A fracture reduction device

Abstract

The application is suitable for the technical field of medical devices, and provides a bone fracture reduction device, which comprises a linear motion mechanism, a parallel mechanism and a fixing part. The parallel mechanism comprises a first motion assembly, a second motion assembly and a third motion assembly, and the first motion assembly, the second motion assembly and the third motion assembly are all installed on the linear motion mechanism. The fixing part is provided with a first connecting end, a second connecting end and a third connecting end. The first motion assembly is movably connected with the first connecting end, the second motion assembly is movably connected with the second connecting end, the third motion assembly comprises a first end and a second end, the first end is movably connected with the linear motion mechanism, and the second end is movably connected with the third connecting end. Through cooperation between the linear motion mechanism and the first motion assembly, the second motion assembly and the third motion assembly, the fixing part has three rotations, three movements and six degrees of freedom, so that the flexibility of the bone fracture reduction device is higher, and the treatment effect is better.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically, to a fracture reduction device. Background Technology

[0002] With the advancement of medical science, orthopedic surgical robots have also developed. Among orthopedic surgical robots, fracture reduction robots are mainly used to treat fracture patients. These robots can more accurately reduce the fracture site and provide more stable internal fixation to aid in the healing and recovery of the fracture.

[0003] Fracture reduction robots primarily fix the patient's fracture site using a fixed end, and then use a transmission mechanism to move the fixed end to reduce the fracture. However, currently common fracture reduction robots typically only have three to five degrees of freedom, resulting in limited flexibility of the fixed end. This means that fracture reduction robots have relatively low flexibility and are less effective in treating some complex fractures. Summary of the Invention

[0004] The purpose of this application is to provide a fracture reduction device, which aims to solve the technical problems of low flexibility of existing fracture reduction robots and poor treatment effect for some complex fractures.

[0005] To achieve the above objectives, the technical solution adopted in this application is: to provide a fracture reduction device, including a linear motion mechanism, a parallel mechanism, and a fixation part;

[0006] The parallel mechanism includes a first motion component, a second motion component, and a third motion component. The first motion component, the second motion component, and the third motion component are all mounted on the linear motion mechanism. The linear motion mechanism is used to drive the first motion component, the second motion component, and the third motion component to move along a first direction.

[0007] The fixed part is provided with a first connecting end, a second connecting end, and a third connecting end, which are arranged in a triangle on the fixed part. A first motion component is movably connected to the first connecting end and is used to drive the first connecting end to move along a second direction and a third direction. A second motion component is movably connected to the second connecting end and is used to drive the second connecting end to move along the second direction and the third direction. The third motion component includes a first end and a second end. The first end is movably connected to the linear motion mechanism, and the second end is movably connected to the third connecting end. The third motion component is used to drive the third connecting end to move along the line connecting the first end and the second end. The first direction, the second direction, and the third direction are arranged at angles to each other.

[0008] The fixation part is used to fix the patient's affected area.

[0009] In one possible design, the first motion component is connected to the first connecting end via a ball joint, the second motion component is connected to the second connecting end via a ball joint, and the second end of the third motion component is connected to the third connecting end via a ball joint.

[0010] In one possible design, the first motion component includes a first motion part and a second motion part. The first motion part is movably connected to the first connecting end and is used to drive the first connecting end to move along the second direction. The first motion part is mounted on the second motion part, and the second motion part is mounted on the linear motion mechanism. The second motion part is used to drive the first motion part to move along the third direction; and / or...

[0011] The second motion component includes a third motion part and a fourth motion part. The third motion part is movably connected to the second connecting end and is used to drive the first connecting end to move along the second direction. The third motion part is mounted on the fourth motion part and is mounted on the linear motion mechanism. The fourth motion part is used to drive the third motion part to move along the third direction.

[0012] In one possible design, the first motion assembly further includes a first support rod, one end of which is connected to the first connecting end via a ball joint, and the other end of which is connected to the first motion part via a revolute joint, such that the first support rod is rotatable relative to the first motion part about a first axis, the first axis extending along a second direction; and / or

[0013] The second motion component further includes a second support rod, one end of which is connected to the second connecting end via a ball joint, and the other end of which is connected to the third motion part via a revolute joint, so that the second support rod can rotate relative to the third motion part about a second axis, the second axis extending along the second direction; and / or,

[0014] The first end of the third motion component is connected to the linear motion mechanism via a revolute joint, so that the third motion component can rotate relative to the linear motion mechanism about a third axis, the third axis extending along the first direction.

[0015] In one possible design, the first motion component includes a first motion part and a second motion part. The first motion part is mounted on the linear motion mechanism. One end of the second motion part is connected to the first motion part via a revolute joint, allowing the second motion part to rotate relative to the first motion part about a first axis extending along a second direction. The other end of the second motion part is connected to the first connecting end via a ball joint. The first motion part drives the second motion part to move along the second direction, and the second motion part drives the first connecting end to move along the third direction; and / or...

[0016] The second motion component includes a third motion part and a fourth motion part. The third motion part is mounted on the linear motion mechanism. One end of the fourth motion part is connected to the third motion part via a revolute joint, so that the fourth motion part can extend relative to the third motion part about a second axis, the second axis extending along the second direction. The other end of the fourth motion part is connected to the second connecting end via a ball joint. The third motion part is used to drive the fourth motion part to move along the second direction, and the fourth motion part is used to drive the second connecting end to move along the third direction.

[0017] In one possible design, the linear motion mechanism includes a slide rail, a slide table, and a transmission assembly. The transmission assembly is connected to the slide table and is used to drive the slide table to move along the first direction. The slide table is slidably mounted on the slide rail along the first direction. The first motion assembly, the second motion assembly, and the third motion assembly are all mounted on the slide table.

[0018] In one possible design, the transmission assembly includes a first drive assembly, a first lead screw, and a first slider, wherein the first drive assembly is drivenly connected to the first lead screw, the first lead screw is drivenly connected to the first slider, and the first slider is connected to the slide table.

[0019] In one possible design, the fracture reduction device further includes a housing, on which the linear motion mechanism is mounted, the housing having a receiving cavity.

[0020] In one possible design, the fracture reduction device further includes a plurality of casters, which are spaced apart and mounted on the bottom of the chassis.

[0021] In one possible design, the fracture reduction device further includes a support leg mounted on the bottom of the chassis. The support leg has a support surface, and the distance between the support surface and the bottom surface of the chassis is adjustable. When the distance between the support surface of the support leg and the bottom surface of the chassis is greater than the maximum distance between the bottom of the caster and the bottom surface of the chassis, the support leg supports the chassis; and / or,

[0022] The moving wheels are equipped with a braking structure.

