Upper and lower limb pelvic fracture reduction robot and remote real-time control system

Abstract

The application relates to the field of medical devices and discloses a robot for upper and lower limb pelvic fracture reduction and a remote real-time control system, which comprises a mounting bottom plate, mounting racks are arranged on the top of the mounting bottom plate and located at the front and rear sides, a connecting rack is arranged on the inner side of the mounting rack, two arc-shaped adjusting plates are fixedly connected to the inner side of the connecting rack, a first rack plate is fixedly connected to the inner side of the arc-shaped adjusting plate, a T-shaped groove is arranged on the outer surface of the arc-shaped adjusting plate, and a connecting block is slidably connected to the inner wall of the T-shaped groove. The mutual cooperation among the added clamping disc, rubber pad, arc-shaped adjusting plate and other structures can automatically adjust the pelvic form and fracture type of a patient, ensures the accuracy of the clamping force and position, helps to improve the accuracy of the operation, the space pose of the reduction robot can be adjusted, the working space of the robot is effectively improved, and the robot can be applied to the needs of different types of pelvic fracture reduction operations.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a robot for reducing fractures of the upper and lower limbs and pelvis and a remote real-time control system. Background Technology

[0002] Lower limb and pelvic fracture reduction surgery is a common orthopedic procedure used to treat fractures of the upper and lower limbs and pelvis. Traditionally, surgical treatment of lower limb and pelvic fractures requires highly skilled surgeons, and the procedure is susceptible to human error, leading to uncertainties in the surgical outcome. To improve the accuracy and safety of the surgery, robot-assisted surgical systems have been gradually introduced into the medical field in recent years. However, some existing robotic systems still have limitations. In particular, during fracture reduction, the robot often cannot automatically adjust according to the patient's pelvic shape and fracture type, resulting in inaccuracies in clamping force and position. In addition, existing systems typically lack flexible adjustment of the robot's spatial pose, limiting the robot's workspace and making it unsuitable for various types of pelvic fracture reduction surgeries. Therefore, those skilled in the art have proposed a lower limb and pelvic fracture reduction robot and a remote real-time control system to address these issues. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a robot for reducing upper and lower limb pelvic fractures and a remote real-time control system. This solves the problem that existing pelvic fracture reduction robots cannot automatically adjust according to the patient's pelvic shape and fracture type, resulting in inaccurate clamping force and position.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a robot for reducing fractures of the upper and lower limbs and pelvis, comprising a mounting base plate, mounting frames mounted on the front and rear sides of the top of the mounting base plate, a connecting frame mounted on the inner side of the mounting frame, two arc-shaped adjusting plates fixedly connected to the inner side of the connecting frame, a first rack plate fixedly connected to the inner side of the arc-shaped adjusting plate, a T-slot formed on the outer surface of the arc-shaped adjusting plate, a connecting block slidably connected to the inner wall of the T-slot, a connecting plate fixedly connected to the adjacent sides of the two connecting blocks, a first motor fixedly connected to the outside of one of the connecting blocks, a connecting rod fixedly connected to the output end of the first motor, and the connecting... Two first gears are fixedly connected to the outer side of the rod. A connecting strip is fixedly connected to the outer side of the connecting plate. The connecting strip is connected to a support plate via multiple electric telescopic rods. A groove is formed on the outer surface of the support plate. A second motor is fixedly connected to the outer side of the support plate. A second gear is fixedly connected to the output end of the second motor. A double-sided rack plate is rotatably connected inside the support plate. Four cylindrical gears are rotatably connected to the inner side of the support plate. A mounting plate is fixedly connected inside the support plate. Four second rack plates are slidably connected to the outer surface of the mounting plate. A rubber pad is fixedly connected to one end of each second rack plate. An adjustment mechanism is fixedly connected to the inner side of the mounting frame.

[0005] Preferably, the adjustment mechanism includes two mounting slots, which are respectively opened inside the two mounting brackets. The right mounting slot is movably connected to a drive screw via a bearing. The drive screw is threadedly connected to a threaded sleeve. A third motor is fixedly connected to the top of one of the mounting brackets, and the output end of the third motor is fixedly connected to the top end of the drive screw.

[0006] Preferably, a guide rod is fixedly connected inside the mounting groove on the right side, and a moving block is slidably connected outside the guide rod. The moving block is fixedly connected to the outside of the threaded sleeve and the outside of the connecting frame.

