Traditional Chinese Medicine Bone-setting Robot for Ankle Fractures

Abstract

The present invention provides a traditional Chinese medicine bone-setting robot suitable for ankle fractures. The robot comprises a leg fixing component, a flipping bone-setting component, an auxiliary bone-setting component, a traction component, a computer and a binocular vision camera. The flipping bone-setting component and the auxiliary bone-setting component are respectively arranged on both sides of the leg fixing component, the traction component is located at the leg fixing part of the leg fixing component, the computer and the binocular vision camera are respectively arranged on both sides of the leg fixing component, the present invention is provided with a flipping bone-setting platform, an auxiliary bone-setting platform and a traction component, a unified coordinate system is established through the binocular vision camera, and ankle resetting is realized through collaborative operation, the flipping bone-setting platform realizes flipping of the ankle, and the auxiliary bone-setting platform realizes support and pressing of the ankle fracture line, the present invention obtains a bone-setting resetting path by analyzing an X-ray film by a computer, and realizes ankle bone-setting resetting by simulating traditional Chinese medicine manipulation through the coordination of various components.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a traditional Chinese medicine bone-setting robot suitable for ankle fractures. Background Art

[0002] Ankle injuries are common, and the orthopedic departments of some hospitals are very busy. Therefore, a variety of orthopedic robots have appeared to improve the efficiency of orthopedics.

[0003] As disclosed in the document with publication number CN108210062A, an ankle fusion surgical robot is disclosed, which includes a fixing pin with a self-guiding function for fixing the ankle joint; a fixing pin conveying system for storing, selecting and conveying the fixing pins; a fixing pin driving system for driving the fixing pins into the ankle joint; a manipulator with seven degrees of freedom for transferring the fixing pins from the conveying system to the driving system; a navigation system for fixing the fixing pins and determining the spatial position of the fixing pins, including a fixing device and a CT scanner; a control system for controlling the fixing pin conveying system, the fixing pin driving system, the manipulator and the navigation system.

[0004] There is also a document with publication number CN113478499A, which discloses a bone-setting robot, including a left bone-setting manipulator, a right bone-setting manipulator, a lifting mechanism, an X-ray machine, a support bed, a traction and rotation mechanism, an bone-setting base, a punching robot arm, and a clamping part; the support bed is used to support the patient's torso; the X-ray machine is used to see through the broken leg and form an image on the display; the punching robot arm is used to drill a hole in the fracture; a slide rail and a cushion support are fixed on the bone-setting base, the lifting mechanism is slidably connected to the bone-setting base, the right bone-setting manipulator is connected to the lifting mechanism, the lifting mechanism is slidably connected to the traction and rotation mechanism, and the lifting mechanism drives the traction and rotation mechanism to rise and fall; the left bone-setting manipulator is connected to the cushion support; the left bone-setting manipulator and the right bone-setting manipulator are used to fix the torso on both sides of the fracture; the left bone-setting manipulator and the right bone-setting manipulator are both provided with a clamping part.

[0005] The above-mentioned literature adopts the concept of Western medicine, and the fracture is reduced by inserting Kirschner wires or nail holes, which may cause damage to the human body. Traditional Chinese medicine bone-setting techniques have become a popular bone-setting technique for patients because of their non-surgical and non-invasive fast bone-setting. However, traditional Chinese medicine bone-setting is too dependent on the doctor's skills, which greatly increases the workload of traditional Chinese medicine bone-setting doctors. Therefore, it is necessary to develop a traditional Chinese medicine bone-setting robot that inherits traditional Chinese medicine techniques and is suitable for ankle fractures. Summary of the invention

[0006] In view of the problems existing in the prior art, the present invention provides a traditional Chinese medicine bone-setting robot suitable for ankle fractures. The robot is provided with a flipping bone-setting platform, an auxiliary bone-setting platform and a traction component. A unified coordinate system is established through a binocular vision camera, and the ankle is repositioned through collaborative operation. The flipping bone-setting platform is used to flip the ankle, and the auxiliary bone-setting platform is used to support and press the ankle fracture line. The robot obtains a bone-setting resetting path by analyzing X-rays with a computer, and simulates traditional Chinese medicine bone-setting techniques through the coordination of various components to achieve automated bone-setting resetting of the ankle without surgery, which is beneficial to improving bone-setting efficiency and reducing damage to the human body.