[0023] The beneficial effects of the fracture reduction device provided in this application are as follows: Compared with the prior art, the fracture reduction device provided in this application, due to the triangular distribution of the first, second, and third connecting ends, allows the fixation part to have five degrees of freedom (three rotations and two translations) because the first, second, and third moving components in the parallel mechanism drive the corresponding first, second, and third connecting ends to move. Then, the linear motion mechanism drives the first, second, and third moving components in the parallel mechanism to move, thereby driving the fixation part to move, resulting in six degrees of freedom (three rotations and three translations). This allows for a wider range of angles or positions of motion for the fixation part, meaning greater flexibility and enabling the fixation part to reduce more complex fractures. Therefore, the fracture reduction device provided in this application offers greater flexibility and better treatment results. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the fracture reduction device provided in one embodiment of this application from a perspective.

[0026] Figure 2 This is a partial structural schematic diagram of a fracture reduction device provided in one embodiment of this application. Figure 1 ;

[0027] Figure 3This is a partial structural schematic diagram of a fracture reduction device provided in one embodiment of this application. Figure 2 ;

[0028] Figure 4 This is a schematic diagram of the linear motion mechanism of a fracture reduction device provided in one embodiment of this application;

[0029] Figure 5 This is a partial structural schematic diagram of a fracture reduction device provided in one embodiment of this application;

[0030] Figure 6 This is a schematic diagram of the fixation part of a fracture reduction device provided in one embodiment of this application;

[0031] Figure 7 This is a schematic diagram showing the position between the fracture reduction device and the operating table provided in one embodiment of this application.

[0032] The details of the reference numerals used in the above figures are as follows:

[0033] 1. Fracture reduction device; 2. Operating table; 3. Patient;

[0034] 110. Chassis; 120. Casters; 130. Support feet;

[0035] 200. Linear motion mechanism; 210. First drive assembly; 220. First lead screw; 230. First slider; 240. Slide table; 250. Slide rail; 260. Structural component; 261. First plate; 262. Second plate; 263. First reinforcing part; 264. Second reinforcing part; 270. Connecting plate; 280. Base;

[0036] 300. Parallel mechanisms;

[0037] 310. First motion assembly; 311. First motion part; 3111. Second drive assembly; 3112. Second lead screw; 3113. Second slider; 312. Second motion part; 3121. Third drive assembly; 3122. Third lead screw; 3123. Third slider; 313. First support rod;

[0038] 320. Second motion assembly; 321. Third motion part; 3211. Fourth drive assembly; 3212. Fourth lead screw; 3213. Fourth slider; 322. Fourth motion part; 3221. Fifth drive assembly; 3222. Fifth lead screw; 3223. Fifth slider; 323. Second support rod;

[0039] 330. Third motion component; 331. Electric push cylinder;

[0040] 400. Fixing part; 410. Movable plate; 411. Through hole;

[0041] 510. Hooke hinge; 520. Flange; 530. Hinge. Detailed Implementation

[0042] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0043] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0044] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the structure or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0045] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0046] Existing orthopedic surgical robots are mainly used in joint replacement and minimally invasive spinal surgery, offering advantages such as precise bone removal, accurate prosthesis placement, and precise positioning and navigation of the drilling channel. However, in trauma orthopedics, where the largest number of surgeries are performed, fracture reduction, a procedure with significant operational challenges, still heavily relies on the surgeon's personal experience and technique. Of course, some fracture reduction robots are now available that can address certain fracture reduction issues. These robots utilize robotic technology combined with clinical methods to restore the fracture site to its normal anatomical shape and physiological function. By employing existing fracture reduction robots, the accuracy of fracture reduction in at least some surgeries can be less dependent on the surgeon's personal experience and skill level. This can, to some extent, reduce issues such as poor homogeneity in fracture reduction surgeries, excessive reduction force leading to surgeon fatigue, and potential harm to the surgeon from X-rays.

[0047] In related technologies, fracture reduction robots mainly fix the patient's fracture site through a fixed end, and then drive the fixed end to move through a transmission mechanism to reduce the fracture site. However, currently common fracture reduction robots usually only have three to five degrees of freedom, and the flexibility of the fixed end is relatively low. In other words, the fracture reduction robot has low flexibility and poor treatment effect for some complex fractures.

[0048] To address the technical problems existing in the aforementioned related technologies, this application provides a fracture reduction device. To illustrate the technical solution described in this application, a detailed description is provided below with reference to specific drawings and embodiments.

[0049] like Figure 1 As shown in the embodiment of this application, a fracture reduction device 1 includes a linear motion mechanism 200, a parallel mechanism 300, and a fixation part 400. The parallel mechanism 300 includes a first motion component 310, a second motion component 320, and a third motion component 330. All three motion components are mounted on the linear motion mechanism 200, which drives them to move along a first direction. The fixation part 400 has a first connecting end, a second connecting end, and a third connecting end, arranged in a triangular pattern. The first motion component 310 is movably connected to the first connecting end and drives it to move along a second direction and a third direction. The second motion component 320 is movably connected to the second connecting end and drives it to move along the second direction and a third direction. The third motion component 330 includes a first end and a second end. The first end is movably connected to the linear motion mechanism 200, and the second end is movably connected to the third connecting end. The third motion component 330 is used to drive the third connecting end to move along the line connecting the first end and the second end. The first direction, the second direction, and the third direction are arranged at angles to each other. The fixing part 400 is used to fix the affected area of ​​the patient 3. It is worth noting that the first connecting end, the second connecting end, and the third connecting end are arranged in a triangle on the fixing part 400. Specifically, the first connecting end, the second connecting end, and the third connecting end are located at the three vertices of the triangle. The triangle can be an isosceles triangle, an equilateral triangle, or an irregular triangle, etc., and is not limited here.

