Redundant parallel fracture reduction device

Abstract

This invention relates to the field of medical device technology, and more particularly to a redundant parallel fracture reduction device, aiming to alleviate the technical problems of surgical robots in related technologies, such as inaccurate positioning, difficulty in determining the correct reduction path, complex motion position control, large limitations in workspace, and limited motion flexibility. This redundant parallel fracture reduction device is equipped with a rotating mechanism and is drivenly connected to a linear slide mechanism, allowing the linear slide mechanism to rotate horizontally and tilted. Thus, the traditionally fixed base is not static but has multiple different states, thereby increasing the motion space and degrees of freedom of the six-bar telescopic mechanism connected to the linear slide mechanism, improving flexibility, and correspondingly, allowing the moving platform to reach more motion positions, enabling accurate positioning and correct determination of the reduction path during surgery.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a redundant parallel fracture reduction device. Background Technology

[0002] Traditional fracture reduction surgery requires multiple X-ray imaging sessions to obtain real-time information on the positions of the fracture ends. The surgeon then manually reduces the fracture based on this information, or uses a simple traction device to assist in the reduction. However, both methods heavily rely on the surgeon's clinical experience and physical stamina. Furthermore, the use of X-ray imaging means the surgeon is exposed to X-rays for extended periods during the procedure. Over time, this cumulative damage can seriously impact the surgeon's health.

[0003] With the development of robotics and medical image navigation technology, robotic fracture reduction surgery has gained increasing attention. Compared with traditional fracture reduction surgery, using surgical robots has the following significant advantages:

[0004] First, surgical robots have excellent preoperative planning capabilities, enabling them to formulate surgical plans before entering the operating room and perform repositioning operations according to the predetermined path. Second, remote operation using surgical robots can significantly reduce the time doctors are exposed to X-rays, effectively protecting the health of medical staff. Third, the operating force of surgical robots is controllable and the positioning accuracy is high, which can effectively complete precise positioning while reducing reliance on doctors' experience and physical strength.

[0005] Most fracture reduction robots currently in use employ the common Stewart parallel mechanism, which features high rigidity, high precision, and strong load-bearing capacity. However, we also know that due to structural limitations, the Stewart parallel mechanism's moving platform has only 6 degrees of freedom, resulting in a relatively small workspace and the drawback of motion singularity. Consequently, problems such as inaccurate positioning and difficulty in determining the correct reduction path may occur during surgery. Furthermore, this surgical robot also suffers from complex motion position control, significant workspace limitations, and limited motion flexibility. Summary of the Invention

[0006] The purpose of this invention is to provide a redundant parallel fracture reduction device to alleviate the technical problems of surgical robots in related technologies, such as inaccurate positioning, difficulty in determining the correct reduction path, complex motion position control, large limitations in workspace, and small motion flexibility.

[0007] To solve the above-mentioned technical problems, the technical solution provided by the present invention is as follows:

[0008] The redundant parallel fracture reduction device provided by the present invention includes: a base, a moving platform, and a linear slide mechanism, a six-bar telescopic mechanism, and a rotating mechanism located between the base and the moving platform;

[0009] The linear slide mechanism is provided in three groups, each group including a linear drive component and a slider. The linear drive component is connected to the slider in a transmission manner to drive the slider to move.

[0010] The six-bar telescopic mechanism is hinged between the moving platform and the three sets of sliders to form a Stewart mechanism;

[0011] The rotating mechanism corresponds one-to-one with the linear slide mechanism and is distributed at intervals around the axis of the base. The rotating mechanism is connected to the linear slide mechanism for transmission, so as to drive the linear slide mechanism to rotate on a straight line that passes around the linear slide mechanism and is perpendicular to the axis of the base, and on a straight line that passes through the linear slide mechanism and is parallel to the axis of the base.

[0012] Furthermore, the rotation mechanism includes a tilt drive assembly;

[0013] The tilting drive assembly is connected to the linear drive assembly to drive the linear drive assembly to rotate linearly around the linear drive assembly and perpendicular to the axis of the base.

[0014] Furthermore, the tilting drive assembly includes a first rotary driver, a first coupling, and a first drive shaft;

[0015] The output end of the first rotary drive is connected to the first coupling, and the first coupling is connected to the first drive shaft;

[0016] The linear drive assembly is connected to the first drive shaft.

[0017] Furthermore, the rotating mechanism also includes a rotating support frame and a horizontal drive assembly;

[0018] The linear drive assembly is mounted on the rotating support frame;

[0019] The horizontal drive assembly is connected to the rotating support frame to drive the rotating support frame to rotate about a straight line parallel to the axis of the base.

