wherein the lifting push rod (103) drives the ball screw slide (2) to move in the Z direction; and a centering connection mechanism (4) connected to the ball screw slide (2) via a telescopic rod structure (3); the centering connection mechanism (4) is remote from an end electric cylinder mechanism (5) at one end of the telescopic rod structure (3); the end electric cylinder mechanism (5) drives the Kirschner wire holding ring (503) to move via two electric cylinders (502); The Kirschner wire holding ring (503) clamps the Kirschner wire and drives the Kirschner wire to move; The robot carrying vehicle body (1) comprises: A load-bearing vehicle body shell (101), wherein the bottom of the load-bearing vehicle body shell (101) is provided with a universal wheel (102); The lifting push rod (103) is integrated into the interior of the carrier body shell (101), the bottom of the lifting push rod (103) is connected to the bottom of the interior of the carrier body shell (101), the upper end of the lifting push rod (103) is connected to a lifting platform (105), and the ball screw slide (2) is connected to the lifting push rod (103) via the lifting platform (105); The inner wall of the supporting vehicle body shell (101) has a guide rail (104); Both sides of the lifting platform (105) are slidably connected to the guide rail (104) via lifting sliders (106); The ball screw slide (2) comprises: A slide base plate (201) fixedly connected to the lifting platform (105), wherein slide guide rails (202) extending along the Y direction are provided on both sides of the slide base plate (201); A ball screw linear module (203) is slidably connected to the slide base plate (201), and the bottom of the ball screw linear module (203) is slidably connected to the slide guide rail (202) via a slide slider (204) to achieve movement of the ball screw linear module (203) along the Y direction; The ball screw linear modules (203) have two groups, and the two groups of ball screw linear modules (203) are arranged side by side on the slide rail (202); A small push rod structure (205) is slidably connected to the ball screw linear module (203), and one end of the small push rod structure (205) cooperates with the telescopic rod structure (3) and is bent toward the telescopic rod structure (3) to form a connecting portion; The telescopic rod structure (3) is connected to the connecting portion; The telescopic rod structure (3) comprises two telescopic rods (301) arranged in a sleeve; The telescopic rod (301) is connected to the connecting portion of the small push rod structure (205) on the corresponding side via a deep groove ball bearing (403); The centering connection mechanism (4) comprises: A sleeve (401) sleeved on the connection between the two telescopic rods (301); A connecting tube located at the bottom of the sleeve (401), wherein a connecting plate is installed at one end of the connecting tube away from the sleeve (401); The connecting plate is divided into two parts, namely a connecting plate proximal end (407) and a connecting plate distal end (408); A pull rod (406) is connected between the sleeve (401) and the distal end of the connecting plate; A collar (405) is sleeved on the connecting tube, and connecting rods (404) are hinged at both ends of the collar (405), and the connecting rods (404) are hinged to the telescopic rod (301) on the corresponding side.

2. The long bone fracture reduction surgical robot according to claim 1, characterized in that: The lower portions of both ends of the distal end of the connecting plate in the longitudinal direction are hingedly connected to the electric cylinder (502) via single-ear connectors (501); The cylinder body of the electric cylinder (502) is hinged to the distal end (408) of the connecting plate via the single-ear connector (501), and the cylinder rod of the electric cylinder (502) is connected to the Kirschner wire holding ring (503).

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