[0007] The present invention provides a traditional Chinese medicine bone-setting robot suitable for ankle fractures, which comprises a leg fixing component, an auxiliary bone-setting component, a traction component and a mobile platform, wherein the leg fixing component comprises a base, a lifting column, an adjustment frame, a bracket, a support pad, a first cylinder, a first cylinder bracket, a second cylinder, a second cylinder bracket and an arc-shaped slider, wherein the lifting column is arranged above the base and slidably connected to the base, the adjustment frame is arranged on the base, the bracket is fixedly connected to the lifting column, the support pad is arranged above the bracket, the first cylinder is symmetrically installed on both sides of the support pad through the first cylinder bracket, and the second cylinder is symmetrically installed on both sides of the support pad through the first cylinder bracket. The two-cylinder bracket is arranged on the first end face of the support pad, and the arc-shaped sliding block is fixedly connected to the piston rods of the first cylinder and the second cylinder respectively, and passes through the support pad and is slidably connected to the support pad; the auxiliary bone-setting component includes a second tool table, a second mechanical arm and a pressing mechanism, the second mechanical arm is arranged above the second tool table, the first end of the outer shell of the pressing mechanism is fixedly connected to the end effector of the second mechanical arm, the pressing mechanism includes an outer shell, a spring slot, a spring, a flexible pressing head and a pressure sensor, the spring slot is arranged on the inner side of the first end of the outer shell, the spring is arranged inside the spring slot, the flexible pressing head The first end of the head is arranged inside the spring, the middle position of the flexible pressing head is slidably connected to the second end of the outer shell, and the pressure sensor is arranged outside the second end of the flexible pressing head; the traction assembly includes a base, a mobile platform, a ball joint base, a locking ring, a fixing screw, a ball joint support and a fixing shoe, the mobile platform is arranged on the base through the first module seat, the first end of the ball joint base is fixedly connected to the third slide of the mobile platform, the locking ring is arranged on the outside of the second end of the ball joint base, the fixing screw is symmetrically arranged on the threaded hole of the locking ring, and the spherical end of the ball joint support is rollingly connected to the inner side of the second end of the ball joint base The first end of the bottom plate of the fixed shoe is fixedly connected to the connecting end of the ball joint support through a bolt; the mobile platform includes a first module, a slide rail, an I-shaped bracket, a slider, a module bracket, a second module and a third module, the slide rails are symmetrically arranged on both sides of the first module and connected to the base, the first end of the I-shaped bracket is slidably connected to the slide rail through the slider, the first end of the module bracket is slidably connected to the first module and the slide rail through the first slide and the I-shaped bracket respectively, the second module seat of the second module is fixedly connected to the second end of the module bracket, and the third module seat of the third module is fixedly connected to the second slide of the second module.

[0008] Preferably, the present invention provides a traditional Chinese medicine bone-setting robot suitable for ankle fractures, further comprising a flip bone-setting component, wherein the flip bone-setting component comprises a first tool bench, a first robotic arm and a robotic hand, wherein the first robotic arm is arranged above the first tool bench, and the robotic hand is arranged on the end effector of the first robotic arm.

[0009] Preferably, the fixed shoe includes a base plate, a shoe body slide rail, a sliding platform, a first strap, an airbag, an airbag inflation ball, a heel seat and a second strap, the shoe body slide rail is arranged on the central axis of the second end of the base plate, the first strap is slidably connected to the shoe body slide rail through the sliding platform, the airbag is symmetrically arranged on the inner side of the first strap, the airbag inflation ball is connected to the airbag through a rubber tube and is arranged on the outer side of the first strap, the heel seat is fixedly connected to the base plate, and the second strap is arranged on the heel seat.