[0007] Preferably, electric guide rails are installed on the top left and right sides of the mounting base plate, and electric sliders are installed on the outside of the electric guide rails. The bottom ends of the two mounting brackets are respectively fixedly connected to the outside of the electric sliders at corresponding positions.

[0008] Preferably, a control panel is installed on the top of the mounting base plate, and the control panel is electrically connected to the third motor, the first motor, the electric telescopic rod and the second motor respectively.

[0009] Preferably, the outer side of the first gear meshes with the outer side of the first rack plate, the outer side of the second gear meshes with the outer side of the double-sided rack plate, the outer side of the cylindrical gear meshes with the inner side of the double-sided rack plate, and the outer side of the cylindrical gear meshes with the outer side of the second rack plate.

[0010] A remote real-time control system for a robot for reducing fractures of the upper and lower limbs and pelvis includes:

[0011] The remote control module is used by surgeons or operators to connect to the robot via a network or dedicated software and perform real-time operations. It includes functions such as control handles and motion command transmission, enabling operators to control the robot's movement in real time.

[0012] Sensors and imaging modules are used to acquire real-time images or data of the patient's pelvic area and transmit them to a remote control station for doctors to refer to and make decisions.

[0013] The data transmission and communication module is responsible for data transmission and communication, ensuring smooth real-time data transmission from the robot to the remote control station;

[0014] Image processing and analysis modules are used to process image data from robot sensors. These modules can perform operations such as image enhancement, edge detection, and 3D reconstruction to provide clearer and more detailed images of patient areas.

[0015] The real-time feedback and guidance module is used to display real-time feedback on robot operation at the remote control station, such as real-time images of the patient's pelvic area, operation position, force, and other data, so that doctors can make decisions based on this data and remotely guide the robot's operation process.

[0016] The safety control and emergency stop module is used to immediately stop the robot's movement in the event of an accident or emergency, ensuring surgical safety.

[0017] Preferably, the remote operation module includes:

[0018] The control interface unit is a user interface provided to surgeons or operators. This unit allows operators to interact with the robot through a visual interface, send motion commands, adjust parameters, etc.

[0019] The motion sensing unit is a sensor unit responsible for capturing the hand movements of surgeons or operators. It can monitor the operator's hand movements in real time and convert these movements into motion commands for the robot.

[0020] A security authentication and access control unit is used to ensure that only authorized doctors or operators can access and operate the robot, in order to protect patient privacy and the security of medical devices;

[0021] The motion control unit receives instructions from the motion sensing unit and is responsible for converting these instructions into the robot's actual motion. The motion control unit includes motion control algorithms, feedback systems, etc., to ensure the robot's smooth movement and accurate execution of the operator's instructions.

[0022] The real-time feedback unit provides real-time visual or auditory feedback to the operator so that they can understand the robot's current status, location, and the condition of the surgical area.

[0023] Preferably, the image processing and analysis module includes:

[0024] The image acquisition unit is responsible for acquiring real-time image data from the imaging device on the robot to ensure that sufficiently clear and detailed images of the patient's pelvic area are obtained.

[0025] The image preprocessing unit is used to preprocess the original image before actual image processing to remove noise, enhance contrast, adjust brightness, etc.

[0026] The feature extraction unit is used to extract useful features from images, such as skeletal structure and joint position, so that the robotic system can better understand the anatomical structure of the patient's pelvic region.

[0027] Image segmentation unit, used to separate specific regions or structures in an image;

[0028] The 3D reconstruction unit is used to convert 2D image data into 3D models to provide more comprehensive anatomical information;

[0029] Image registration and alignment units are responsible for ensuring that they are spatially aligned so that doctors can obtain more comprehensive information;

[0030] The real-time image display unit is used to display the processed images on a remote control station in real time for observation and analysis by surgeons or operators.

[0031] The anomaly detection and diagnosis unit is used to analyze images, detect potential anomalies, and assist doctors in making diagnoses.

[0032] Preferably, the real-time feedback and guidance module includes:

[0033] The force feedback unit is used to measure the force and pressure applied by the robot to the patient in real time through force sensors and other devices;

[0034] A visual tracking unit is used to track the position of the robot's end effector in real time using a camera or other visual sensors;

[0035] The force control unit is responsible for controlling the force of the robot actuators, which enables the robot to adjust the applied force according to the patient's physiological response to ensure the safety and precision of the surgery;

[0036] The voice / audio feedback unit is used to provide the robotic system with voice or audio feedback to the surgeon.