[0020] Furthermore, the horizontal drive assembly includes a second drive shaft, a second coupling, and a second rotary driver;

[0021] The two second drive shafts are driven by bevel gears, and one end of one of the second drive shafts is connected to the rotating support frame, while one end of the other second drive shaft is connected to the second coupling.

[0022] The output end of the second rotary driver is connected to the second coupling.

[0023] Furthermore, the rotating mechanism also includes a slide support base;

[0024] The slide support is fixed to the base and is provided with a first sliding track and a second sliding track, both of which are arc-shaped.

[0025] The first rotary driver of the tilt drive assembly and the rotary support frame of the rotating mechanism are slidably connected to the slide support seat via the first sliding rail and the second sliding rail, respectively.

[0026] Furthermore, the slide support is also provided with an inclined bracket;

[0027] The tilting bracket is located on the tilting rotation path of the linear drive assembly and can support the linear drive assembly when the linear drive assembly is tilted relative to the base.

[0028] Furthermore, the linear drive assembly includes a linear slide, a slide end cap, and a sliding shaft;

[0029] The linear slide is drawer-shaped;

[0030] The slide end cap is fixed to the open end of the linear slide;

[0031] The sliding shaft is arranged along the extension direction of the linear slide, with one end connected to the linear slide and the other end connected to the slide end cover.

[0032] The slider is disposed inside the linear slide and sleeved on the sliding shaft.

[0033] Furthermore, the six-bar telescopic mechanism includes six telescopic bars;

[0034] Each of the telescopic rods includes a telescopic upper tube and a telescopic lower tube;

[0035] One end of the telescopic upper cylinder is disposed inside the telescopic lower cylinder and can slide along the length direction of the telescopic lower cylinder, while the other end is hinged to the moving platform;

[0036] The end of the telescopic lower cylinder away from the telescopic upper cylinder is hinged to the slider.

[0037] Furthermore, the six-bar telescopic mechanism is hinged to the moving platform and the slider via a U-shaped revolute joint;

[0038] The U-shaped rotating pair includes a first U-shaped frame, a second U-shaped frame, and a cross shaft;

[0039] The first U-shaped frame and the second U-shaped frame are arranged alternately;

[0040] The cross shaft has a first shaft and a second shaft that are perpendicular to each other. The two ends of the first shaft are rotatably connected to the two sides of the first U-shaped frame, and the two ends of the second shaft are rotatably connected to the two sides of the second U-shaped frame.

[0041] In summary, the technical effects achieved by the redundant parallel fracture reduction device provided by this invention are as follows:

[0042] In this application, a six-bar telescopic mechanism is hinged between the moving platform and three sets of sliders, forming a Stewart mechanism. This Stewart mechanism gives the moving platform six degrees of freedom. Furthermore, the linear drive assembly is driven by the sliders, allowing them to move horizontally, thus granting them one degree of freedom. The three sliders together have three degrees of freedom. Additionally, the rotation mechanism is driven by the linear slide mechanism, allowing the linear slide mechanism to rotate about a line perpendicular to the base axis (tilt rotation) and about a line parallel to the base axis (horizontal rotation). This gives each set of linear slide mechanisms two degrees of freedom, for a total of six degrees of freedom. In summary, the moving platform has a total of fifteen degrees of freedom, significantly increasing the flexibility and range of motion of the redundant parallel fracture reduction device.

[0043] As can be seen, compared with the existing technology where the base is oriented in a single and fixed direction, this redundant parallel fracture reduction device is equipped with a rotating mechanism and is connected to the linear slide mechanism, allowing the linear slide mechanism to rotate horizontally and tilted. In this way, the base in the traditional sense is not fixed, but has multiple different states, thereby increasing the motion space and degrees of freedom of the six-bar telescopic mechanism connected to the linear slide mechanism, improving flexibility. Correspondingly, the moving platform can reach more motion positions, enabling accurate positioning and correct determination of the reduction path during surgery. Attached Figure Description

[0044] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0045] Figure 1 This is a schematic diagram of the redundant parallel fracture reduction device provided in an embodiment of the present invention;

[0046] Figure 2A schematic diagram of the rotating mechanism of the redundant parallel fracture reduction device provided in an embodiment of the present invention;

[0047] Figure 3 for Figure 2 A schematic diagram of the structure after removing the slide support base;

[0048] Figure 4 This is a schematic diagram of the linear slide mechanism of the redundant parallel fracture reduction device provided in an embodiment of the present invention;

[0049] Figure 5 This is a schematic diagram of the U-shaped rotating pair of the redundant parallel fracture reduction device provided in an embodiment of the present invention.