[0010] Preferably, a spherical groove is provided at the second end of the spherical joint base, and the spherical end of the spherical joint support can be placed in the spherical groove.

[0011] Preferably, the locking ring is provided on the outer side of the spherical groove of the ball joint base, threaded holes are symmetrically provided on the locking ring, and the ball joint support can rotate a maximum of 60 degrees in all directions of the ball joint base.

[0012] Preferably, the first strap is an adhesive strap that is fixedly connected by adhesion between the straps, and the second strap is a buckle strap, and strap grooves are symmetrically provided on one side of the heel seat, and the second strap passes through the strap groove and is connected by buckle.

[0013] Preferably, slots are provided at the output shaft positions of the first cylinder and the second cylinder of the support pad, and the arc-shaped sliding block is wrapped with a flexible material and moves along the slots of the support pad.

[0014] Preferably, the first cylinder is a single-piston rod cylinder, the piston rod is connected to the arc-shaped slider, driving the arc-shaped slider to move toward the middle, and the second cylinder is a double-piston rod cylinder, the piston rod is also connected to the arc-shaped slider, driving the two arc-shaped sliders to move in opposite directions outward.

[0015] Preferably, a binocular vision camera is further included, and the binocular vision camera establishes a unified space coordinate system for each component.

[0016] Preferably, a thin film pressure sensor is used at the lower end of the flexible pressing head in the pressing mechanism.

[0017] The characteristics and beneficial effects of the present invention are:

[0018] 1. The present invention is suitable for a TCM bone-setting robot for ankle fractures. It inherits the concept of TCM, simulates TCM techniques, and is provided with a flip bone-setting platform, an auxiliary bone-setting platform, and a traction component. A unified coordinate system is established through binocular vision cameras, and the ankle is repositioned through collaborative operation. After repositioning, the fracture line can also be pressed, simulating TCM repositioning to reposition the protruding fracture line by pressing and pushing the fracture line. The accuracy of repositioning is improved through real-time data transmission of the pressure sensor.

[0019] 2. The present invention is suitable for a TCM bone-setting robot for ankle fractures. The traction assembly is connected by a ball joint. While maintaining traction on the ankle, it can achieve rotation, flexion, extension, lifting and pressing, and swinging touch in various degrees of freedom according to the fracture type, thereby improving the practicality of the bone-setting robot. The leg fixing device combined with the traction assembly can accurately control the traction force through the lead screw motor mechanism, achieving leg fixation and extension traction, which is beneficial to the subsequent flipping and resetting.

[0020] 3. In addition, the present invention is suitable for a traditional Chinese medicine bone-setting robot for ankle fractures. The sliding platform in the fixed shoe cooperates with the slide rail, and the position of the sliding platform can be adjusted according to the size of the patient's foot. The air bag, adhesive straps and snap-on straps in the fixed shoe can prevent the foot from relative displacement with the fixed shoe, thereby preventing iatrogenic injuries and improving safety during the reduction process. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic structural diagram of a TCM bone-setting robot suitable for ankle fractures of the present invention;

[0022] Figure 2 This is a schematic diagram of the various mechanism platforms of the present invention coordinating bone setting;

[0023] Figure 3 is a schematic structural diagram of a leg fastener assembly of the present invention;

[0024] Figure 4 It is a schematic diagram of the structure of the flip bone-setting component of the present invention;

[0025] Figure 5 It is a schematic diagram of the structure of the auxiliary bone-setting component of the present invention;

[0026] Figure 6 It is a structural schematic diagram of the pressing mechanism in the auxiliary bone-setting component of the present invention;

[0027] Figure 7 It is a schematic structural diagram of the traction bone-setting assembly of the present invention;

[0028] Figure 8 It is a schematic diagram of the structure of the fixation shoe in the traction bone-setting platform of the present invention;

[0029] Fig. 9 It is a front view structural schematic diagram of a fixation shoe in the traction bone-setting platform of the present invention;

[0030] Fig.10 This is a schematic diagram of the traditional Chinese medicine ankle joint resetting technique.