[0050] The fracture reduction device 1 provided in this application embodiment, since the first connecting end, the second connecting end, and the third connecting end are arranged in a triangle, can enable the fixation part 400 to have five degrees of freedom (three rotations and two translations) by driving the corresponding first connecting end, the second connecting end, and the third connecting end to move through the first motion component 310, the second motion component 320, and the third motion component 330 in the parallel mechanism 300. Specifically, the first motion component 310 and the second motion component 320 respectively drive the first connecting end and the second connecting end to move synchronously along the second direction, so that the fixation part 400 moves along the second direction. The first motion component 310 and the second motion component 320 respectively drive the first connecting end and the second connecting end to move synchronously along the third direction, so that the fixation part 400 moves along the third direction. The first motion component 310 drives the first connecting end to move along the second direction, or the second motion component 320 drives the second connecting end to move along the second direction, so that the fixation part 400 rotates around the fourth axis. The first connecting end is driven to move along a third direction by the first motion component 310, or the second connecting end is driven to move along a third direction by the second motion component 320, so that the fixation part 400 rotates around the fifth axis. The third connecting end is driven to move along the line connecting the first end and the second end by the third motion component 330, so that the fixation part 400 rotates around the sixth axis. Then, the linear motion mechanism 200 drives the first motion component 310, the second motion component 320 and the third motion component 330 in the parallel mechanism 300 to move along the first direction, so that the fixation part 400 moves along the first direction. As can be seen from the above, through the cooperation between the linear motion mechanism 200 and the first motion component 310, the second motion component 320 and the third motion component 330 in the parallel mechanism 300, the fixation part 400 has six degrees of freedom (three rotations and three translations), the range of angles or positions that the fixation part 400 can move is wider, that is, the fixation part 400 is more flexible, so that the fixation part 400 can reduce more complex fractures. Therefore, it can be seen that the fracture reduction device 1 provided in this application embodiment is more flexible and has a better treatment effect.

[0051] The fracture reduction device 1 provided in this embodiment has a more compact and space-saving structure, in which the first motion component 310, the second motion component 320, and the third motion component 330 are installed in parallel on the fixation part 400. Furthermore, by connecting the first motion component 310, the second motion component 320, and the third motion component 330 in parallel to the linear motion mechanism 200, the fixation part 400, the parallel mechanism 300, and the linear motion mechanism 200 are connected in series. This allows the fracture reduction device 1 provided in this embodiment to achieve a hybrid series-parallel structure, improving flexibility while making the fracture reduction device 1 more compact and space-saving.

[0052] In some alternative implementations, the first direction, the second direction, and the third direction can be arranged at opposite angles. Alternatively, the first direction, the second direction, and the third direction can also be arranged perpendicularly to each other, such as... Figure 1 As shown, in Figure 1 In the directions shown, the first direction is indicated by the X-arrow, the second direction by the Z-arrow, and the third direction by the Y-arrow. The following descriptions will assume that the first, second, and third directions are perpendicular to each other.

[0053] In one possible design, the first motion component 310 is connected to the first connecting end via a ball joint, the second motion component 320 is connected to the second connecting end via a ball joint, and the second end of the third motion component 330 is connected to the third connecting end via a ball joint. By using ball joint connections, the first motion component 310, the second motion component 320, and the third motion component 330 can move at relatively large angles relative to their respective first, second, and third connecting ends. This facilitates the first motion component 310, the second motion component 320, and the third motion component 330 in driving the fixed part 400 to rotate in different directions or move around different axes.

[0054] In one possible design, such as Figure 1 and Figure 2 As shown, the first motion component 310 includes a first motion part 311 and a second motion part 312. The first motion part 311 is movably connected to the first connecting end and is used to drive the first connecting end to move along a second direction. The first motion part 311 is mounted on the second motion part 312, which is mounted on the linear motion mechanism 200. The second motion part 312 is used to drive the first motion part 311 to move along a third direction. In this configuration, the first motion part 311 drives the first connecting end to move along the second direction, and the second motion part 312 drives the first motion part 311 to move along a third direction, thereby causing the first connecting end to move along a third direction, and thus realizing that the first motion component 310 drives the first connecting end to move along both the second and third directions.

[0055] In one specific embodiment, such as Figure 2As shown, the first motion unit 311 includes a second drive assembly 3111, a second lead screw 3112, and a second slider 3113. The second drive assembly 3111 is connected to the second lead screw 3112. The second slider 3113 is slidably mounted on the second lead screw 3112 along a second direction. The first connecting end is movably connected to the second slider 3113. The second drive assembly 3111 drives the second lead screw 3112 to rotate, thereby causing the second slider 3113 to move along the second direction, which in turn causes the first connecting end to move along the second direction. The second motion unit 312 includes a third drive assembly 3121, a third lead screw 3122, and a third slider 3123. The third drive assembly 3121 is mounted on the linear motion mechanism 200 and is connected to the third lead screw 3122. The third slider 3123 is slidably mounted on the third lead screw 3122 along a third direction. The second drive assembly 3111 is mounted on the third slider 3123, thereby realizing the installation of the first motion unit 311 on the second motion unit 312. The third drive assembly 3121 drives the third lead screw 3122 to rotate, thereby causing the third slider 3123 to move along a third direction. This, in turn, causes the second drive assembly 3111, the second lead screw 3112, and the second slider 3113 to move along a third direction, thus moving the first connecting end along a third direction. Optionally, the second drive assembly 3111 includes a motor and a coupling. The motor in the second drive assembly 3111 is connected to the second lead screw 3112 via the coupling in the second drive assembly 3111. The second slider 3113 is slidably connected to the second lead screw 3112 via a threaded engagement. After the motor in the second drive assembly 3111 drives the second lead screw 3112 to rotate, the second slider 3113 can move along a second direction. The third drive assembly 3121 has the same structure as the second drive assembly 3111, and will not be described again here. The motor in the third drive assembly 3121 is connected to the third lead screw 3122 via a coupling in the third drive assembly 3121. The third slider 3123 is slidably connected to the third lead screw 3122 via a threaded connection. After the motor in the third drive assembly 3121 drives the third lead screw 3122 to rotate, the third slider 3123 can move in a third direction.

[0056] In another possible design, such as Figure 1As shown, the second motion component 320 includes a third motion part 321 and a fourth motion part 322. The third motion part 321 is movably connected to the second connecting end and is used to drive the first connecting end to move along the second direction. The third motion part 321 is mounted on the fourth motion part 322, which is mounted on the linear motion mechanism 200. The fourth motion part 322 is used to drive the third motion part 321 to move along a third direction. In this configuration, the second connecting end is moved along the second direction by the third motion part 321, and the third motion part 322 is driven by the fourth motion part 322 to move the third motion part 321 along a third direction, thereby causing the second connecting end to move along the third direction, and thus realizing that the second motion component 320 drives the second connecting end to move along both the second and third directions.