[0037] Working principle: When using this device, firstly, the patient's upper or lower limb is inserted into the gripping disc. Then, the second motor is activated, causing the second gear to rotate, which in turn causes the double-sided rack plate to rotate. This drives the multiple meshing cylindrical gears to rotate, causing the four second rack plates to move inward along the top of the mounting disc. This automatically adjusts the gripping force and position according to the patient's pelvic shape and fracture type, ensuring the accuracy of the gripping force and position. At the same time, the first motor is activated, causing the connecting rod to rotate, which in turn causes the two first gears to rotate. Under the meshing action of the first rack plates, the connecting block can move along the outer wall of the T-slot, thus adjusting the spatial posture of the reset robot.

[0038] In addition, by activating the third motor, the drive screw is rotated, causing the threaded sleeve to move up and down along the outer wall of the drive screw. This causes the connecting frame to move synchronously, allowing the repositioning robot to adjust its height according to the patient's body position and posture, providing a more comfortable treatment experience.

[0039] During operation, the remote control module allows surgeons or operators to connect to the robot via a network or dedicated software and perform real-time operations. This includes functions such as control handles and motion command transmission, enabling operators to control the robot's movement in real time.

[0040] Sensors and imaging modules are used to acquire real-time images or data of the patient's pelvic area and transmit them to a remote control station for doctors to refer to and make decisions. Through a real-time feedback and guidance module, the robot's operation can be displayed in real time at the remote control station, such as real-time images of the patient's pelvic area, operation position, force, and other data. This allows doctors to make decisions based on this data and remotely guide the robot's operation.

[0041] This invention provides a robot for reducing fractures of the upper and lower limbs and pelvis, along with a remote real-time control system. It offers the following advantages:

[0042] 1. This invention, through the coordinated use of structures such as a clamping disc, rubber pad, arc-shaped adjustment plate, first motor, electric telescopic rod, and T-slot, can automatically adjust according to the patient's pelvic shape and fracture type, ensuring the accuracy of clamping force and position, which helps to improve the precision of surgery, reduce surgical errors and damage, and can adjust the spatial posture of the reduction robot, effectively increasing the robot's workspace, and can be applied to the needs of different types of pelvic fracture reduction surgery.

[0043] 2. This invention, through the coordinated use of a third motor, mounting slot, drive screw, and threaded sleeve, allows for adjustments based on the patient's body position and posture, providing a more comfortable treatment experience. This helps reduce patient discomfort and pain, and improves treatment compliance.

[0044] 3. This invention, by incorporating sensors and imaging modules, achieves high-precision operation, reducing human error and thus improving the accuracy and precision of fracture reduction surgery. Simultaneously, it allows for real-time monitoring of the patient's posture, movement, and tissue condition. This real-time feedback enables surgeons to gain a more comprehensive understanding of the surgical progress and adjust their operational strategies accordingly.

[0045] 4. By adding a real-time feedback unit, this invention can monitor the patient's physiological state and bone position in real time, thereby reducing surgical risks, enabling doctors to promptly identify and correct potential problems, prevent complications, and improve surgical safety. Attached Figure Description

[0046] Figure 1 This is a perspective view of the present invention;

[0047] Figure 2 This is a schematic diagram of the arc-shaped adjustment plate structure of the present invention;

[0048] Figure 3 This is a schematic diagram of the double-sided rack and pinion plate structure of the present invention;

[0049] Figure 4 This is a schematic diagram of the mounting bracket structure of the present invention;

[0050] Figure 5 This is a general framework diagram of the present invention;

[0051] Figure 6 This is a framework diagram of the image processing and analysis module of the present invention;

[0052] Figure 7 This is a framework diagram of the remote operation module of the present invention;

[0053] Figure 8 This is a framework diagram of the real-time feedback and guidance module of the present invention.