[0031] Main reference numerals:

[0032] Leg fixing component 1, base 101, lifting column 102, adjustment frame 103, bracket 104, support pad 105, first cylinder 106, first cylinder bracket 107, second cylinder 108, second cylinder bracket 109, arc slider 110, flip bone setting component 2, first tool table 21, first mechanical arm 22, manipulator 23, auxiliary bone setting component 3, second tool table 31, second mechanical arm 32, pressing mechanism 33, outer shell 331, spring slot 332, spring 333, flexible pressing head 334, pressure sensor 335, traction component 4, base 41, mobile platform 42, first module 421, first Module seat 4211, first slide 4212, slide rail 422, I-shaped bracket 423, slider 424, module bracket 425, second module 426, second module seat 4261, second slide 4262, third module 427, third module seat 4271, third slide 4272, ball joint base 43, locking ring 44, set screw 45, ball joint support 46, fixed shoe 47, bottom plate 471, shoe body slide rail 472, sliding platform 473, first strap 474, airbag 475, airbag inflatable ball 476, heel seat 477, second strap 478, flexible insole 479, computer 5, binocular vision camera 6. DETAILED DESCRIPTION

[0033] In order to fully describe the technical content, structural features, objectives and effects of the present invention, the following will be described in detail with reference to the accompanying drawings.

[0034] The present invention is applicable to a traditional Chinese medicine bone setting robot for ankle fractures, such as Figure 1 As shown, it includes a leg fixing component 1, a flipping bone-setting component 2, an auxiliary bone-setting component 3, a traction component 4, a computer 5 and a binocular vision camera 6. The flipping bone-setting component 2 and the auxiliary bone-setting component 3 are respectively arranged on both sides of the leg fixing component 1, the traction component 4 is located at the leg fixing part of the leg fixing component 1, the computer 5 and the binocular vision camera 6 are respectively located on both sides of the leg fixing component 1, and the binocular vision camera 6 and the auxiliary bone-setting component 3 are located on the same side of the leg fixing component 1.

[0035] like Figure 2As shown, Ⅰ represents the leg fixation component 1 for fixation of the calf, Ⅱ the traction component 4 for traction of the ankle, Ⅲ the auxiliary bone-setting component 3 can support the ankle joint and transfer the rotation center to the ankle joint, Ⅳ the flipping bone-setting component 2 for flipping the ankle, and after the reduction is completed, the auxiliary bone-setting component 3 can also be used to press and detect the reduction effect of the fracture line.

[0036] like Figure 3 As shown, the leg fixing assembly 1 includes a base 101, a lifting column 102, an adjustment frame 103, a bracket 104, a support pad 105, a first cylinder 106, a first cylinder bracket 107, a second cylinder 108, a second cylinder bracket 109 and an arc-shaped slider 110. The lifting column 102 is arranged above the base 101 and is slidably connected to the base 101. The adjustment frame 103 is arranged on the base 101. The bracket 104 is fixedly connected to the lifting column 102. The support pad 105 is arranged above the bracket 104. The first cylinder 106 is symmetrically installed on both sides of the support pad 105 through the first cylinder bracket 107. The second cylinder 108 is arranged on the first end surface of the support pad 105 through the second cylinder bracket 109. The arc-shaped slider 110 is fixedly connected to the output shafts of the first cylinder 106 and the second cylinder 108, respectively, and passes through the support pad 105 and is slidably connected to the support pad 105. Notches are provided at the output shaft positions of the first cylinder and the second cylinder of the support pad, and the arc-shaped sliding block is wrapped with a flexible material and moves along the notches of the support pad.

[0037] like Figure 4 As shown, the flip bone-setting component 2 includes a first tool table 21, a first mechanical arm 22 and a manipulator 23. The first mechanical arm 22 is arranged above the first tool table 21, and the manipulator 23 is arranged on the end effector of the first mechanical arm 22.

