Space hybrid nine-degree-of-freedom fracture reduction robot

Abstract

The application belongs to the technical field of medical robots, and particularly discloses a space hybrid nine-degree-of-freedom fracture reduction robot, which comprises a three-dimensional movement module, a base module and a branch chain module, the base module is composed of a static platform and three rotating drive assemblies installed on the static platform, the three rotating drive assemblies are distributed in a radial manner on the same side surface of the static platform, and the torque output ends of the rotating drive assemblies are arranged towards the radiation center; the torque output ends are provided with shaft connecting pieces at the ends; the static platform is installed on the three-dimensional movement module, and the three-dimensional movement module is composed of three groups of guide rail assemblies connected in series; the three-dimensional movement module can realize movement in three mutually perpendicular directions; the base module is installed on the three-dimensional movement module, the branch chain module and a moving platform are connected on the base module in sequence, and thus six-degree-of-freedom movement of the fracture reduction robot is realized; and the hybrid configuration of the application combines the advantages of series and parallel configurations, can realize nine-degree-of-freedom movement, and can meet the requirements of different fracture types and large reduction forces.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of medical robots, and particularly relates to a space hybrid nine-degree-of-freedom fracture reduction robot. BACKGROUND

[0002] Pelvic fracture is one of the most challenging fractures in clinical trauma orthopedics. At present, clinical reduction is manually operated by doctors, and the effect often needs to be checked multiple times by X-ray. The reduction accuracy depends on the clinical experience of doctors, and there are defects such as large wound, low reduction accuracy, radiation of doctors and patients, and large operation intensity of doctors.

[0003] With the development of robot and computer-aided navigation technology, robots are expected to replace doctors to perform minimally invasive and accurate fracture reduction, and have advantages such as minimally invasive, high surgical accuracy, fast postoperative recovery, low labor intensity of doctors, and less radiation of doctors and patients. However, there are many types of fractures, and for different fracture conditions of patients, there are large displacement deviation and rotation deviation. In order to adapt to many types of fractures, the robot reduction needs a large working space. At the same time, due to the pulling of soft tissues around the ring fracture, the reduction force is usually more than 300N, and the robot needs to output a large reduction force.

[0004] Existing fracture reduction robots mostly adopt serial or parallel robot configurations. However, due to the very large reduction force required for reduction surgery, it is difficult for the serial configuration to provide a large enough reduction force, and the working space of the parallel configuration is small, which is difficult to meet the need of large working space for fracture reduction. SUMMARY

[0005] In order to solve the above technical problems, the application provides a space hybrid nine-degree-of-freedom fracture reduction robot which meets the requirements of different fracture types and large reduction force.

[0006] Based on the above purpose, the application is realized by the following technical scheme:

[0007] A space hybrid nine-degree-of-freedom fracture reduction robot, comprising a three-dimensional movement module, a base module and a branch chain module,

[0008] The base module is composed of a static platform and three rotating drive assemblies installed on the static platform. The three rotating drive assemblies are distributed in a radial manner on the same side surface of the static platform, and the torque output ends of the rotating drive assemblies are arranged towards the radiation center. An axle connecting piece is installed at the end of the torque output end;

[0009] The static platform is installed on the three-dimensional movement module, and the three-dimensional movement module is composed of three groups of guide rail assemblies connected in series, for realizing movement in x-axis, y-axis and z-axis directions;

[0010] The branched chain module is composed of a branched chain connector, a linear driving assembly and a spherical hinge assembly; the branched chain module has three, and is connected with the shaft connector pin of the rotary driving assembly through the branched chain connector;

[0011] The spherical hinge assemblies of the three branched chain modules are connected to the same moving platform through bolts; the moving platform is provided with a docking connector for quick docking with a fracture reduction clamping instrument; through the movement of the three-dimensional movement module, the base module and the branched chain module, the movement and rotary movement of the fracture reduction robot are realized; the three-dimensional movement module can realize precise movement in three directions perpendicular to each other, and is used for three-degree-of-freedom translation reduction of the fracture reduction robot.