[0054] The components include: 1. Mounting base plate; 201. Clamping plate; 202. Rubber pad; 203. Arc-shaped adjusting plate; 204. First motor; 205. Electric telescopic rod; 206. T-slot; 207. First rack plate; 208. First gear; 209. Connecting block; 210. Connecting rod; 211. Second motor; 212. Second gear; 213. Groove; 214. Double-sided rack plate; 215. Cylindrical gear; 216. Second rack plate; 217. Mounting plate; 3. Connecting frame; 4. Mounting frame; 501. Third motor; 502. Mounting groove; 503. Drive screw; 504. Threaded sleeve; 6. Control panel; 7. Guide rod; 8. Moving block; 9. Connecting strip; 10. Electric guide rail; 11. Electric slider; 12. Connecting plate. Detailed Implementation

[0055] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0056] Example:

[0057] Please see the appendix Figure 1 - Appendix Figure 3This invention provides a robot for reducing fractures of the upper and lower limbs and pelvis, including a mounting base plate 1. Mounting frames 4 are mounted on the front and rear sides of the top of the mounting base plate 1. Connecting frames 3 are mounted on the inner side of the mounting frames 4. Two arc-shaped adjustment plates 203 are fixedly connected to the inner side of the connecting frames 3. A first rack plate 207 is fixedly connected to the inner side of the arc-shaped adjustment plates 203. A T-slot 206 is formed on the outer surface of the arc-shaped adjustment plates 203. Connecting blocks 209 are slidably connected to the inner wall of the T-slot 206. Connecting plates 12 are fixedly connected to the adjacent sides of the two connecting blocks 209. A first motor 204 is fixedly connected to the outside of one of the connecting blocks 209. A connecting rod 210 is fixedly connected to the output end of the first motor 204. Two first rack plates 210 are fixedly connected to the outer side of the connecting rod 210. Wheel 208, connecting plate 12 is externally fixedly connected to connecting strip 9, connecting strip 9 is connected to support plate 201 through multiple electric telescopic rods 205, support plate 201 has groove 213 on outer surface, support plate 201 is externally fixedly connected to second motor 211, second gear 212 is fixedly connected to output end of second motor 211, double-sided rack plate 214 is rotatably connected inside support plate 201, four cylindrical gears 215 are rotatably connected to inner side of support plate 201, mounting plate 217 is internally fixedly connected to support plate 201, four second rack plates 216 are slidably connected to outer surface of mounting plate 217, rubber pad 202 is fixedly connected to one end of second rack plate 216, and adjustment mechanism is fixedly connected to inner side of mounting frame 4.

[0058] Specifically, the patient's upper or lower limb is first inserted into the clamping plate 201. Then, the second motor 211 is activated, causing the second gear 212 to rotate, which in turn causes the double-sided rack plate 214 to rotate. This drives the multiple meshing cylindrical gears 215 to rotate, causing the four second rack plates 216 to move inward along the top of the mounting plate 217. This allows for automatic adjustment based on the patient's pelvic shape and fracture type, ensuring the accuracy of clamping force and position. Simultaneously, the first motor 204 is activated, causing the connecting rod 210 to rotate, which in turn causes the two first gears 208 to rotate. At this time, under the meshing action of the first rack plate 207, the connecting block 209 can move along the outer wall of the T-slot 206. This allows for adjustment of the spatial posture of the reduction robot, effectively increasing the robot's workspace and making it suitable for different types of pelvic fracture reduction surgeries.

[0059] Please see the appendix Figure 2 and attached Figure 4The adjustment mechanism includes two mounting slots 502, which are respectively opened inside the two mounting brackets 4. The right mounting slot 502 is movably connected to the drive screw 503 through a bearing. The drive screw 503 is threadedly connected to the outside of the threaded sleeve 504. A third motor 501 is fixedly connected to the top of one of the mounting brackets 4. The output end of the third motor 501 is fixedly connected to the top end of the drive screw 503.

[0060] Specifically, by activating the third motor 501, the drive screw 503 is rotated, causing the threaded sleeve 504 to move up and down along the outer wall of the drive screw 503. This drives the connecting frame 3 to move synchronously, allowing the repositioning robot to adjust its height according to the patient's body position and posture, providing a more comfortable treatment experience.

[0061] Please see the appendix Figure 4 The guide rod 7 is fixedly connected inside the mounting slot 502 on the right side. The movable block 8 is slidably connected to the outside of the guide rod 7. The movable block 8 is fixedly connected to the outside of the threaded sleeve 504 and the outside of the connecting frame 3.

[0062] Specifically, when the connecting frame 3 moves, it will drive the moving block 8 to move along the outside of the guide rod 7, thereby greatly improving the stability of the connecting frame 3 during the movement process.

[0063] Please see the appendix Figure 1 and attached Figure 4 Electric guide rails 10 are installed on the top left and right sides of the mounting base plate 1. Electric sliders 11 are installed on the outside of the electric guide rails 10. The bottom ends of the two mounting brackets 4 are respectively fixedly connected to the outside of the electric sliders 11 at the corresponding positions.