[0038] like Figure 5 and Figure 6 As shown, the auxiliary bone-setting component 3 includes a second tool bench 31, a second mechanical arm 32 and a pressing mechanism 33. The second mechanical arm 32 is arranged above the second tool bench 31. The first end of the outer shell 331 of the pressing mechanism 33 is fixedly connected to the end actuator of the second mechanical arm 32 by bolts. The pressing mechanism 33 includes an outer shell 331, a spring slot 332, a spring 333, a flexible pressing head 334 and a pressure sensor 335. The spring slot 334 is arranged on the inner side of the first end of the outer shell 331, the spring 333 is arranged inside the spring slot 332, the first end of the flexible pressing head 334 is arranged inside the spring 333, the middle position of the flexible pressing head 334 is slidably connected to the second end of the outer shell 331, the pressure sensor 335 is arranged outside the second end of the flexible pressing head 334, and the pressure sensor 5 adopts a thin film pressure sensor to simulate the pressing and pushing techniques of traditional Chinese medicine.

[0039] like Figure 7As shown, the traction assembly 4 includes a base 41, a mobile platform 42, a ball joint base 43, a locking ring 44, a set screw 45, a ball joint support 46 and a fixed shoe 47. The mobile platform 42 is arranged on the base 41 through a first module seat 4211. The first end of the ball joint base 43 is fixedly connected to the third slide 4272 of the mobile platform 42. The locking ring 44 is arranged on the outer side of the second end of the ball joint base 43. The set screw 45 is symmetrically arranged on the threaded hole of the locking ring 44. The spherical end of the ball joint support 46 is rollingly connected to the inner side of the second end of the ball joint base 43. The first end of the bottom plate 471 of the fixed shoe 47 is fixedly connected to the connecting end of the ball joint support 46 through a bolt. The mobile platform 42 includes a first module 42 1. Slide rails 422, I-shaped brackets 423, sliders 424, module brackets 425, second modules 426 and third modules 427. The slide rails 422 are symmetrically arranged on both sides of the first module 421 and fixedly connected to the base 41. The first end of the I-shaped bracket 423 is slidably connected to the slide rails 422 through the sliders 424. The first end of the module bracket 425 is slidably connected to the first module 421 and the slide rails 422 through the first slide 4212 and the I-shaped bracket 423, respectively. The second module seat 4261 of the second module 426 is fixedly connected to the second end of the module bracket 425. The third module seat 4271 of the third module 427 is fixedly connected to the second slide 4262 of the second module 426. A spherical groove is provided at the second end of the ball joint base 43, and the spherical end of the ball joint support 46 can be inserted into the spherical groove. A locking ring 44 is provided on the outer side of the spherical groove of the ball joint base 43, and threaded holes are symmetrically provided on the locking ring 44. The ball joint support 46 can rotate a maximum of 60 degrees in all directions of the ball joint base 43.

[0040] like Figure 8 and Fig. 9 As shown, the fixed shoe 47 includes a base plate 471, a shoe body slide rail 472, a sliding platform 473, a first strap 474, an airbag 475, an airbag inflation ball 476, a heel seat 477, a second strap 478 and a flexible insole 479. The shoe body slide rail 472 is arranged on the central axis of the second end of the base plate 471, the first strap 474 is slidingly connected to the shoe body slide rail 472 through the sliding platform 473, the airbag 475 is symmetrically arranged on the inner side of the first strap 474, the airbag inflation ball 476 is connected to the airbag 475 through a rubber duct and is arranged on the outer side of the first strap 474, the heel seat 477 is fixedly connected to the base plate 471, the second strap 478 is arranged on one side of the heel seat 477, and the flexible insole 479 is bonded to the heel seat 477 and the upper side of the sliding platform 473. The first strap 474 is an adhesive strap, which is fixedly connected by adhesion between the straps. The second strap 478 is a buckle strap. A strap groove is symmetrically provided on one side of the heel seat 477. The second strap 478 passes through the strap groove and is connected by buckle.

[0041] like Fig.10As shown, A represents fixation of the calf in traditional Chinese medicine reduction, B represents traction and stretching of the ankle, C represents supporting the ankle, and D represents rotational reduction of the ankle.