[0057] In one specific embodiment, the third motion unit 321 includes a fourth drive assembly 3211, a fourth lead screw 3212, and a fourth slider 3213. The fourth motion unit 322 includes a fifth drive assembly 3221, a fifth lead screw 3222, and a fifth slider 3223. The fifth drive assembly 3221 is mounted on the linear motion mechanism 200. The fifth lead screw 3222 is drivenly connected to the fifth drive assembly 3221. The fifth slider 3223 is slidably mounted on the fifth lead screw 3222 along a third direction. The fourth drive assembly 3211 is mounted on the fifth slider 3223. The fourth lead screw 3212 is drivenly connected to the fourth drive assembly 3211. The fourth slider 3213 is slidably mounted on the fourth lead screw 3212 along a second direction. The second connecting end is movably connected to the fourth slider 3213. During operation, the fifth drive assembly 3221 drives the fifth lead screw 3222 to rotate, causing the fifth slider 3223 to move along a third direction, thereby driving the fourth drive assembly 3211, the fourth lead screw 3212, the fourth slider 3213, and the second connecting end to move along a third direction. The fourth drive assembly 3211 drives the fourth lead screw 3212 to rotate, causing the fourth slider 3213 to move along a second direction, thereby driving the second connecting end to move along a second direction. The structures of the fourth drive assembly 3211, the fifth drive assembly 3221, and the second drive assembly 3111 are the same, and will not be described again here. The motor in the fourth drive assembly 3211 is connected to the fourth lead screw 3212 via a coupling in the fourth drive assembly 3211, and the motor in the fifth drive assembly 3221 is connected to the fifth lead screw 3222 via a coupling in the fifth drive assembly 3221.

[0058] In another possible design, the first motion component 310 includes a first motion part 311 and a second motion part 312, while the second motion component 320 also includes a third motion part 321 and a fourth motion part 322. The arrangement of the first motion part 311, the second motion part 312, the third motion part 321, and the fourth motion part 322 is the same as described above, and will not be repeated here.

[0059] In one possible design, such as Figure 1 and Figure 2 As shown, the first motion assembly 310 also includes a first support rod 313. One end of the first support rod 313 is connected to the first connecting end via a ball joint, and the other end of the first support rod 313 is connected to the first moving part 311 via a revolute joint, so that the first support rod 313 can rotate relative to the first moving part 311 about a first axis, and the first axis extends along a second direction. In this arrangement, on the one hand, by setting the first support rod 313, the distance between the first connecting end and the first moving part 311 is made larger, which can, to a certain extent, prevent the fixed part 400 from colliding with the first moving part 311 when the fixed part 400 moves relative to the first moving part 311. On the other hand, since the first support rod 313 and the first moving part 311 are connected by a revolute joint, the first support rod 313 can play a certain limiting role, preventing the first support rod 313 from swinging relative to the first moving part 311 in the vertical direction, and thus the first support rod 313 provides a certain support for the fixed part 400.

[0060] In another possible design, such as Figure 1 As shown, the second motion assembly 320 also includes a second support rod 323. One end of the second support rod 323 is connected to the second connecting end via a ball joint, and the other end of the second support rod 323 is connected to the third motion part 321 via a revolute joint, so that the second support rod 323 can rotate relative to the third motion part 321 about a second axis, and the second axis extends along a second direction. In this arrangement, on the one hand, by setting the second support rod 323, the distance between the second connecting end and the third motion part 321 is made larger, which can, to a certain extent, prevent the fixed part 400 from colliding with the third motion part 321 when the fixed part 400 moves relative to the third motion part 321. On the other hand, since the second support rod 323 and the third motion part 321 are connected by a revolute joint, the second support rod 323 can play a certain limiting role, preventing the second support rod 323 from swinging relative to the second motion part 312 in the vertical direction, and thus providing a certain support for the fixed part 400 through the second support rod 323.

[0061] In another possible design, the first motion component 310 includes a first support rod 313, and the second motion component 320 includes a second support rod 323. The arrangement of the first support rod 313 and the second support rod 323 is the same as described above, and will not be repeated here. In this arrangement, collisions between the fixing part 400 and the first motion part 311 or the second motion part 312 can be effectively avoided. Furthermore, the first support rod 313 and the second support rod 323 simultaneously support the fixing part 400, thereby increasing the supporting force of the fixing part 400 to a certain extent, and thus improving the load-bearing capacity and rigidity of the fracture reduction device 1.

[0062] In one possible design, such as Figure 1 and Figure 3 As shown, the first end of the third motion component 330 is connected to the linear motion mechanism 200 via a revolute joint, allowing the third motion component 330 to rotate relative to the linear motion mechanism 200 about a third axis, which extends along a first direction. In this configuration, the revolute joint connection between the first end of the third motion component 330 and the linear motion mechanism 200 limits the swing of the third motion component 330 relative to the linear motion mechanism 200 in a third direction. Only the second motion part 312 and the fourth motion part 322 respectively drive the first motion part 311 and the second motion part 312 to move along the third direction, thereby moving the fixing part 400 along the third direction. This improves the supporting force of the fixing part 400 to a certain extent, thereby increasing the load capacity and rigidity of the fracture reduction device 1. In some optional embodiments, the third motion component 330 may include any structure capable of driving the third connecting end to move linearly, such as a cylinder, a hydraulic cylinder, or an electric push cylinder 331.

[0063] In one possible design, the first moving part 311 is mounted on the linear motion mechanism 200. One end of the second moving part 312 is connected to the first moving part 311 via a revolute joint, allowing the second moving part 312 to rotate relative to the first moving part 311 about a first axis extending in a second direction. The other end of the second moving part 312 is connected to the first connecting end via a ball joint. The first moving part 311 drives the second moving part 312 to move in the second direction, and the second moving part 312 drives the first connecting end to move in a third direction. In this configuration, in addition to driving the first connecting end to move in the second direction, the second moving part 312 can also support the fixing part 400, thereby increasing the supporting force of the fixing part 400. This improves both the load-bearing capacity and the structural compactness of the fracture reduction device 1. In this configuration, the second moving part 312 may specifically include a cylinder, hydraulic cylinder, or electric push cylinder, or other structure capable of outputting linear motion. For example, the second motion unit 312 includes an electric push cylinder, and the first motion unit 311 includes a second drive assembly 3111, a second lead screw 3112, and a second slider 3113. The second drive assembly 3111 is mounted on the linear motion mechanism 200, the second lead screw 3112 is connected to the second drive assembly 3111 in a transmission connection, the second slider 3113 is slidably mounted on the second lead screw 3112 in a second direction, and the electric push cylinder is mounted on the second slider 3113 through a rotating pair.