[0064] Specifically, the electric guide rail 10 and the electric slider 11 are existing technology products that complement each other, enabling the electric slider 11 to move along the outside of the electric guide rail 10, thus ensuring the convenience of using the reset robot.

[0065] Please see the appendix Figure 1 A control panel 6 is installed on the top of the mounting base plate 1. The control panel 6 is electrically connected to the third motor 501, the first motor 204, the electric telescopic rod 205, and the second motor 211.

[0066] Specifically, the control panel 6 can flexibly control the start and stop status of the third motor 501, the first motor 204, the electric telescopic rod 205, and the second motor 21, greatly improving the ease of use of the device.

[0067] Please see the appendix Figure 2 - Appendix Figure 4The outer side of the first gear 208 meshes with the outer side of the first rack plate 207, the outer side of the second gear 212 meshes with the outer side of the double-sided rack plate 214, the outer side of the cylindrical gear 215 meshes with the inner side of the double-sided rack plate 214, and the outer side of the cylindrical gear 215 meshes with the outer side of the second rack plate 216.

[0068] Specifically, the rotation of the first gear 208 can cause the connecting plate 12 to move synchronously along the first rack plate 207, thus adjusting the spatial posture of the reduction robot and effectively improving the robot's workspace. This makes it suitable for different types of pelvic fracture reduction surgeries. At the same time, the rotation of the second gear 212 can cause the double-sided rack plate 214 to rotate, which in turn drives the multiple meshing cylindrical gears 215 to rotate, causing the four second rack plates 216 to move inward along the top of the mounting plate 217. This allows for automatic adjustment based on the patient's pelvic shape and fracture type, ensuring the accuracy of clamping force and position.

[0069] Please see the appendix Figure 5 - Appendix Figure 8 A remote real-time control system for a robot for reducing fractures of the upper and lower limbs and pelvis includes:

[0070] The remote control module is used by surgeons or operators to connect to the robot via a network or dedicated software and perform real-time operations. It includes functions such as control handles and motion command transmission, enabling operators to control the robot's movement in real time.

[0071] The remote operation module includes:

[0072] The control interface unit is a user interface provided to surgeons or operators. This unit allows operators to interact with the robot through a visual interface, send motion commands, adjust parameters, etc.

[0073] Specifically, through this interface, operators can interact with the robot, send precise movement commands, and adjust various parameters. The interface is designed to be highly intuitive, allowing operators to send commands quickly and accurately, thereby ensuring the smooth progress of the surgery.

[0074] The motion sensing unit is a sensor unit responsible for capturing the hand movements of surgeons or operators. It can monitor the operator's hand movements in real time and convert these movements into motion commands for the robot.

[0075] Specifically, this unit ensures that the robot can respond quickly and accurately to the operator's movements. The design and manufacture of this sensor unit requires high precision and technical support to ensure that it can accurately capture every hand movement.

[0076] A security authentication and access control unit is used to ensure that only authorized doctors or operators can access and operate the robot, in order to protect patient privacy and the security of medical devices;

[0077] Specifically, the unit verifies the identity of the surgeon or operator and confirms whether they have permission to access and operate the robot. Only authorized personnel can access and operate the robot, thus ensuring patient privacy and the security of medical equipment.

[0078] The motion control unit receives instructions from the motion sensing unit and is responsible for converting these instructions into the robot's actual movements. The motion control unit includes motion control algorithms, feedback systems, etc., to ensure the robot's smooth movement and accurate execution of the operator's instructions.

[0079] The real-time feedback unit provides real-time visual or auditory feedback to the operator, enabling them to understand the robot's current status, position, and the condition of the surgical area.

[0080] Sensors and imaging modules are used to acquire real-time images or data of the patient's pelvic area and transmit them to a remote control station for doctors to refer to and make decisions.

[0081] Specifically, this module can accurately capture the patient's pelvic area and generate high-quality images or data to facilitate further diagnosis and treatment by doctors. These images or data are transmitted in real time to a remote control station for doctors' reference and decision-making.

[0082] The data transmission and communication module is responsible for data transmission and communication, ensuring smooth real-time data transmission from the robot to the remote control station;

[0083] Specifically, the module can transmit images or data collected by the robot to a remote control station in real time, ensuring that doctors can obtain patient information promptly. This module employs state-of-the-art data transmission technologies, such as 5G and Wi-Fi, to ensure the real-time nature and stability of the data.