[0042] The following is a further description of a TCM bone-setting robot suitable for ankle fractures according to the present invention in conjunction with an embodiment. During use, the TCM bone-setting robot suitable for ankle fractures according to the present invention:

[0043] First, the adjustment frame 103 is adjusted to raise the support pad 105 to a suitable height, and the human body lies on the support pad 105, and the first cylinder 106 and the second cylinder 108 in the leg fixing assembly 1 push the arc-shaped slider 110 to fix the lower leg.

[0044] Then, adjust the mobile platform 42 so that the fixed shoe 47 is aligned with the ankle, and the ankle and the traction component 4 are on the same axis; then put the foot into the fixed shoe 47, adjust the position of the sliding platform 473 according to the size of the foot, and then fix the heel with the second strap 478, and at the same time fit the first strap 474 to the instep, and inflate the airbag 475 with the airbag inflation ball 476 to make the instep and the first strap 474 completely fit, so that the foot and the fixed shoe 47 are fixed as a whole, the binocular vision camera 6 establishes a unified coordinate system for each component, and the computer 5 plans the movement trajectory of the corresponding component according to the fracture type.

[0045] Finally, the first module 421 in the traction component 4 performs traction and stretching, and the auxiliary bone-setting component 3 uses the second mechanical arm 32 to make the pressing mechanism 33 reach the specified position, and the spring 333 is used to make the pressing mechanism 33 realize flexible support of the ankle joint. The flipping bone-setting component 2 uses the first mechanical arm 22 to make the manipulator 23 reach the specified position for grasping, and the first mechanical arm 22 realizes flipping of the ankle through posture adjustment. After the flipping is completed, the pressing mechanism 33 is used to press the fracture line through the second mechanical arm 32, and the data of the pressure sensor 335 is used in real time to analyze whether the fracture line is aligned to complete the reduction of the ankle.

[0046] The present invention is suitable for a traditional Chinese medicine bone-setting robot for ankle fractures. The robot is provided with a flipping bone-setting platform 2, an auxiliary bone-setting platform 3 and a traction component 4. A unified coordinate system is established through a binocular vision camera 6, and the ankle is repositioned through collaborative operation. The flipping bone-setting platform 2 is used to flip the ankle, and the auxiliary bone-setting platform 3 is used to support and press the ankle fracture line. The present invention obtains a bone-setting repositioning path by analyzing an X-ray film through a computer 5, simulates traditional Chinese medicine bone-setting techniques, and realizes automated bone-setting repositioning of the ankle joint without surgery, which is beneficial to improving bone-setting efficiency and reducing damage to the human body.

[0047] The embodiments described above are only descriptions of the preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A Chinese medicine bone-setting robot suitable for ankle fractures, characterized in that: It includes a leg fixation component, an auxiliary bone setting component, a traction component and a mobile platform. The leg fixing assembly includes a base, a lifting column, an adjustment frame, a bracket, a support pad, a first cylinder, a first cylinder bracket, a second cylinder, a second cylinder bracket and an arc-shaped slider, the lifting column is arranged above the base and is slidably connected to the base, the adjustment frame is arranged on the base, the bracket is fixedly connected to the lifting column, the support pad is arranged above the bracket, the first cylinder is symmetrically installed on both sides of the support pad through the first cylinder bracket, the second cylinder is arranged on the first end surface of the support pad through the second cylinder bracket, and the arc-shaped slider is fixedly connected to the piston rods of the first cylinder and the second cylinder respectively, and passes through the support pad and is slidably connected to the support pad; The auxiliary bone-setting component includes a second tool bench, a second mechanical arm and a pressing mechanism, wherein the second mechanical arm is arranged above the second tool bench, the first end of the outer shell of the pressing mechanism is fixedly connected to the end effector of the second mechanical arm, the pressing mechanism includes an outer shell, a spring slot, a spring, a flexible pressing head and a pressure sensor, the spring slot is arranged on the inner side of the first end of the outer shell, the spring is arranged inside the spring slot, the first end of the flexible pressing head is arranged inside the spring, the middle position of the flexible pressing head is slidably connected to the second end of the outer shell, and the pressure sensor is arranged outside the second end of the flexible pressing head; The traction assembly comprises a base, a mobile platform, a ball joint base, a locking ring, a set screw, a ball joint support and a fixed shoe. The mobile platform is arranged on the base through a first module seat. The first end of the ball joint base is fixedly connected to the third slide of the mobile platform. The locking ring is arranged on the outer side of the second end of the ball joint base. The set screw is symmetrically arranged on the threaded hole of the locking ring. The spherical end of the ball joint support is rollingly connected to the inner side of the second end of the ball joint base. The first end of the bottom plate of the fixed shoe is fixedly connected to the connecting end of the ball joint support through a bolt. The mobile platform includes a first module, a slide rail, an I-shaped bracket, a slider, a module bracket, a second module and a third module. The slide rails are symmetrically arranged on both sides of the first module and connected to the base. The first end of the I-shaped bracket is slidably connected to the slide rail through the slider. The first end of the module bracket is slidably connected to the first module and the slide rail through the first slide and the I-shaped bracket respectively. The second module seat of the second module is fixedly connected to the second end of the module bracket, and the third module seat of the third module is fixedly connected to the second slide of the second module.