[0050] Icons: 100 - base; 200 - moving platform;

[0051] 300 - Linear slide mechanism; 310 - Linear drive assembly; 320 - Slider; 311 - Linear slide; 312 - Slide end cover; 313 - Sliding shaft;

[0052] 400 - Six-bar telescopic mechanism; 410 - Telescopic bar; 411 - Telescopic upper cylinder; 412 - Telescopic lower cylinder;

[0053] 500 - Rotation mechanism; 510 - Tilting drive assembly; 520 - Rotation support frame; 530 - Horizontal drive assembly; 540 - Slide table support; 511 - First rotary actuator; 512 - First coupling; 513 - First drive shaft; 531 - Second drive shaft; 532 - Second coupling; 533 - Second rotary actuator; 534 - Bevel gear; 541 - First sliding rail; 542 - Second sliding rail; 543 - Tilting bracket;

[0054] 600-U-shaped rotating pair; 610-First U-shaped bracket; 620-Second U-shaped bracket; 630-Cross shaft; 640-End cap; 650-Bolt. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0056] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0057] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0058] Most fracture reduction robots currently in use employ the common Stewart parallel mechanism, which features high rigidity, high precision, and strong load-bearing capacity. However, we also know that due to structural limitations, the Stewart parallel mechanism's moving platform has only 6 degrees of freedom, resulting in a relatively small workspace and the drawback of motion singularity. Consequently, problems such as inaccurate positioning and difficulty in determining the correct reduction path may occur during surgery. Furthermore, this surgical robot also suffers from complex motion position control, significant workspace limitations, and limited motion flexibility.

[0059] In view of this, the present invention provides a redundant parallel fracture reduction device, including a base 100, a moving platform 200, and a linear slide mechanism 300, a six-bar telescopic mechanism 400, and a rotating mechanism 500 located between the base 100 and the moving platform 200. The linear slide mechanism 300 is provided in three groups, each group including a linear drive component 310 and a slider 320. The linear drive component 310 is convexly connected to the slider 320 to drive the slider 320 to move. The six-bar telescopic mechanism 400 is hinged between the moving platform 200 and the three groups of sliders 320 to form a Stewart mechanism. The rotating mechanism 500 corresponds one-to-one with the linear slide mechanism 300 and is distributed at intervals around the axis of the base 100. The rotating mechanism 500 is convexly connected to the linear slide mechanism 300 to drive the linear slide mechanism 300 to rotate around a straight line perpendicular to the axis of the base 100 and through a straight line parallel to the axis of the base 100.

[0060] refer to Figures 1 to 5A six-bar telescopic mechanism 400 is hinged between the moving platform 200 and the three sets of sliders 320, forming a Stewart mechanism. This Stewart mechanism gives the moving platform 200 six degrees of freedom. Furthermore, the linear drive assembly 310 is driven by the sliders 320, allowing the sliders 320 to move horizontally, thus giving them one degree of freedom. The three sliders 320 together have three degrees of freedom. Additionally, the rotation mechanism 500 is driven by the linear slide mechanism 300, allowing the linear slide mechanism 300 to rotate about a line perpendicular to the axis of the base 100 (tilting rotation) and about a line parallel to the axis of the base 100 (horizontal rotation). This gives each set of linear slide mechanisms 300 two degrees of freedom, for a total of six degrees of freedom. In summary, the moving platform 200 has a total of fifteen degrees of freedom, greatly increasing the flexibility and range of motion of the redundant parallel fracture reduction device.

[0061] As can be seen, compared with the existing technology where the base is oriented in a single and fixed direction, this redundant parallel fracture reduction device is equipped with a rotating mechanism 500, which is connected to the linear slide mechanism 300 for transmission. This allows the linear slide mechanism 300 to rotate horizontally and tilted. In this way, the base in the traditional sense is not fixed, but has multiple different states. This increases the movement space and degrees of freedom of the six-bar telescopic mechanism 400 connected to the linear slide mechanism 300, improving its flexibility. Correspondingly, the moving platform 200 can reach more movement positions, enabling accurate positioning and correct determination of the reduction path during surgery.

[0062] It should be added here that the existing clamping mechanism can be set on the moving platform 200 to clamp Kirschner wires, the details of which will not be elaborated here.