[0012] Preferably, the three-dimensional movement module is sequentially connected in series by a bottom guide rail assembly, a transverse guide rail assembly and a vertical guide rail assembly; the bottom guide rail assembly comprises a bottom linear guide rail, a first motor, a first ball screw transmission assembly and a column connecting plate, the bottom of the column connecting plate is in sliding fit with the bottom linear guide rail, and the column connecting plate and the screw nut in the first ball screw transmission assembly are fixedly connected; the first motor is installed on the bottom linear guide rail, and the output shaft of the first motor is connected with the screw shaft in the first ball screw transmission assembly.

[0013] Preferably, the transverse guide rail assembly comprises a transverse linear guide rail, a second motor, a second ball screw transmission assembly and a transverse fixed connecting plate; the transverse linear guide rail is fixedly connected with the column connecting plate in the bottom guide rail assembly; the transverse fixed connecting plate is arranged on one side of the transverse linear guide rail and is in sliding fit with the transverse linear guide rail, and the transverse fixed connecting plate and the screw nut in the second ball screw transmission assembly are fixedly connected; the second motor is installed on the transverse linear guide rail, and the output shaft of the second motor is connected with the screw shaft in the second ball screw transmission assembly.

[0014] Preferably, the vertical guide rail assembly comprises a vertical linear guide rail, a third motor, a third ball screw transmission assembly and a vertical fixed connecting plate; the vertical linear guide rail is fixedly connected with the transverse fixed connecting plate in the transverse guide rail assembly; the vertical fixed connecting plate is arranged on one side of the vertical linear guide rail and is in sliding fit with the vertical linear guide rail, and the vertical fixed connecting plate and the screw nut in the third ball screw transmission assembly are fixedly connected; the third motor is installed on the vertical linear guide rail, and the output shaft of the third motor is connected with the screw shaft in the third ball screw transmission assembly; the static platform is fixed on the vertical fixed connecting plate.

[0015] Preferably, the static platform is in the shape of a semicircular plate, the three rotary driving assemblies are installed on one side of the static platform, and the other side of the static platform is fixedly connected with the vertical fixed connecting plate; the rotary driving assembly comprises a speed reducer, the output shaft of the speed reducer is connected with the shaft connector through a shaft coupling, and the included angle between the output shafts of the speed reducers of two adjacent rotary driving assemblies is 90 degrees.

[0016] Preferably, the linear drive assembly is an electric cylinder, and the branched chain connecting piece is mounted at the bottom of the electric cylinder body; the spherical hinge assembly comprises a ball head and a ball seat hinged with the ball head, the ball head is fixedly connected with the free end of the cylinder rod of the electric cylinder, and the ball seat is fixedly connected with the movable platform.

[0017] Preferably, the movable platform is a semicircular plate, one side of the movable platform is provided with three inclined bosses, the included angle between the radii of two adjacent inclined bosses is 90 degrees, the position close to the center of the inclined boss is high, and the position close to the arc edge is low, and the ball seat is fixed on the inclined boss through bolt connection; the other side of the movable platform is sequentially connected with the six-dimensional force sensor and the butt joint connecting piece. The shaft connecting piece is composed of a flange bearing, a plane thrust ball bearing, a clasp spring and a pin shaft, the reduction motor drives the shaft connecting piece to rotate to form a driving rotary pair, and the shaft connecting piece and the branched chain module are connected through the pin shaft and the clasp spring to form a driven rotary pair.