[0084] Image processing and analysis modules are used to process image data from robot sensors. These modules can perform operations such as image enhancement, edge detection, and 3D reconstruction to provide clearer and more detailed images of patient areas.

[0085] Specifically, this module can process and analyze image data from robot sensors, including image enhancement, edge detection, and 3D reconstruction, to provide clearer and more detailed images of patient areas. These processing and analysis results can help doctors better understand the patient's condition, thereby enabling more accurate diagnoses and treatment plans.

[0086] The image processing and analysis module includes:

[0087] The image acquisition unit is responsible for acquiring real-time image data from the imaging device on the robot to ensure that sufficiently clear and detailed images of the patient's pelvic area are obtained.

[0088] The image preprocessing unit is used to preprocess the original image before actual image processing to remove noise, enhance contrast, adjust brightness, etc.

[0089] The feature extraction unit is used to extract useful features from images, such as skeletal structure and joint position, so that the robotic system can better understand the anatomical structure of the patient's pelvic region.

[0090] Image segmentation unit, used to separate specific regions or structures in an image;

[0091] The 3D reconstruction unit is used to convert 2D image data into 3D models to provide more comprehensive anatomical information;

[0092] Image registration and alignment units are responsible for ensuring that they are spatially aligned so that doctors can obtain more comprehensive information;

[0093] The real-time image display unit is used to display the processed images on a remote control station in real time for observation and analysis by surgeons or operators.

[0094] The anomaly detection and diagnosis unit analyzes images to detect potential anomalies and assists doctors in making diagnoses.

[0095] The real-time feedback and guidance module is used to display real-time feedback on robot operation at the remote control station, such as real-time images of the patient's pelvic area, operation position, force, and other data, so that doctors can make decisions based on this data and remotely guide the robot's operation process.

[0096] The real-time feedback and guidance module includes:

[0097] The force feedback unit is used to measure the force and pressure applied by the robot to the patient in real time through force sensors and other devices;

[0098] A visual tracking unit is used to track the position of the robot's end effector in real time using a camera or other visual sensors;

[0099] The force control unit is responsible for controlling the force of the robot actuators, which enables the robot to adjust the applied force according to the patient's physiological response to ensure the safety and precision of the surgery;

[0100] The voice / audio feedback unit is used to provide the robotic system with voice or audio feedback to the surgeon.

[0101] The safety control and emergency stop module is used to immediately stop the robot's movement in the event of an accident or emergency, ensuring surgical safety.

[0102] This system, through the integration of sensors and imaging modules, achieves high-precision operation, reducing human error and thus improving the accuracy and precision of fracture reduction surgery. It also allows for real-time monitoring of the patient's posture, movement, and tissue condition. This real-time feedback enables surgeons to gain a more comprehensive understanding of the surgical progress and adjust their operational strategies accordingly. Furthermore, by adding a real-time feedback unit to monitor the patient's physiological state and bone position, surgical risks can be reduced, allowing doctors to promptly identify and correct potential problems, prevent complications, and ultimately improve surgical safety.

[0103] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robot for reducing fractures of the upper and lower limbs and pelvis, comprising a mounting base plate (1), characterized in that, Mounting brackets (4) are installed on the front and rear sides of the top of the mounting base plate (1). A connecting bracket (3) is installed on the inner side of the mounting bracket (4). Two arc-shaped adjusting plates (203) are fixedly connected to the inner side of the connecting bracket (3). A first rack plate (207) is fixedly connected to the inner side of the arc-shaped adjusting plate (203). A T-slot (206) is opened on the outer surface of the arc-shaped adjusting plate (203). A connecting block (209) is slidably connected to the inner wall of the T-slot (206). A connecting plate (12) is fixedly connected to the adjacent sides of the two connecting blocks (209). A first motor (204) is fixedly connected to the outside of one of the connecting blocks (209). A connecting rod (210) is fixedly connected to the output end of the first motor (204). Two first gears (208) are fixedly connected to the outside of the connecting rod (210). A connecting strip (9) is fixedly connected to the outside of the connecting plate (12). The connecting strip (9) is connected to a clamping plate (201) via multiple electric telescopic rods (205). A groove (213) is provided on the outer surface of the clamping plate (201). A second motor (211) is fixedly connected to the outside of the clamping plate (201). A second gear (212) is fixedly connected to the output end of the second motor (211). A double-sided rack plate (214) is rotatably connected inside the clamping plate (201). Four cylindrical gears (215) are rotatably connected to the inner side of the clamping plate (201). A mounting plate (217) is fixedly connected inside the clamping plate (201). Four second rack plates (216) are slidably connected to the outer surface of the mounting plate (217). A rubber pad (202) is fixedly connected to one end of the second rack plate (216). The outer side of the first gear (208) meshes with the outer side of the first rack plate (207), the outer side of the second gear (212) meshes with the outer side of the double-sided rack plate (214), the outer side of the cylindrical gear (215) meshes with the inner side of the double-sided rack plate (214), and the outer side of the cylindrical gear (215) meshes with the outer side of the second rack plate (216).