[0063] The following combination Figures 1 to 5 The structure and shape of the redundant parallel fracture reduction device provided in this embodiment are described in detail below:

[0064] Further reference Figures 1 to 4 The rotating mechanism 500 includes a tilting drive assembly 510; the tilting drive assembly 510 is connected to the linear drive assembly 310 to drive the linear drive assembly 310 to rotate linearly around the linear drive assembly 310 and perpendicular to the axis of the base 100.

[0065] Continue to refer to Figures 1 to 4The linear drive assembly 310 includes a linear slide 311, a slide end cover 312, a sliding shaft 313, and a linear driver. The linear slide 311 is drawer-shaped, and the slide end cover 312 is fixed to the open end of the linear slide 311. The sliding shaft 313 is arranged along the extension direction of the linear slide 311, with one end connected to the linear slide 311 and the other end connected to the slide end cover 312. The slider 320 is disposed inside the linear slide 311 and sleeved on the sliding shaft 313. The linear driver can be a linear motor, a cylinder, or an electric cylinder, and is connected to the slider 320 for transmission, so as to drive the slider 320 to slide within the linear slide 311 along the length direction of the sliding shaft 313. The tilt drive assembly 510 is connected to the linear slide 311 and can drive the linear slide 311 to rotate linearly around the axis perpendicular to the base 100. Even if the linear slide 311 forms an angle with the base 100 and is in a tilted state, it will change the state of the slider 320, the six-bar telescopic mechanism 400 and the moving platform 200, breaking the previous fixed structure of the slide base and increasing the position that the moving platform 200 can reach.

[0066] Further reference Figure 2 and Figure 3 The tilt drive assembly 510 includes a first rotary driver 511, a first coupling 512, and a first drive shaft 513; the output end of the first rotary driver 511 is connected to the first coupling 512, and the first coupling 512 is connected to the first drive shaft 513; the linear drive assembly 310 is connected to the first drive shaft 513.

[0067] For details, please refer to Figures 2 to 4 The rotating mechanism 500 also includes a rotating support frame 520. The first drive shaft 513 passes through the rotating support frame 520 and rotates in cooperation with it. The bottom end of the linear slide 311 is provided with an ear plate, which also rotates in cooperation with the rotating support frame 520 and is connected to the first drive shaft 513. The first rotary driver 511 can be a motor. When the motor starts, the output power is transmitted to the first drive shaft 513 through the first coupling 512. The first drive shaft 513 rotates and synchronously drives the linear slide 311 to rotate, thereby driving the linear slide mechanism 300 and enabling the linear slide mechanism 300 to switch between horizontal and inclined states.

[0068] Further reference Figure 2 and Figure 3 The rotating mechanism 500 also includes a horizontal drive assembly 530; the horizontal drive assembly 530 is connected to the rotating support frame 520 to drive the rotating support frame 520 to rotate linearly about the axis parallel to the base 100.

[0069] Specifically, the horizontal drive assembly 530 can drive the rotating support frame 520 to rotate linearly about a line parallel to the axis of the base 100, thus driving the rotating support frame 520 to rotate horizontally. At this time, the linear slide 311 connected to the rotating support frame 520 also rotates horizontally synchronously, thereby changing the state of the slider 320, the six-bar telescopic mechanism 400, and the moving platform 200. In one embodiment of this application, refer to... Figure 3 The flat drive assembly includes a second drive shaft 531, a second coupling 532, and a second rotary driver 533; the two second drive shafts 531 are driven by a bevel gear 534, and one end of one second drive shaft 531 is connected to the rotating support frame 520, while one end of the other second drive shaft 531 is connected to the second coupling 532; the output end of the second rotary driver 533 is connected to the second coupling 532.

[0070] Continue to refer to Figure 3 Of the two second drive shafts 531, one is placed vertically, with its upper end fixedly connected to the rotating support frame 520 and its lower end keyed to one of the bevel gears 534; the other is placed horizontally, with its left end keyed to the other bevel gear 534 and its right end connected to the output shaft of the second rotary driver 533 via the second coupling 532. The second rotary driver 533 can be a motor. When the motor starts, the output power is transmitted sequentially through the second coupling 532, the second drive shaft 531, the bevel gear 534, and the second drive shaft 531 to the rotating support frame 520, driving the rotating support frame 520 to rotate, thereby realizing the horizontal rotation of the linear slide mechanism 300.

[0071] In the above-mentioned redundant parallel fracture reduction device, there are 15 degrees of freedom, while the ordinary moving platform 200 generally only has 6 degrees of freedom. The parallel mechanism installed on the slider 320 on the rotating support frame 520 can achieve redundant drive, thus expanding the degree of freedom to 9. Furthermore, the device is equipped with a horizontal drive component 530 and a tilt drive component 510, which makes the fixed base in the prior art rotatable, thus expanding the degree of freedom to 15, increasing the movement position and working space of the device, and improving the flexibility of the device.