2. The TCM bone-setting robot suitable for ankle fractures according to claim 1, characterized in that: It also includes a flip bone-setting component, which includes a first tool bench, a first mechanical arm and a mechanical hand. The first mechanical arm is arranged above the first tool bench, and the mechanical hand is arranged on the end effector of the first mechanical arm.

3. The TCM bone-setting robot suitable for ankle fractures according to claim 1, characterized in that: The fixed shoe includes a bottom plate, a shoe body slide rail, a sliding platform, a first strap, an airbag, an airbag inflation ball, a heel seat and a second strap. The shoe body slide rail is arranged on the central axis of the second end of the bottom plate. The first strap is slidably connected to the shoe body slide rail through the sliding platform. The airbag is symmetrically arranged on the inner side of the first strap. The airbag inflation ball is connected to the airbag through a rubber tube and is arranged on the outer side of the first strap. The heel seat is fixedly connected to the bottom plate, and the second strap is arranged on the heel seat.

4. The TCM bone-setting robot suitable for ankle fractures according to claim 1, characterized in that: A spherical groove is provided at the second end of the spherical joint base, and the spherical end of the spherical joint support can be placed in the spherical groove.

5. The TCM bone-setting robot suitable for ankle fractures according to claim 1, characterized in that: The locking ring is arranged outside the spherical groove of the ball joint base, and threaded holes are symmetrically arranged on the locking ring. The ball joint support can rotate up to 60 degrees in all directions of the ball joint base.

6. The TCM bone-setting robot suitable for ankle fractures according to claim 3, characterized in that: The first strap is an adhesive strap that is fixedly connected by adhesion between the straps, and the second strap is a buckle strap. A strap groove is symmetrically provided on one side of the heel seat, and the second strap passes through the strap groove and is connected by a buckle.

7. The TCM bone-setting robot suitable for ankle fractures according to claim 1, characterized in that: The output shaft positions of the first cylinder and the second cylinder of the support pad are provided with slots, and the arc-shaped sliding block is wrapped with a flexible material and moves along the slots of the support pad.

8. The TCM bone-setting robot suitable for ankle fractures according to claim 1, characterized in that: The first cylinder is a single-piston rod cylinder, the piston rod is connected to the arc-shaped slider, driving the arc-shaped slider to move toward the middle, and the second cylinder is a double-piston rod cylinder, the piston rod is also connected to the arc-shaped slider, driving the two arc-shaped sliders to move in opposite directions outward.

9. The TCM bone-setting robot suitable for ankle fractures according to claim 1, characterized in that: It also includes a binocular vision camera, which establishes a unified spatial coordinate system for each component.

10. The TCM bone-setting robot suitable for ankle fractures according to claim 1, characterized in that: A thin film pressure sensor is used at the lower end of the flexible pressing head in the pressing mechanism.

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