[0018] Compared with the prior art, the application has the following beneficial effects:

[0019] 1. The series part of the application realizes precise movement in three mutually perpendicular directions through the three-dimensional movement module, realizes three-degree-of-freedom movement of the bone fracture reduction robot in three perpendicular directions, and realizes precise adjustment of the inclination angle in six directions through the cooperation of the base module, the branched chain module and the movable platform, realizes six-degree-of-freedom movement of the bone fracture reduction robot in six inclination angle directions, and thus realizes nine-degree-of-freedom movement. The application adopts a hybrid configuration, combines the advantages of series and parallel configurations, has the advantages of compact structure, large working space, strong bearing capacity and strong pose adjustment capability on the basis of realizing nine-degree-of-freedom movement, and can meet the requirements of different fracture types and large reduction forces.

[0020] 2. The driving mode of the three-dimensional movement module bottom guide rail assembly in the application adopts the cooperation mode of the bottom ball screw and the double-row guide rail, the driving mode of the transverse guide rail assembly adopts the mode of driving the transverse fixed connecting plate to move through the transverse ball screw, and the driving mode of the vertical guide rail assembly adopts the cooperation mode of the vertical reducer and the vertical ball screw, so as to effectively improve the load capacity and movement precision of the robot and effectively increase the working space of the application.

[0021] 3. The base module of the parallel part is provided with three groups of motors on the static platform, the motors drive the shaft connecting piece to rotate through the reducer and the shaft connecting piece, then drive the linear drive assembly to move through the branched chain connecting piece in the corresponding branched chain module, and cooperate with the branched chain motor drive cylinder rod extension in the linear drive assembly to adjust the position and angle of the movable platform in the movable platform. The above-mentioned parallel part structure makes the application have the advantages of compact structure, high precision and strong pose adjustment capability.

[0022] 4、The six-dimensional force sensor in the movable platform in the application is used for monitoring the reduction force output by the reduction robot in real time in the fracture reduction process, and is beneficial to improving the safety and accuracy of the fracture reduction operation. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a structural schematic diagram of the application in Example 1;

[0024] Figure 2 is a structural schematic diagram of the three-dimensional movement module in Example 1;

[0025] Figure 3 is a structural schematic diagram of the base module in Example 1;

[0026] Figure 4 is a structural schematic diagram of the branch chain module in Example 1;

[0027] Figure 5 is a structural schematic diagram of the movable platform in Example 1.

[0028] In the figure, the three-dimensional movement module 1, the base module 2, the branch chain module 3, the movable platform 4, the bottom linear guide rail 11, the first motor 12, the column connecting plate 13, the second motor 14, the transverse linear guide rail 15, the transverse fixed connecting plate 16, the third motor 17, the vertical speed reducer 18, the vertical linear guide rail 19, the vertical fixed connecting plate 110, the speed reducer motor 21, the speed reducer 22, the shaft coupling 23, the shaft connecting piece 24, the static platform 25, the branch chain connecting piece 31, the electric cylinder 32, the electric cylinder cylinder body 33, the electric cylinder cylinder rod 34, the ball head 35, the ball seat 36, the six-dimensional force sensor 42, and the docking connecting piece 43. DETAILED DESCRIPTION

[0029] The application will be further described in detail through specific embodiments, but the scope of the application is not limited.

[0030] Example 1

[0031] A spatially mixed nine-degree-of-freedom fracture reduction robot, the structure of which is shown in Figures 1-5 includes a three-dimensional movement module 1, a base module 2 and a branch chain module 3,

[0032] The base module 2 is composed of a static platform 25 and three rotating drive assemblies installed on the static platform 25, the three rotating drive assemblies are distributed in a radial manner on the same side surface of the static platform 25, and the torque output ends of the rotating drive assemblies are arranged towards the center of radiation; the shaft connecting piece 24 is installed at the end of the torque output end;

[0033] The static platform 25 is installed on the three-dimensional moving module 1 which is formed by connecting three groups of guide rail assemblies in series to realize movement in the x-axis, y-axis and z-axis directions;

[0034] The branched chain module 3 is composed of a branched chain connecting piece 31, a linear drive assembly and a spherical hinge assembly; there are three branched chain modules 3 which are respectively connected with the shaft connecting pieces 24 of the rotary drive assembly through the branched chain connecting pieces 31;

[0035] The spherical hinge assemblies of the three branched chain modules 3 are connected to the same moving platform 4 through bolts; the moving platform 4 is provided with a docking connecting piece 43 for quick docking with a bone fracture reduction clamping instrument.