[0072] The rotating support frame 520 for redundant drive can be used in different parallel structures. Since the rotating mechanism 500 of the rotating support frame 520 has 15 degrees of freedom, the parallel mechanism installed on the rotating support frame 520 can definitely achieve redundant drive. Therefore, the mechanism is versatile and widely applicable.

[0073] Further reference Figures 1 to 3The rotating mechanism 500 also includes a slide support 540; the slide support 540 is fixed to the base 100 and is provided with a first sliding rail 541 and a second sliding rail 542, both of which are arc-shaped; the first rotary driver 511 of the tilting drive assembly 510 and the rotating support frame 520 of the rotating mechanism 500 are slidably connected to the slide support 540 through the first sliding rail 541 and the second sliding rail 542, respectively.

[0074] Continue to refer to Figures 1 to 3 Both the first rotary actuator 511 and the rotating support frame 520 have limiting slide rods at their bottoms that slide in cooperation with corresponding sliding rails. The first rotary actuator 511 is embedded in the slide support 540 through the cooperation of the limiting slide rods and the first sliding rail 541, and can rotate around the axis of the second drive shaft 531 passing through the slide support 540. There are two second sliding rails 542, which are centrally symmetrical about the axis of the second drive shaft 531 passing through the slide support 540. The rotating support frame 520 has an irregular H-shaped structure, with two upper arms having mounting holes for mounting and cooperating with the linear slide 311. The two limiting slide rods at its bottom slide in cooperation with the two second sliding rails 542. With the above design, the first rotary actuator 511 and the rotating support frame 520 can only slide along the sliding rails, ensuring the stability of the linear slide mechanism 300 when rotating horizontally.

[0075] Further reference Figure 1 and Figure 2 The slide support 540 is also provided with an inclined bracket 543; the inclined bracket 543 is located on the inclined rotation path of the linear drive assembly 310, and can support the linear drive assembly 310 when the linear drive assembly 310 is in an inclined state relative to the base 100.

[0076] Further reference Figure 1 and Figure 5The six-bar telescopic mechanism 400 includes six telescopic rods 410; each telescopic rod 410 includes an upper telescopic cylinder 411 and a lower telescopic cylinder 412; one end of the upper telescopic cylinder 411 is disposed inside the lower telescopic cylinder 412 and can slide along the length direction of the lower telescopic cylinder 412, and the other end is hinged to the moving platform 200 through a U-shaped rotating joint 600; the end of the lower telescopic cylinder 412 away from the upper telescopic cylinder 411 is also hinged to the slider 320 through a U-shaped rotating joint 600. Here, by extending and shortening the upper telescopic cylinder 411, the range of motion of the six-bar telescopic mechanism 400 can be expanded and reduced. The U-shaped rotating joint 600 includes a first U-shaped frame 610, a second U-shaped frame 620, a cross shaft 630, and an end cap 640. The first U-shaped frame 610 and the second U-shaped frame 620 are staggered. The cross shaft 630 has a first shaft and a second shaft that are perpendicular to each other. The two ends of the first shaft are rotatably connected to the two sides of the first U-shaped frame 610, and the two ends of the second shaft are rotatably connected to the two sides of the second U-shaped frame 620. The end cap 640 is fixed to the U-shaped frame by bolts 650. In this U-shaped rotating joint 600, the first U-shaped frame 610 and the second U-shaped frame 620 are hinged, and their hinge axes are perpendicular to each other, so they can rotate in different directions, thereby allowing the moving platform 200 to change position with the movement of the lower six-bar telescopic mechanism 400 and the rotating mechanism 500.

[0077] In this embodiment, the redundant parallel fracture reduction device has a base 100 placed on the ground. Above the base 100, a rotating mechanism 500, a linear slide mechanism 300, a six-bar telescopic mechanism 400, and a moving platform 200 are sequentially arranged. The six-bar telescopic mechanism 400 and the linear slide mechanism 300 together form a redundant drive. The moving platform 200 rotates according to the rotation of the six-bar telescopic mechanism 400. The six-bar telescopic mechanism 400 is mounted on the linear slide mechanism 300 and is driven by the linear sliding of the slider 320 and the rotation of the U-shaped rotary joint 600, adapting to different clinical scenarios and increasing the flexibility of the mechanism. The rotating mechanism 500 is installed below the linear slide mechanism 300, providing support and driving the linear slide 311 to rotate horizontally and tilted, giving the linear slide 311 three states, increasing the mechanism's freedom of movement, breaking away from the previous fixed slide base structure, and increasing the reach of the moving platform 200. The movement process of the relevant structures during use is as follows:

[0078] refer to Figure 1 The tilt drive assembly 510 provides driving force through the first rotary driver 511, and the power is transmitted to the first coupling 512, thereby driving the first transmission shaft 513 to move. The first transmission shaft 513 then drives the linear slide 311 to rotate. When the linear slide 311 tilts and rotates to contact the tilt bracket 543, the first rotary driver 511 stops and self-locks. At this time, the linear slide 311 is in a tilted state.