[0064] In another possible design, the third moving part 321 is mounted on the linear motion mechanism 200. One end of the fourth moving part 322 is connected to the third moving part 321 via a revolute joint, allowing the fourth moving part 322 to extend relative to the third moving part 321 about a second axis, which extends along a second direction. The other end of the fourth moving part 322 is connected to the second connecting end via a ball joint. The third moving part 321 drives the fourth moving part 322 to move along the second direction, and the fourth moving part 322 drives the second connecting end to move along a third direction. In this configuration, in addition to driving the second connecting end to move along the second direction, the fourth moving part 322 can also support the fixing part 400, thereby increasing the supporting force of the fixing part 400. This also increases the load capacity of the fracture reduction device 1 and improves the structural compactness of the fracture reduction device 1. In this configuration, the fourth moving part 322 may specifically include a cylinder, hydraulic cylinder, or electric push cylinder, or other structure capable of outputting linear motion. For example, the fourth motion unit 322 includes an electric push cylinder, and the third motion unit 321 includes a fourth drive assembly 3211, a fourth lead screw 3212, and a fourth slider 3213. The fourth drive assembly 3211 is mounted on the linear motion mechanism 200, the fourth lead screw 3212 is connected to the fourth drive assembly 3211 in a transmission connection, the fourth slider 3213 is slidably mounted on the fourth lead screw 3212 in a second direction, and the electric push cylinder is mounted on the fourth slider 3213 through a rotating pair.

[0065] In another possible design, the first moving part 311 is mounted on the linear motion mechanism 200, one end of the second moving part 312 is connected to the first moving part 311 via a revolute joint, and the other end of the second moving part 312 is connected to the first connecting end via a ball joint. Simultaneously, the third moving part 321 is mounted on the linear motion mechanism 200, one end of the fourth moving part 322 is connected to the third moving part 321 via a revolute joint, and the other end of the fourth moving part 322 is connected to the second connecting end via a ball joint. This arrangement further improves the load-bearing capacity of the fracture reduction device 1 and enhances its structural compactness.

[0066] In one possible design, such as Figure 4 As shown, the linear motion mechanism 200 includes a slide rail 250, a slide table 240, and a transmission assembly. The transmission assembly is connected to the slide table 240 and drives the slide table 240 to move along a first direction. The slide table 240 is slidably mounted on the slide rail 250 along the first direction. The first motion component 310, the second motion component 320, and the third motion component 330 are all mounted on the slide table 240. By providing the slide table 240, a larger mounting area can be provided for the first motion component 310, the second motion component 320, and the third motion component 330, making it easier to install them. By driving the slide table 240 to move along the first direction through the transmission assembly, the first motion component 310, the second motion component 320, and the third motion component 330 can all move along the first direction, thereby realizing the degree of freedom of movement of the fixed part 400 along the first direction. Due to the provision of the slide rail 250, the movement of the slide table 240 is more stable, which in turn makes the movement of the fixed part 400 more stable. In some optional embodiments, there are two slide rails 250, and the slide table 240 is slidably mounted between the two slide rails 250 along a first direction. This arrangement results in more even force distribution on the slide table 240 and smoother movement. Optionally, the second moving part 312 and the fourth moving part 322 are both mounted on the slide table 240, and the first end of the third moving assembly 330 is mounted on the slide table 240 via a rotating joint.

[0067] In one possible design, such as Figure 4As shown, the transmission assembly includes a first drive assembly 210, a first lead screw 220, and a first slider 230. The first drive assembly 210 is connected to the first lead screw 220, the first lead screw 220 is connected to the first slider 230, and the first slider 230 is connected to the slide table 240. The first drive assembly 210 drives the first lead screw 220 to rotate, causing the first slider 230 to move along a first direction, thereby causing the slide table 240 and the first motion assembly 310, second motion assembly 320, and third motion assembly 330 mounted on the slide table 240 to move along the first direction. The structures of the first drive assembly 210 and the second drive assembly 3111 are the same and will not be described again here. The first lead screw 220 is connected to the motor in the first drive assembly 210 via a coupling.

[0068] In some optional embodiments, the fracture reduction device 1 provided in this application further includes a controller. The controller is signal-connected to the linear motion mechanism 200, the first motion component 310, the second motion component 320, and the third motion component 330, respectively. The controller controls the linear motion mechanism 200 to drive the first motion component 310, the second motion component 320, and the third motion component 330 to move along a first direction; controls the first motion component 310 to drive the first connecting end to move along a second direction and a third direction; controls the second motion component 320 to drive the second connecting end to move along a second direction and a third direction; and controls the third motion component 330 to drive the third connecting end to move along the line connecting the first end and the second end. Specifically, the controller is signal-connected to the motors in the first drive component 210, the second drive component 3111, the third drive component 3121, the fourth drive component 3211, and the fifth drive component 3221, respectively. The controller controls the rotation of the first lead screw 220, the second lead screw 3112, the third lead screw 3122, the fourth lead screw 3212, and the fifth lead screw 3222 of each motor drive pair. In this embodiment, the signal connection can be achieved through wireless communication or through a data cable connection. The data cable can be, but is not limited to, an electrical wire.

[0069] In one possible design, such as Figure 1 and Figure 5 As shown, the fracture reduction device 1 also includes a housing 110, on which the linear motion mechanism 200 is mounted. The housing 110 has a receiving cavity. By providing the housing 110, the receiving cavity of the housing 110 can be used to install the controller, wires, and other structures, thereby protecting the controller and wires to a certain extent.

[0070] In some alternative embodiments, the first drive assembly 210 and the slide rail 250 are both mounted on the chassis 110, the first lead screw 220 is movably connected to the first drive assembly 210, the first slider 230 is slidably mounted on the first lead screw 220, the slide table 240 is mounted on the first slide table 240, and the slide table 240 is slidably mounted on the slide rail 250 along the first direction.

[0071] In one alternative embodiment, such as Figure 1 and Figure 4 As shown, each slide rail 250 is connected to a structural member 260. The structural member 260 includes a first plate 261 and a second plate 262 arranged at an angle. The first plate 261 and the second plate 262 are connected. The first plate 261 is connected to the slide rail 250, and the second plate 262 is mounted on the housing 110. The second plate 262 is provided to facilitate the opening of through holes for screws or bolts to pass through, thereby facilitating the installation of the slide rail 250. Optionally, a plurality of first reinforcing parts 263 are provided between the first plate 261 and the second plate 262. The plurality of first reinforcing parts 263 are spaced apart. By providing the first reinforcing parts 263, the structural stability between the first plate 261 and the second plate 262 is strengthened, allowing the slide rail 250 to provide more stable support for the slide table 240, thereby improving the load capacity of the fracture reduction device 1. Optionally, structural member 260 further includes a second reinforcing part 264, which penetrates through each of the first reinforcing parts 263, so that adjacent first reinforcing parts 263 are connected by the second reinforcing part 264, further improving the structural strength of structural member 260. This allows slide rail 250 to provide more stable support for slide table 240, thereby further improving the load capacity of fracture reduction device 1. Optionally, a connecting plate 270 can be provided between first plate 261 and slide rail 250. First plate 261 is connected to connecting plate 270, and slide rail 250 is mounted on connecting plate 270. By providing connecting plate 270, stable support can be provided for both slide rail 250 and structural member 260, which helps to further increase the supporting force on slide table 240, thereby further improving the rigidity and load capacity of fracture reduction device 1.

