A screw clamping device for guiding and reducing a fracture reduction surgery robot

Abstract

A screw clamping device for guiding and reducing of fracture reduction surgery robot in the technical field of medical devices, including basic frame, short lead screw sliding table module, long lead screw sliding table module, side lead screw sliding table module, aluminum profile trolley, universal joint module, holding screw; three short lead screw sliding table modules are connected on the basic frame through angle connectors, the bases of two long lead screw sliding table modules and the base of one side lead screw sliding table module are fixed on the sliding table parts of the three short lead screw sliding table modules through connectors respectively; the other sides of the two long lead screw sliding table modules are connected on two aluminum profile trolleys respectively; three universal joint modules are respectively arranged on the sliding tables of the two long lead screw sliding table modules and the side sliding table module. The universal joint module can move to the designated position in advance without inserting the holding screw, and provides direction guidance for the doctor to implant the holding screw. The device can be used for multiple purposes, and can assist in the two surgical steps of implantation and reduction.

Description

TECHNICAL FIELD

[0001] The present application relates to a screw clamping device in the technical field of medical devices, in particular to a screw clamping device with three gimbal modules for guiding and reducing a fracture reduction surgery robot. BACKGROUND

[0002] The mortality rate of fractures, especially complex fractures, is high, and pelvic fractures are a case of complex fractures. Currently, the treatment of pelvic fractures in clinical practice mostly relies on manual implantation of holding screws by doctors, and then manually pulling the holding screws to drive the pelvis to move, thereby achieving bone fracture reduction. This process is time-consuming and labor-intensive, and is extremely difficult, relying heavily on the clinical experience of doctors, and there is also a risk of damaging surrounding blood vessels and nerve tissue. Most current inventions are essentially medical stents that assist doctors in moving and adjusting the position of the holding screw and fixing it. The surgical process still relies on manual implementation of bone fracture reduction by doctors.

[0003] For example, Chinese patent CN307449716S discloses a pelvic fracture reduction device that can accurately control the holding screw by adjusting the position of each component, but relies on manual operation by doctors for reduction. Chinese patent CN211985639U also discloses a pelvic reduction device with high reduction accuracy, but its frame structure is complex, and the number of holes drilled into the pelvis is large, causing significant trauma to the pelvis. This device also relies on manual operation.

[0004] On the other hand, device systems for fractures in other locations are difficult to apply to pelvic fractures. For example, the Taylor brace is suitable for fractures of long and slender bones such as limbs, while devices similar to industrial robot arms have safety hazards due to workspace redundancy, occupy a large volume, and are difficult to control.

[0005] In summary, traditional technical solutions still rely on manual control by doctors, and cannot overcome the problem of high surgical difficulty and reliance on clinical experience. Common automated devices have not been optimized and adapted for the scenario of pelvic fractures. Current technical solutions do not completely solve the various difficulties in pelvic fracture surgery. SUMMARY

[0006] The present application addresses the shortcomings of the prior art and proposes a screw clamping device for guiding and reducing a fracture reduction surgery robot. The present application uses a lead screw sliding table to control movement, which has high movement accuracy and slow movement speed, and is safe. The present application can be directly mounted on a common surgical bed, reducing the space occupied in the operating room and reducing the disturbance to doctors.

[0007] The application is realized by the following technical scheme, the application comprises a basic framework, a short lead screw sliding table module, a long lead screw sliding table module, a side lead screw sliding table module, an aluminum profile trolley, a universal joint module and a holding screw, the basic framework is a cuboid structure and is made of aluminum profiles; the universal joint module comprises a universal joint base, a universal joint sliding table, a rotating fork, a rotating plate and a hole, the universal joint base is fixed on the universal joint sliding table of the lead screw sliding table module, the shaft of the rotating fork is fixed in the hole of the universal joint base through a bearing, the two rotating shafts of the rotating plate are fixed in the two holes of the rotating fork through bearings, and the hole on the rotating plate is used for limiting the holding screw; there are three short lead screw sliding table modules, two long lead screw sliding table modules and one side lead screw sliding table module, and there are two aluminum profile trolleys and three universal joint modules; the three short lead screw sliding table modules are connected to the basic framework through angle connecting pieces, the bases of the two long lead screw sliding table modules and the base of the side lead screw sliding table module are fixed on the sliding table parts of the three short lead screw sliding table modules through connecting pieces, and the long lead screw sliding table module and the side lead screw sliding table module can move together with the sliding table of the short lead screw sliding table module; the other sides of the two long lead screw sliding table modules are connected to the two aluminum profile trolleys respectively, the aluminum profile trolleys have four rollers and can be placed on the basic framework to move, thereby providing support for the long lead screw sliding table module; three universal joint modules are arranged on the sliding tables of the two long lead screw sliding table modules and the side sliding table module respectively; the holes on the three universal joint modules constrain two holding screws respectively.