[0079] When the slider 320 reciprocates along the sliding shaft 313 inside the linear slide 311, the cross shaft 630 rotates, driving the corresponding U-shaped frame to rotate. The U-shaped frame drives the six-bar telescopic mechanism 400 to rotate, and the telescopic upper cylinder 411 of each telescopic rod 410 of the six-bar telescopic mechanism 400 extends or shortens accordingly, automatically adjusting the range of motion. The telescopic upper cylinder 411 is connected to the moving platform 200 through the U-shaped rotating pair 600, so that the moving platform 200 realizes the movement of the linear slide 311 in the tilted state.

[0080] When the first rotary driver 511 starts, the first coupling 512 drives the first transmission shaft 513 to rotate in the opposite direction, the first transmission shaft 513 drives the linear slide 311 to rotate in the opposite direction, and finally, the linear slide 311 returns to the horizontal state, and the first rotary driver 511 stops and self-locks.

[0081] When the slider 320 reciprocates along the sliding shaft 313 inside the linear slide 311, the cross shaft 630 rotates, driving the corresponding U-shaped frame to rotate. The U-shaped frame drives the six-bar telescopic mechanism 400 to rotate, and the telescopic upper cylinder 411 of each telescopic rod 410 of the six-bar telescopic mechanism 400 extends or shortens accordingly, automatically adjusting the range of motion. The telescopic upper cylinder 411 is connected to the moving platform 200 through the U-shaped rotating joint 600, so that the moving platform 200 realizes the movement of the linear slide 311 in the first horizontal state. At this time, the three sets of linear slides 311 are star-shaped.

[0082] When the second rotary drive 533 starts, it provides driving force to rotate the second coupling 532. The second coupling 532 drives the second transmission shaft 531, which is in a horizontal state, to rotate. The second transmission shaft 531 drives the bevel gear 534 mounted on it to rotate. Another bevel gear 534 meshing with the bevel gear 534 drives the second transmission shaft 531, which is in a vertical state, to rotate, thereby converting the rotation into horizontal rotation. This drives the rotating support frame 520 to rotate horizontally, and the rotating support frame 520 drives the linear slide 311 to rotate. When the linear slide 311 rotates horizontally to a second horizontal state that is perpendicular to the first horizontal state, the second rotary drive 533 stops and self-locks.