[0072] In one possible design, the fracture reduction device 1 also includes multiple casters 120, which are spaced apart and mounted on the bottom of the housing 110. The casters 120 facilitate overall movement of the fracture reduction device 1, allowing for adjustment of its position according to the specific application scenario.

[0073] In one possible design, such as Figure 1 and Figure 5As shown, the fracture reduction device 1 also includes support legs 130, which are mounted on the bottom of the housing 110. Each support leg 130 has a supporting surface, and the distance between the supporting surface and the bottom surface of the housing 110 is adjustable. When the distance between the supporting surface of the support leg 130 and the bottom surface of the housing 110 is greater than the maximum distance between the bottom of the moving wheel 120 and the bottom surface of the housing 110, the support leg 130 supports the housing 110. In this configuration, after the fracture reduction device 1 is moved to a suitable position, it can be supported on the table used for mounting the fracture reduction device 1 by the support legs 130 to brake the fracture reduction device 1. Optionally, the table can be the ground, the mounting surface of the operating table 2, or any other table that can be used to mount the fracture reduction device 1. In some alternative embodiments, the distance between the support surface and the bottom surface of the housing 110 can be adjusted manually. For example, the bottom of the housing 110 is provided with a threaded hole, and one end of the support leg 130 is provided with an external thread. The threaded end of the support leg 130 extends into the threaded hole, and the distance between the support surface and the bottom surface of the housing 110 is adjusted by rotating the support leg 130. Alternatively, the distance between the support surface and the bottom surface of the housing 110 can also be adjusted automatically. For example, the fracture reduction device 1 includes an adjustment drive component, which is installed in the housing 110 and connected to the support leg 130. The adjustment drive component drives the support leg 130 to move vertically to adjust the distance between the support surface and the bottom surface of the housing 110. The adjustment drive component can specifically be a cylinder, hydraulic cylinder, or electric push cylinder, or other structure capable of outputting linear motion.

[0074] In another possible design, the movable wheel 120 is equipped with a braking structure to brake the fracture reduction device 1. In yet another possible design, the fracture reduction device 1 includes a support leg 130, and the movable wheel 120 is also equipped with a braking structure, thus providing dual braking for the fracture reduction device 1 and enhancing safety performance.

[0075] In some alternative embodiments, the number of legs 130 can be multiple, such as Figure 5 As shown, there are four support legs 130 and four casters 120, which are mounted in quadrilateral shapes on the bottom surface of the chassis 110. Specifically, the four casters 120 are located at the four vertices of the quadrilateral, and the four support legs 130 are located at the vertices of the other quadrilateral. Optionally, the casters 120 can be omnidirectional wheels.

[0076] In one possible design, such as Figure 6As shown, the fixation unit 400 includes a movable plate 410 and a bone pin (not shown in the figure). The movable plate 410 has the aforementioned first connecting end, second connecting end, and third connecting end. The movable plate 410 also has multiple through holes 411 for fixing the bone pin, which is used to fix the patient 3 to the affected area. Optionally, the fixation unit 400 also includes a sensor mounted on the movable plate 410. The sensor can sense the external force acting on the movable plate 410 to monitor the magnitude of the reduction force applied by the current reduction device. Specifically, the sensor can be a six-dimensional force sensor or other sensors that can be used to detect the magnitude of external force. It is worth noting that a six-dimensional force sensor is a sensor that can simultaneously detect three axial forces and three axial moments. By using a six-dimensional force sensor, the monitoring effect of the reduction force applied by the current reduction device is better.

[0077] The fracture reduction device 1 provided in this embodiment is mainly used to reduce the fracture site of a fracture patient 3. The fracture site can specifically be the patient's limbs or pelvis. Specifically, the fracture reduction device 1 fixes the fracture site with bone pins, which are installed in the through holes 411 of the movable plate 410. Finally, the movable plate 410 is moved along a preset trajectory or angle by a parallel mechanism 300 and a linear motion mechanism 200 to reduce the fracture site. In some application scenarios, the fracture reduction device 1 can be moved to a position convenient for connection with the fracture site, depending on the location of the fracture site of the patient 3. Figure 7 As shown, the fracture reduction device 1 is located on the long side of the operating table 2, that is, on the side of the operating table 2 where the armrests are installed. It is connected to the fracture site of the patient 3 via bone pins, thereby facilitating the reduction of the fracture site of the patient 3. Figure 7 In the directions shown, the first direction is parallel to the long side of the operating table 2, the second direction is vertical, and the third direction is parallel to the short side of the operating table 2.

[0078] In one specific embodiment, such as Figures 1 to 5 As shown, in Figure 1 In the indicated direction, four casters 120 are mounted on the bottom surface of the chassis 110, and four feet 130 are screwed onto the bottom surface of the chassis 110. By rotating the feet 130, the distance between the bottom surface of the feet 130 and the bottom surface of the chassis 110 can be adjusted.

[0079] exist Figure 1In the indicated direction, the linear motion mechanism 200 is mounted on the top surface of the housing 110. Optionally, the linear motion mechanism 200 includes a base 280, a first drive assembly 210, a first lead screw 220, a first slider 230, a slide table 240, and two slide rails 250. The base 280 is mounted on the top surface of the housing 110, the first drive assembly 210 is mounted on the base 280, the first lead screw 220 is connected to the first drive assembly 210, the first slider 230 has a threaded hole, the surface of the first lead screw 220 is provided with external threads, the first slider 230 and the first lead screw 220 are slidably connected by threaded engagement, the slide table 240 is connected to the first slider 230, and the two slide rails 250 are spaced apart and mounted on the base 280, with the slide table 240 slidably mounted within the slide rails 250 along the first direction.