[0036] The three-dimensional moving module 1 is formed by connecting a bottom guide rail assembly, a transverse guide rail assembly and a vertical guide rail assembly in series; the bottom guide rail assembly includes a bottom linear guide rail 11, a first motor 12, a first ball screw transmission assembly and a column connecting plate 13, the bottom of the column connecting plate 13 is in sliding fit with the bottom linear guide rail 11, and the column connecting plate 13 and the screw nut in the first ball screw transmission assembly are fixedly connected; the first motor 12 is installed on the bottom linear guide rail 11, and the output shaft of the first motor 12 is connected with the screw shaft in the first ball screw transmission assembly.

[0037] The transverse guide rail assembly includes a transverse linear guide rail 15, a second motor 14, a second ball screw transmission assembly and a transverse fixed connecting plate 16; the transverse linear guide rail 15 is fixedly connected with the column connecting plate 13 in the bottom guide rail assembly; the transverse fixed connecting plate 16 is arranged on one side of the transverse linear guide rail 15 and is in sliding fit with the transverse linear guide rail 15, and the transverse fixed connecting plate 16 and the screw nut in the second ball screw transmission assembly are fixedly connected; the second motor 14 is installed on the transverse linear guide rail 15, and the output shaft of the second motor 14 is connected with the screw shaft in the second ball screw transmission assembly.

[0038] The vertical guide rail assembly includes a vertical linear guide rail 19, a third motor 17, a third ball screw transmission assembly and a vertical fixed connecting plate 110; the vertical linear guide rail 19 is fixedly connected with the transverse fixed connecting plate 16 in the transverse guide rail assembly; the vertical fixed connecting plate 110 is arranged on one side of the vertical linear guide rail 19 and is in sliding fit with the vertical linear guide rail 19, and the vertical fixed connecting plate 110 and the screw nut in the third ball screw transmission assembly are fixedly connected; the third motor 17 is installed on the vertical linear guide rail 19, and the output shaft of the third motor 17 is connected with the screw shaft in the third ball screw transmission assembly; the static platform 25 is fixed on the vertical fixed connecting plate 110.

[0039] The static platform 25 is a semicircular plate, three rotating drive assemblies are installed on one side of the static platform 25, and the other side of the static platform 25 is fixedly connected with the vertical fixed connecting plate 110; the rotating drive assembly comprises a speed reducer motor, the output shaft of the speed reducer motor is connected with the shaft connecting piece 24 through the shaft coupling 23, and the included angle between the output shafts of two adjacent rotating drive assemblies is 90 degrees.

[0040] The linear drive assembly is an electric cylinder 32, and the branch chain connecting piece 31 is installed at the bottom of the electric cylinder cylinder body 33; the spherical hinge assembly comprises a ball head 35 and a ball seat 36 hinged with the ball head 35, the ball head 35 is fixedly connected with the free end of the electric cylinder cylinder rod 34, and the ball seat 36 is fixedly connected with the moving platform 4.

[0041] The moving platform 4 is a semicircular plate, one side of the moving platform 4 is provided with three inclined bosses, the included angle between the radii of two adjacent inclined bosses is 90 degrees, the position close to the center of the inclined boss is high, the position close to the edge of the circular arc is low, and the ball seat 36 is fixedly connected on the inclined boss through a bolt; the other side of the moving platform 4 is sequentially connected with a six-dimensional force sensor 42 and a butt joint connecting piece 43.