[0083] When the slider 320 reciprocates along the sliding shaft 313 inside the linear slide 311, the cross shaft 630 rotates, driving the corresponding U-shaped frame to rotate. The U-shaped frame drives the six-bar telescopic mechanism 400 to rotate, and the telescopic upper cylinder 411 of each telescopic rod 410 of the six-bar telescopic mechanism 400 extends or shortens accordingly, automatically adjusting the range of motion. The telescopic upper cylinder 411 is connected to the moving platform 200 through the U-shaped rotating pair 600, so that the moving platform 200 realizes the movement of the linear slide 311 in the second horizontal state.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A redundant parallel bone fracture reduction device, comprising: The utility model relates to a six-pole telescopic mechanism (400) and a rotating mechanism (500) between the base (100) and the movable platform (200), and the six-pole telescopic mechanism (400) is hinged between the movable platform (200) and three groups of the sliding block (320) to form a Stewart mechanism. The utility model relates to a six-pole telescopic mechanism (400) and a rotating mechanism (500) between the base (100) and the movable platform (200), and the six-pole telescopic mechanism (400) is hinged between the movable platform (200) and three groups of the sliding block (320) to form a Stewart mechanism. The utility model relates to a six-pole telescopic mechanism (400) and a rotating mechanism (500) between the base (100) and the movable platform (200), and the six-pole telescopic mechanism (400) is hinged between the movable platform (200) and three groups of the sliding block (320) to form a Stewart mechanism. The utility model relates to a six-pole telescopic mechanism (400) and a rotating mechanism (500) between the base (100) and the movable platform (200), and the six-pole telescopic mechanism (400) is hinged between the movable platform (200) and three groups of the sliding block (320) to form a Stewart mechanism. The utility model relates to a six-pole telescopic mechanism (400) and a rotating mechanism (500) between the base (100) and the movable platform (200), and the six-pole telescopic mechanism (400) is hinged between the movable platform (200) and three groups of the sliding block (320) to form a Stewart mechanism. The utility model relates to a six-pole telescopic mechanism (400) and a rotating mechanism (500) between the base (100) and the movable platform (200), and the six-pole telescopic mechanism (400) is hinged between the movable platform (200) and three groups of the sliding block (320) to form a Stewart mechanism. The utility model relates to a six-pole telescopic mechanism (400) and a rotating mechanism (500) between the base (100) and the movable platform (200), and the six-pole telescopic mechanism (400) is hinged between the movable platform (200) and three groups of the sliding block (320) to form a Stewart mechanism. The utility model relates to a six-pole telescopic mechanism (400) and a rotating mechanism (500) between the base (100) and the movable platform (200), and the six-pole telescopic mechanism (400) is hinged between the movable platform (200) and three groups of the sliding block (320) to form a Stewart mechanism. The utility model relates to a six-pole telescopic mechanism (400) and a rotating mechanism (500) between the base (100) and the movable platform (200), and the six-pole telescopic mechanism (400) is hinged between the movable platform (200) and three groups of the sliding block (320) to form a Stewart mechanism. The utility model relates to a six-pole telescopic mechanism (400) and a rotating mechanism (500) between the base (100) and the movable platform (200), and the six-pole telescopic mechanism (400) is hinged between the movable platform (200) and three groups of the sliding block (320) to form a Stewart mechanism. The utility model relates to a six-pole telescopic mechanism (400) and a rotating mechanism (500) between the base (100) and the movable platform (200), and the six-pole telescopic mechanism (400) is hinged between the movable platform (200) and three groups of the sliding block (320) to form a Stewart mechanism. The utility model relates to a six-pole telescopic mechanism (400) and a rotating mechanism (500) between the base (100) and the movable platform (200), and the six-pole telescopic mechanism (400) is hinged between the movable platform (200) and three groups of the sliding block (320) to form a Stewart mechanism. The utility model relates to a six-pole telescopic mechanism (400) and a rotating mechanism (500) between the base (100) and the movable platform (200), and the six-pole telescopic mechanism (400) is hinged between the movable platform (200) and three groups of the sliding block (320) to form a Stewart mechanism. The utility model relates to a six-pole telescopic mechanism (400) and a rotating mechanism (500) between the base (100) and the movable platform (200), and the six-pole telescopic mechanism (400) is hinged between the movable platform (200) and three groups of the sliding block (320) to form a Stewart mechanism. The utility model relates to a six-pole telescopic mechanism (400) and a rotating mechanism (500) between the base (100) and the movable platform (200), and the six-pole telescopic mechanism (400) is hinged between the movable platform (200) and three groups of the sliding block (320) to form a Stewart mechanism. The utility model relates to a six-pole telescopic mechanism (400) and a rotating mechanism (500) between the base (100) and the movable platform (200), and the six-pole telescopic mechanism (400) is hinged between the movable platform (200) and three groups of the sliding block (320) to form a Stewart mechanism.