[0080] The parallel mechanism 300 is mounted on the slide table 240, that is, the first motion component 310, the second motion component 320 and the third motion component 330 are mounted on the slide table 240. The first motion component 310 includes a first motion part 311 and a second motion part 312, and the second motion component 320 includes a third motion part 321 and a fourth motion part 322. Specifically, the first motion unit 311 includes a second drive assembly 3111, a second lead screw 3112, and a second slider 3113. The second motion unit 312 includes a third drive assembly 3121, a third lead screw 3122, and a third slider 3123. The third drive assembly 3121 is mounted on the slide table 240 and is drivenly connected to the third lead screw 3122. The third slider 3123 is slidably mounted on the third lead screw 3122 along a third direction. The second drive assembly 3111 is mounted on the third slider 3123. The second lead screw 3112 is drivenly connected to the second drive assembly 3111, and the second slider 3113 is slidably mounted on the second lead screw 3112 along a second direction. One end of the first support rod 313 is connected to the second slider 3113 via a revolute joint, and the other end of the first support rod 313 is connected to the first connecting end via a ball joint. The third motion unit 321 includes a fourth drive assembly 3211, a fourth lead screw 3212, and a fourth slider 3213. The fourth motion unit 322 includes a fifth drive assembly 3221, a fifth lead screw 3222, and a fifth slider 3223. The fifth drive assembly 3221 and the third drive assembly 3221 are spaced apart on the slide table 240 along a first direction. The fifth lead screw 3222 is driven by the fifth drive assembly 3221. The fifth slider 3223 is slidably mounted on the fifth lead screw 3222 along a third direction. The fourth drive assembly 3211 is mounted on the fifth slider 3223. The fourth lead screw 3212 is driven by the fourth drive assembly 3211. The fourth slider 3213 is slidably mounted on the fourth lead screw 3212 along a second direction. One end of the second support rod 323 is connected to the fourth slider 3213 via a revolute joint, and the other end of the second support rod 323 is connected to the second connecting end via a ball joint. The third motion component 330 includes an electric push cylinder 331, one end of which is connected to the third connecting end via a ball joint, and the other end of which is connected to the slide table 240 via a rotary joint.

[0081] The first motion assembly 310 has a PCS structure. P is a sliding joint, specifically manifested in the fact that the first moving part 311 and the second moving part 312 in the first motion assembly 310 can drive the fixed part 400 to move along a second direction and a third direction. C is a cylindrical joint, specifically manifested in the fact that the first support rod 313 can move relative to the first moving part 311 along the second direction and can also rotate about a first axis extending along the second direction. S is a ball joint, specifically manifested in the fact that the first support rod 313 is connected to the first connecting end via a ball joint. The second motion assembly 320 also has a PCS structure. The sliding joint (P) specifically manifested in the fact that the third moving part 321 and the fourth moving part 322 in the second motion assembly 320 can drive the fixed part 400 to move along a second direction and a third direction. The cylindrical joint (C) specifically manifested in the fact that the second support rod 323 can move relative to the third moving part 321 along the second direction and can also rotate about a second axis extending along the second direction. The ball joint (S) specifically manifested in the fact that the second support rod 323 is connected to the second connecting end via a ball joint. The third motion component 330 has an RPS structure, where R represents a revolute joint. Specifically, the first end of the third motion component 330 is connected to the linear motion mechanism 200 through a revolute joint. The prismatic joint (P) specifically means that the third motion component 330 can drive the third connecting end to move along the line connecting the first end and the second end. The ball joint (S) specifically means that the third motion component 330 is connected to the third connecting end through a ball joint.

[0082] In some optional embodiments, each ball joint used in the embodiments of this application includes a Hooke hinge 510, a flange 520, and a slewing bearing. The Hooke hinge 510 and the flange 520 are rotatably connected via the slewing bearing. One of the Hooke hinge 510 and the flange 520 is connected to the first connecting end, and the other is connected to the first moving component 310. Each rotating joint used in the embodiments of this application includes a hinge 530. Optionally, a damping element may also be provided on the rotating shaft of the rotating joint to make the rotation of the rotating joint smoother, which is beneficial to improving the moving stability of the fixing part 400, and thus improving the stability of the fracture reduction device 1. The motors used in the embodiments of this application can all be servo motors. Servo motors have the characteristics of high precision, which can improve the precision of the fracture reduction device 1 of this application.

[0083] During operation, the first drive assembly 210 drives the first slider 230 to move along the first direction, thereby moving the parallel mechanism 300 and the fixed part 400, which in turn causes the movable plate 410 to move along the first direction. The second drive assembly 3111 and the fourth drive assembly 3211 respectively drive the second slider 3113 and the fourth slider 3213 to move along the second direction, thereby causing the first connecting end and the second connecting end to move along the second direction, which in turn causes the movable plate 410 to move along the second direction. The third drive assembly 3121 and the fifth drive assembly 3221 respectively drive the third slider 3123 and the fifth slider 3223 to move along the third direction, thereby causing the second drive assembly 3111 and the fourth drive assembly 3211 to move along the third direction, which in turn causes the second slider 3113 and the fourth slider 3213 to move along the third direction, which in turn causes the first connecting end and the second connecting end to move along the third direction, which in turn causes the movable plate 410 to move along the third direction. The movable plate 410 rotates about a fourth axis, which extends in a third direction, through a differential movement between the second drive assembly 3111 and the fourth drive assembly 3211. The movable plate 410 rotates about a fifth axis, which extends in a second direction, through a differential movement between the third drive assembly 3121 and the fifth drive assembly 3221. The movable plate 410 rotates about a sixth axis, which extends in a first direction, by driving the third connecting end along the line connecting the first and second ends through the third movable assembly.

[0084] It is worth noting that the differential between the second drive assembly 3111 and the fourth drive assembly 3211 specifically means that the direction or speed of movement of the second slider 3113 driven by the second drive assembly 3111 is different from the direction or speed of movement of the fourth slider 3213 driven by the fourth drive assembly 3211. Similarly, the differential between the third drive assembly 3121 and the fifth drive assembly 3221 specifically means that the direction or speed of movement of the third slider 3123 driven by the third drive assembly 3121 is different from the direction or speed of movement of the fifth slider 3223 driven by the fifth drive assembly 3221. For example, the fourth drive component 3211 remains stationary, while the second drive component 3111 drives the second slider 3113 to move in the positive direction of the second direction; or, the fourth drive component 3211 drives the fourth slider 3213 to move in the negative direction of the second direction, while the second drive component 3111 drives the second slider 3113 to move in the positive direction of the second direction; or, the moving speed of the second slider 3113 driven by the second drive component 3111 is greater than or less than the moving speed of the fourth slider 3213 driven by the fourth drive component 3211.