[0008] Compared with the prior art, the application has the following beneficial effects:

[0009] Firstly, the universal joint module of the application can move to a specified position in advance without inserting the holding screw, thereby providing direction guidance for the doctor to implant the holding screw. The application can be used for multiple purposes and can assist in the implantation and reduction steps at the same time.

[0010] Secondly, the application adopts the lead screw sliding table to control movement, has high movement precision, slow movement speed and high safety.

[0011] Thirdly, the application can be directly placed on a common operating bed, thereby reducing the space occupation of the operating room and reducing the interference with the doctor.

[0012] Fourthly, the application can be accurately controlled by an external computer program to drive the universal joint module to move, so that the pelvis moves along a specified path, without manual operation of the doctor, thereby greatly reducing the difficulty of the operation and improving the safety.

[0013] Fifthly, the time required for the reduction process of the application is within 2 minutes, thereby greatly saving the operation time.

[0014] Sixthly, the application has low noise during operation and small interference with the operation process. BRIEF DESCRIPTION OF DRAWINGS

[0015] Fig. 1 Structure diagram of the embodiment of the present application;

[0016] Fig. 2 Structure diagram of the single gimbal module in the embodiment of the present application;

[0017] Fig. 3 Structure diagram of the upper two gimbal modules in the embodiment of the present application;

[0018] Wherein, 1, basic frame, 2, short lead screw sliding table module, 3, long lead screw sliding table module, 4, side lead screw sliding table module, 5, aluminum profile trolley, 6, gimbal module, 7, holding screw, 8, pelvis, 9, gimbal base, 10, gimbal sliding table, 11, rotating fork, 12, rotating plate, 13, hole. DETAILED DESCRIPTION

[0019] The embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments are based on the technical scheme of the present application, and give detailed implementation and specific operation process, but the protection scope of the present application is not limited to the following embodiments.

[0020] Embodiments

[0021] As Figs. 1 to 3As shown, the embodiment of the present application comprises a basic frame 1, short lead screw slide module 2, long lead screw slide module 3, side lead screw slide module 4, aluminum profile trolley 5, universal joint module 6, holding screw 7, pelvis 8, the basic frame 1 is a cuboid structure, the basic frame 1 is made of aluminum profile; the universal joint module 6 comprises a universal joint base 9, a universal joint slide 10, a rotating fork 11, a rotating plate 12, a hole 13, the universal joint base 9 is fixed on the universal joint slide 10 of the lead screw slide module, the shaft of the rotating fork 11 is fixed in the hole of the universal joint base 9 through a bearing, the two rotating shafts of the rotating plate 12 are fixed in the two holes of the rotating fork 11 through bearings, and the hole 13 of the rotating plate 12 is used to limit the holding screw 7; the short lead screw slide module 2 has three, the long lead screw slide module 3 has two, the side lead screw slide module 4 has one, the aluminum profile trolley 5 has two, and the universal joint module 6 has three; the three short lead screw slide modules 2 are connected to the basic frame 1 through angle connectors, the bases of the two long lead screw slide modules 3 and the base of the side lead screw slide module 4 are fixed on the slide parts of the three short lead screw slide modules 2 through connectors respectively, and the long lead screw slide module 3 and the side lead screw slide module 4 can move together with the slide of the short lead screw slide module 2; the other sides of the two long lead screw slide modules 3 are connected to the two aluminum profile trolleys 5 respectively, the aluminum profile trolley 5 has four rollers and can be placed on the basic frame 1 to move, thereby providing support for the long lead screw slide module 3; three universal joint modules 6 are respectively arranged on the slides of the two long lead screw slide modules 3 and the side slide module 4; the holes 13 of the three universal joint modules 6 respectively constrain two holding screws 7, so as to position and hold the pelvis 8 fixed by the holding screw 7, and the hole 13 can theoretically face any direction in space.