2. The redundant parallel bone fracture reduction device of any one of claims 1, wherein, The utility model relates to a six-pole telescopic mechanism (400) and a rotating mechanism (500) between the base (100) and the movable platform (200), and the six-pole telescopic mechanism (400) is hinged between the movable platform (200) and three groups of the sliding block (320) to form a Stewart mechanism. The utility model relates to a six-pole telescopic mechanism (400) and a rotating mechanism (500) between the base (100) and the movable platform (200), and the six-pole telescopic mechanism (400) is hinged between the movable platform (200) and three groups of the sliding block (320) to form a Stewart mechanism. The utility model relates to a six-pole telescopic mechanism (400) and a rotating mechanism (500) between the base (100) and the movable platform (200), and the six-pole telescopic mechanism (400) is hinged between the movable platform (200) and three groups of the sliding block (320) to form a Stewart mechanism. The utility model relates to a six-pole telescopic mechanism (400) and a rotating mechanism (500) between the base (100) and the movable platform (200), and the six-pole telescopic mechanism (400) is hinged between the movable platform (200) and three groups of the sliding block (320) to form a Stewart mechanism. The utility model relates to a six-pole telescopic mechanism (400) and a rotating mechanism (500) between the base (100) and the movable platform (200), and the six-pole telescopic mechanism (400) is hinged between the movable platform (200) and three groups of the sliding block (320) to form a Stewart mechanism. The utility model relates to a six-pole telescopic mechanism (400) and a rotating mechanism (500) between the base (100) and the movable platform (200), and the six-pole telescopic mechanism (400) is hinged between the movable platform (200) and three groups of the sliding block (320) to form a Stewart mechanism. The utility model relates to a six-pole telescopic mechanism (400) and a rotating mechanism (500) between the base (100) and the movable platform (200), and the six-pole telescopic mechanism (400) is hinged between the movable platform (200) and three groups of the sliding block (320) to form a Stewart mechanism. The utility model relates to a six-pole telescopic mechanism (400) and a rotating mechanism (500) between the base (100) and the movable platform (200), and the six-pole telescopic mechanism (400) is hinged between the movable platform (200) and three groups of the sliding block (320) to form a Stewart mechanism. The utility model relates to a six-pole telescopic mechanism (400) and a rotating mechanism (500) between the base (100) and the movable platform (200), and the six-pole telescopic mechanism (400) is hinged between the movable platform (200) and three groups of the sliding block (320) to form a Stewart mechanism. The utility model relates to a six-pole telescopic mechanism (400) and a rotating mechanism (500) between the base (100) and the movable platform (200), and the six-pole telescopic mechanism (400) is hinged between the movable platform (200) and three groups of the sliding block (320) to form a Stewart mechanism. The utility model relates to a six-pole telescopic mechanism (400) and a rotating mechanism (500) between the base (100) and the movable platform (200), and the six-pole telescopic mechanism (400) is hinged between the movable platform (200) and three groups of the sliding block (320) to form a Stewart mechanism. The utility model relates to a six-pole telescopic mechanism (400) and a rotating mechanism (500) between the base (100) and the movable platform (200), and the six-pole telescopic mechanism (400) is hinged between the movable platform (200) and three groups of the sliding block (320) to form a Stewart mechanism. The utility model relates to a six-pole telescopic mechanism (400) and a rotating mechanism (500) between the base (100) and the movable platform The slide support base (540) is fixed to the base (100) and is provided with a first sliding track (541) and a second sliding track (542) which are both circular arcs; The first rotating driver (511) of the tilt driving assembly (510) and the rotating support frame (520) of the rotating mechanism (500) are respectively slidably connected with the slide support base (540) through the first sliding track (541) and the second sliding track (542).

3. The redundant parallel bone fracture reduction device of claim 2, wherein, The slide support base (540) is further provided with a tilt support (543); The tilt support (543) is located on the tilt rotating path of the linear driving assembly (310) and can support the linear driving assembly (310) when the linear driving assembly (310) is in a tilt state relative to the base (100).

4. The redundant parallel bone fracture reduction device of claim 1, wherein, The linear driving assembly (310) comprises a linear slide (311), a slide end cover (312) and a sliding shaft (313); The linear slide (311) is in the shape of a drawer; The slide end cover (312) is fixed to the opening end of the linear slide (311); The sliding shaft (313) is arranged along the extension direction of the linear slide (311) and is connected to the linear slide (311) at one end and to the slide end cover (312) at the other end; The slide block (320) is arranged in the linear slide (311) and is sleeved on the sliding shaft (313).

5. The redundant parallel bone fracture reduction device of claim 1, wherein, The six-bar telescopic mechanism (400) comprises six telescopic rods (410); Each telescopic rod (410) comprises a telescopic upper cylinder (411) and a telescopic lower cylinder (412); One end of the telescopic upper cylinder (411) is arranged in the telescopic lower cylinder (412) and can slide along the length direction of the telescopic lower cylinder (412), and the other end is hingedly connected to the movable platform (200); The end of the telescopic lower cylinder (412) away from the telescopic upper cylinder (411) is hingedly connected to the slide block (320).

6. The redundant parallel bone fracture reduction device of claim 1, wherein, The six-bar telescopic mechanism (400), the movable platform (200) and the slide block (320) are all hingedly connected through a U-shaped rotating pair (600); The U-shaped rotating pair (600) comprises a first U-shaped frame (610), a second U-shaped frame (620) and a cross shaft (630); The first U-shaped frame (610) and the second U-shaped frame (620) are arranged alternately; The cross shaft (630) has a first shaft and a second shaft which are perpendicular to each other, wherein the two ends of the first shaft are respectively hingedly connected to the two side portions of the first U-shaped frame (610), and the two ends of the second shaft are respectively hingedly connected to the two side portions of the second U-shaped frame (620).

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