[0085] The above description is merely an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A fracture reduction device, characterized in that, Includes linear motion mechanisms, parallel mechanisms, and fixed components; The parallel mechanism includes a first motion component, a second motion component, and a third motion component. The first motion component, the second motion component, and the third motion component are all mounted on the linear motion mechanism. The linear motion mechanism is used to drive the first motion component, the second motion component, and the third motion component to move along a first direction. The fixed part is provided with a first connecting end, a second connecting end, and a third connecting end, which are arranged in a triangle on the fixed part. A first motion component is movably connected to the first connecting end and is used to drive the first connecting end to move along a second direction and a third direction. A second motion component is movably connected to the second connecting end and is used to drive the second connecting end to move along the second direction and the third direction. The third motion component includes a first end and a second end. The first end is movably connected to the linear motion mechanism, and the second end is movably connected to the third connecting end. The third motion component is used to drive the third connecting end to move along the line connecting the first end and the second end. The first direction, the second direction, and the third direction are arranged at angles to each other. The fixation part is used to fix the patient's affected area; The first motion component includes a first motion part and a second motion part. The first motion part is movably connected to the first connecting end. The first motion part is used to drive the first connecting end to move along the second direction. The first motion part is mounted on the second motion part. The second motion part is mounted on the linear motion mechanism. The second motion part is used to drive the first motion part to move along the third direction. The second motion component includes a third motion part and a fourth motion part. The third motion part is movably connected to the second connecting end and is used to drive the second connecting end to move along the second direction. The third motion part is mounted on the fourth motion part and is mounted on the linear motion mechanism. The fourth motion part is used to drive the third motion part to move along the third direction. The first motion component further includes a first support rod, one end of which is connected to the first connecting end via a ball joint, and the other end of which is connected to the first motion part via a revolute joint, so that the first support rod can rotate relative to the first motion part about a first axis, the first axis extending along the second direction; The second motion component further includes a second support rod, one end of which is connected to the second connecting end via a ball joint, and the other end of which is connected to the third motion part via a revolute joint, so that the second support rod can rotate relative to the third motion part about a second axis, the second axis extending along the second direction; The first end of the third motion component is connected to the linear motion mechanism via a revolute joint, so that the third motion component can rotate relative to the linear motion mechanism about a third axis, the third axis extending along the first direction; The second end of the third motion component is connected to the third connecting end via a ball joint.

2. The fracture reduction device as described in claim 1, characterized in that, The linear motion mechanism includes a slide rail, a slide table, and a transmission assembly. The transmission assembly is connected to the slide table and is used to drive the slide table to move along the first direction. The slide table is slidably mounted on the slide rail along the first direction. The first motion assembly, the second motion assembly, and the third motion assembly are all mounted on the slide table.

3. The fracture reduction device as described in claim 2, characterized in that, The transmission assembly includes a first drive assembly, a first lead screw, and a first slider. The first drive assembly is driven by the first lead screw, the first lead screw is driven by the first slider, and the first slider is connected to the slide table.

4. The fracture reduction device according to any one of claims 1-3, characterized in that, The fracture reduction device also includes a housing, and the linear motion mechanism is mounted on the housing, which has a receiving cavity.

5. The fracture reduction device as described in claim 4, characterized in that, The fracture reduction device also includes multiple casters, which are spaced apart and installed at the bottom of the chassis.

6. The fracture reduction device as described in claim 5, characterized in that, The fracture reduction device also includes a support leg, which is installed at the bottom of the chassis. The support leg has a support surface, and the distance between the support surface and the bottom surface of the chassis is adjustable. When the distance between the support surface of the support leg and the bottom surface of the chassis is greater than the maximum distance between the bottom of the moving wheel and the bottom surface of the chassis, the support leg supports the chassis. The moving wheels are equipped with a braking structure.

7. A fracture reduction device, characterized in that, Includes linear motion mechanisms, parallel mechanisms, and fixed components; The parallel mechanism includes a first motion component, a second motion component, and a third motion component. The first motion component, the second motion component, and the third motion component are all mounted on the linear motion mechanism. The linear motion mechanism is used to drive the first motion component, the second motion component, and the third motion component to move along a first direction. The fixed part is provided with a first connecting end, a second connecting end, and a third connecting end, which are arranged in a triangle on the fixed part. A first motion component is movably connected to the first connecting end and is used to drive the first connecting end to move along a second direction and a third direction. A second motion component is movably connected to the second connecting end and is used to drive the second connecting end to move along the second direction and the third direction. The third motion component includes a first end and a second end. The first end is movably connected to the linear motion mechanism, and the second end is movably connected to the third connecting end. The third motion component is used to drive the third connecting end to move along the line connecting the first end and the second end. The first direction, the second direction, and the third direction are arranged at angles to each other. The fixation part is used to fix the patient's affected area; The first motion component includes a first motion part and a second motion part. The first motion part is mounted on the linear motion mechanism. One end of the second motion part is connected to the first motion part via a revolute joint, so that the second motion part can rotate relative to the first motion part about a first axis, the first axis extending along a second direction. The other end of the second motion part is connected to the first connecting end via a ball joint. The first motion part is used to drive the second motion part to move along the second direction, and the second motion part is used to drive the first connecting end to move along the third direction. The second motion component includes a third motion part and a fourth motion part. The third motion part is mounted on the linear motion mechanism. One end of the fourth motion part is connected to the third motion part via a revolute joint, so that the fourth motion part can extend relative to the third motion part about a second axis, the second axis extending along the second direction. The other end of the fourth motion part is connected to the second connecting end via a ball joint. The third moving part is used to drive the fourth moving part to move along the second direction, and the fourth moving part is used to drive the second connecting end to move along the third direction; The first end of the third motion component is connected to the linear motion mechanism via a revolute joint, so that the third motion component can rotate relative to the linear motion mechanism about a third axis, the third axis extending along the first direction; The second end of the third motion component is connected to the third connecting end via a ball joint.

8. The fracture reduction device as described in claim 7, characterized in that, The linear motion mechanism includes a slide rail, a slide table, and a transmission assembly. The transmission assembly is connected to the slide table and is used to drive the slide table to move along the first direction. The slide table is slidably mounted on the slide rail along the first direction. The first motion assembly, the second motion assembly, and the third motion assembly are all mounted on the slide table.

9. The fracture reduction device as described in claim 8, characterized in that, The transmission assembly includes a first drive assembly, a first lead screw, and a first slider. The first drive assembly is driven by the first lead screw, the first lead screw is driven by the first slider, and the first slider is connected to the slide table.

10. The fracture reduction device according to any one of claims 7-9, characterized in that, The fracture reduction device also includes a housing, and the linear motion mechanism is mounted on the housing, which has a receiving cavity.

11. The fracture reduction device as described in claim 10, characterized in that, The fracture reduction device also includes multiple casters, which are spaced apart and installed at the bottom of the chassis.

12. The fracture reduction device as described in claim 11, characterized in that, The fracture reduction device also includes a support leg, which is installed at the bottom of the chassis. The support leg has a support surface, and the distance between the support surface and the bottom surface of the chassis is adjustable. When the distance between the support surface of the support leg and the bottom surface of the chassis is greater than the maximum distance between the bottom of the moving wheel and the bottom surface of the chassis, the support leg supports the chassis. The moving wheels are equipped with a braking structure.

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