[0042] The application works in the following manner: the spatial hybrid nine-degree-of-freedom fracture reduction robot first performs zero calibration, implants a bone needle into a fracture end and connects a clamping instrument, then adjusts the fracture reduction robot to a suitable position, and performs butt joint with the clamping instrument through the butt joint connecting piece 43; the robot is driven to perform nine-degree-of-freedom translation and rotation reduction, and the six-dimensional force sensor 42 is used to monitor the reduction force output by the robot in real time during the reduction process, so as to ensure the safety of the reduction operation.

[0043] The specific reduction process is that the output shaft of the first motor 12 in the bottom guide rail assembly drives the bottom ball screw to rotate in the double-row guide rail of the bottom linear guide rail 11, so that the screw nut on the bottom ball screw drives the column connecting plate 13 to stably move along the double-row guide rail; the output shaft of the second motor 14 in the transverse guide rail assembly drives the transverse ball screw to rotate in the transverse linear guide rail 15, so that the screw nut on the transverse ball screw drives the transverse fixed connecting plate 16 to move transversely along the transverse linear guide rail 15; the output shaft of the third motor 17 in the vertical guide rail assembly is fixedly connected with the input shaft of the vertical speed reducer 18, the output shaft of the vertical speed reducer 18 is connected to the vertical ball screw, so that the screw nut on the vertical ball screw drives the vertical fixed connecting plate 110 connected with the screw nut to move vertically along the vertical linear guide rail 19. Through the cooperation of the bottom guide rail assembly, the transverse guide rail assembly and the vertical guide rail assembly, the three-dimensional movement module 1 performs three-degree-of-freedom translation reduction.

[0044] The deceleration motor 21 on the static platform 25 in the base module 2 is fixed by a bolt through a decelerator 22 and one end of a shaft coupling 23, and the other end of the shaft coupling 23 is fixed with the shaft connecting piece 24 by a bolt, so that the deceleration motor 21 drives the shaft connecting piece 24 to rotate, forming a driving rotation pair; the shaft connecting piece 24 is connected with the branch chain connecting piece 31 of the branch chain module 3 through a pin shaft and a snap spring to form a passive rotation pair. Each electric cylinder 32 drives the electric cylinder rod 34 in the electric cylinder body 33 to stretch and retract, and the ball head 35 on the electric cylinder rod 34 rotates in the ball seat 36, and through the driving of each branch chain module 3, the inclined boss drives the counter-rotating platform 4 through the ball seat 36, and through the six-dimensional force sensor 42 and the butt joint connecting piece 43, the clamping instrument is reset.

[0045] After the robot runs to the reset end, the fracture end is fixed, the connection between the robot and the clamping instrument is released, the robot is removed, the reset process is completed, and the fracture reset robot is restored to the initial state.

[0046] Embodiment 2

[0047] A spatial hybrid nine-degree-of-freedom fracture reduction robot, which is different from the embodiment 1 in that the static platform 25 is arc-shaped.

[0048] Embodiment 3

[0049] A spatial hybrid nine-degree-of-freedom fracture reduction robot, which is different from the embodiment 1 in that the dynamic platform 4 is arc-shaped.

[0050] Embodiment 4

[0051] A spatial hybrid nine-degree-of-freedom fracture reduction robot, which is different from the embodiment 1 in that at least two groups of rib plates are arranged on the column connecting plate 13.