[0022] In the implementation process of the present application, when the holding screw 7 is implanted, the motors of the uppermost two short lead screw slide modules 2 and the two long lead screw slide modules 3 are controlled to drive the lead screws to rotate, so that the slide of the long lead screw slide module 3 moves in two directions, and the two universal joint modules 6 on the slide also move to the specified position. The positions of the holes 13 of the two universal joint modules constitute a specific straight line in space, the direction of the holes 13 of the two universal joint modules is adjusted along the straight line, and then the holding screw 7 is inserted into the two holes 13 along the straight line, so that the direction of the holding screw 7 in space is completely determined, thereby providing direction guidance for the doctor to implant the holding screw 7.

[0023] When the bone reduction step is performed, two holding screws 7 are implanted on the pelvis 8 according to the above method, the upper holding screw 7 is in contact with two universal joint modules 6, the two universal joint modules 6 kinematically form a pair of movable cylindrical pairs, thereby restricting 4 degrees of freedom of the holding screw 7 and the pelvis 8 fixed therewith; the side holding screw 7 is in contact with a universal joint module 6, the universal joint module 6 kinematically forms a cylindrical pair to restrict 2 degrees of freedom. The three universal joint modules 6 together restrict 6 degrees of freedom, realize the complete determination of the position of the pelvis 8, and with the translational movement of the three universal joint modules 6, the position of the pelvis 8 also changes accordingly. During the surgical reduction, by controlling the 6 motors to drive the three universal joint modules 6 to move translationally, the movement of the pelvis 8 can be completely controlled, so that the pelvis 8 moves to the specified position according to the preset path of the doctor, and the reduction of the pelvis is completed.

[0024] The above embodiments only exemplarily illustrate the design principles and use effects of the present application, and are not used to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes completed by those skilled in the art without departing from the spirit and technical thought disclosed by the present application should be covered by the claims of the present application.

Claims

1. A screw clamping device for guiding and reduction of a fracture reduction surgery robot, comprising a basic frame (1), the basic frame (1) is a cuboid structure, the basic frame (1) is made of aluminum profile, characterized in that, It also includes short screw slide module (2), long screw slide module (3), side screw slide module (4), aluminum profile trolley (5), universal joint module (6), holding screw (7); The universal joint module (6) includes universal joint base (9), universal joint slide (10), rotating fork (11), rotating plate (12), hole (13), the universal joint base (9) is fixed on the universal joint slide (10) of the screw slide module, the shaft of the rotating fork (11) is fixed in the hole of the universal joint base (9) through the bearing, the two rotating shafts of the rotating plate (12) are fixed in the two holes of the rotating fork (11) through the bearing, and the hole (13) on the rotating plate (12) is used to limit the holding screw (7); The short screw slide module (2) has three, the long screw slide module (3) has two, the side screw slide module (4) has one, the aluminum profile trolley (5) has two, and the universal joint module (6) has three; Three short screw slide modules (2) are connected on the basic frame (1) through angle connectors, the bases of two long screw slide modules (3) and the base of one side screw slide module (4) are fixed on the slide parts of the three short screw slide modules (2) through connectors, respectively, the long screw slide module (3) and the side screw slide module (4) can move together with the slide of the short screw slide module (2); The other sides of the two long screw slide modules (3) are connected on the two aluminum profile trolleys (5), respectively, the aluminum profile trolley (5) has four rollers and can be placed on the basic frame (1) to move and provide support for the long screw slide module (3); three universal joint modules (6) are arranged on the slides of the two long screw slide modules (3) and the side screw slide module (4), respectively; the holes (13) of the three universal joint modules (6) constrain two holding screws (7), respectively; When the holding screw (7) is implanted, the motors of the uppermost two short screw slide modules (2) and the two long screw slide modules (3) are controlled to move, the positions of the holes (13) of the two universal joint modules form a specific straight line in space, the orientations of the holes (13) of the two universal joint modules are adjusted to the direction along the straight line, and then the holding screw (7) is inserted into the two holes (13) along the straight line; When the bone reduction is performed, the two holding screws (7) are implanted on the pelvis according to the above steps, the upper holding screw (7) is in contact with the two universal joint modules (6), the two universal joint modules (6) form a movable cylindrical pair in kinematics; the side holding screw (7) is in contact with one universal joint module (6), and the universal joint module (6) forms a cylindrical pair to constrain two degrees of freedom in kinematics; the three universal joint modules (6) together constrain six degrees of freedom, and the position of the pelvis is completely determined; When the reduction is performed, the six motors are controlled to drive the three universal joint modules (6) to move, so that the movement of the pelvis can be completely controlled, the pelvis can be moved to a specified position according to the preset path of the doctor, and the reduction of the pelvis is completed.

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