[0052] The above only describes the preferred embodiments of the present application, but is not limited to the above examples, any modification, equivalent replacement and improvement within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A spatial hybrid nine-degree-of-freedom fracture reduction robot, characterized in that: Including three-dimensional mobile module, base module and branch chain module, The base module consists of a static platform and three rotary drive assemblies mounted on the static platform. The three rotary drive assemblies are radially distributed on the same side surface of the static platform, and the torque output ends of the rotary drive assemblies are arranged toward the radial center. A shaft connecting piece is installed at the end of the torque output end; The static platform is mounted on a three-dimensional moving module, which is composed of three sets of guide rail assemblies connected in series and is used to achieve movement in the x-axis, y-axis and z-axis directions; The branch chain module is composed of a branch chain connector, a linear drive assembly and a ball joint assembly; there are three branch chain modules, which are respectively connected to the shaft connector pins on the rotary drive assembly through the branch chain connector; The ball joint assemblies of the three branch chain modules are connected to the same moving platform through bolts; the moving platform is equipped with a docking connector for quick docking with a fracture reduction clamping instrument; The linear drive assembly is an electric cylinder, and the branch chain connector is installed at the bottom of the electric cylinder body; the ball joint assembly includes a ball head and a ball seat hinged to the ball head, the ball head is fixedly connected to the free end of the electric cylinder rod, and the ball seat is fixedly connected to the moving platform; The movable platform is in the shape of a semicircular plate, with three inclined bosses on one side. The angle between the radius of two adjacent inclined bosses is 90 degrees, and the inclined bosses are higher near the center of the circle and lower near the edge of the arc. The ball seat is fixed to the inclined bosses by bolts; the other side of the movable platform is connected in sequence to the six-dimensional force sensor and the docking connector. The movement and rotation of the fracture reduction robot are achieved through the movement of the three-dimensional moving module, the base module and the branch chain module; the shaft connector and the branch chain module are connected through a pin and a retaining spring to form a passive rotation pair.

2. The spatially hybrid nine-degree-of-freedom fracture reduction robot according to claim 1, characterized in that: The three-dimensional mobile module is composed of a bottom guide rail assembly, a horizontal guide rail assembly and a vertical guide rail assembly connected in series in sequence; the bottom guide rail assembly includes a bottom linear guide rail, a first motor, a first ball screw transmission assembly and a column connecting plate, the bottom of the column connecting plate slides with the bottom linear guide rail, and the column connecting plate is fixedly connected to the screw nut in the first ball screw transmission assembly; the first motor is installed on the bottom linear guide rail, and the output shaft of the first motor is connected to the screw shaft in the first ball screw transmission assembly.

3. The spatially hybrid nine-degree-of-freedom fracture reduction robot according to claim 2, characterized in that: The transverse guide rail assembly includes a transverse linear guide rail, a second motor, a second ball screw transmission assembly and a transverse fixed connecting plate; the transverse linear guide rail is fixedly connected to the column connecting plate in the bottom guide rail assembly; the transverse fixed connecting plate is arranged on one side of the transverse linear guide rail and slides with the transverse linear guide rail, and the transverse fixed connecting plate is fixedly connected to the screw nut in the second ball screw transmission assembly; the second motor is installed on the transverse linear guide rail, and the output shaft of the second motor is connected to the screw shaft in the second ball screw transmission assembly.

4. The spatially hybrid nine-degree-of-freedom fracture reduction robot according to claim 3, characterized in that: The vertical guide rail assembly includes a vertical linear guide rail, a third motor, a third ball screw transmission assembly and a vertical fixed connecting plate; the vertical linear guide rail is fixedly connected to the horizontal fixed connecting plate in the horizontal guide rail assembly; the vertical fixed connecting plate is arranged on one side of the vertical linear guide rail and slides with the vertical linear guide rail, and the vertical fixed connecting plate is fixedly connected to the screw nut in the third ball screw transmission assembly; the third motor is installed on the vertical linear guide rail, and the output shaft of the third motor is connected to the screw shaft in the third ball screw transmission assembly; the static platform is fixed on the vertical fixed connecting plate.

5. The spatially hybrid nine-degree-of-freedom fracture reduction robot according to claim 1 or 4, characterized in that: The static platform is in the shape of a semicircular plate, with three rotary drive assemblies installed on one side of the static platform, and the other side of the static platform is fixedly connected to the vertical fixed connecting plate; the rotary drive assembly includes a reduction motor, and the output shaft of the reduction motor is connected to the shaft connecting member through a coupling, and the angle between the output shafts of the reduction motors of two adjacent rotary drive assemblies is 90 degrees.

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