2. The robot for reducing fractures of the upper and lower limbs and pelvis according to claim 1, characterized in that, An adjustment mechanism is fixedly connected to the inner side of the mounting bracket (4). The adjustment mechanism includes two mounting slots (502). The two mounting slots (502) are respectively opened on the inner side of the two mounting brackets (4). The right mounting slot (502) is movably connected to a drive screw (503) through a bearing. The drive screw (503) is threadedly connected to a threaded sleeve (504). A third motor (501) is fixedly connected to the top of one of the mounting brackets (4). The output end of the third motor (501) is fixedly connected to the top end of the drive screw (503).

3. The robot for reducing fractures of the upper and lower limbs and pelvis according to claim 2, characterized in that, A guide rod (7) is fixedly connected inside the mounting groove (502) on the left side, and a moving block (8) is slidably connected to the outside of the guide rod (7). The moving block (8) and the outside of the threaded sleeve (504) are respectively fixedly connected to the outside of the connecting frame (3).

4. The robot for reducing fractures of the upper and lower limbs and pelvis according to claim 1, characterized in that, Electric guide rails (10) are installed on the top left and right sides of the mounting base plate (1), and electric sliders (11) are installed on the outside of the electric guide rails (10). The bottom ends of the two mounting brackets (4) are respectively fixedly connected to the outside of the electric sliders (11) at the corresponding positions.

5. The robot for reducing fractures of the upper and lower limbs and pelvis according to claim 2, characterized in that, The top of the mounting base plate (1) is equipped with a control panel (6), which is electrically connected to the third motor (501), the first motor (204), the electric telescopic rod (205), and the second motor (211).

6. A remote real-time control system for a robot for reducing fractures of the upper and lower limbs and pelvis, comprising the robot for reducing fractures of the upper and lower limbs and pelvis as described in any one of claims 1-5, characterized in that, include: The remote control module is used by operators to connect to the robot via a network or dedicated software and perform real-time operations. It includes control handles and motion command transmission functions, enabling operators to control the robot's movement in real time. Sensors and imaging modules are used to acquire real-time image data of the patient's pelvic area and transmit it to a remote control station for doctors to refer to and make decisions. The data transmission and communication module is responsible for data transmission and communication, ensuring smooth real-time data transmission from the robot to the remote control station; The image processing and analysis module is used to process image data from the robot's sensors. This module is capable of image enhancement, edge detection, and 3D reconstruction to provide clearer and more detailed images of patient sites. The real-time feedback and guidance module is used to display real-time feedback on robot operation at the remote control station, including real-time images of the patient's pelvic area, operation position and force, so that doctors can make decisions based on this data and remotely guide the operation of the robot. The safety control and emergency stop module is used to immediately stop the robot's movement in emergency situations to ensure surgical safety.

7. The remote real-time control system for a robot for reducing fractures of the upper and lower limbs and pelvis according to claim 6, characterized in that, The remote control module includes: The control interface unit provides a user interface for operators, allowing them to interact with the robot through a visual interface, send motion commands, and adjust parameters. The motion sensing unit is a sensor unit responsible for capturing the operator's hand movements. It can monitor the operator's hand movements in real time and convert these movements into motion commands for the robot. A security authentication and access control unit is used to ensure that only authorized personnel can access and operate the robot, in order to protect patient privacy and the security of medical devices; The motion control unit receives instructions from the motion sensing unit and is responsible for converting these instructions into the robot's actual motion. The motion control unit includes motion control algorithms and a feedback system to ensure the robot's smooth movement and accurate execution of the operator's instructions. The real-time feedback unit provides real-time visual or auditory feedback to the operator so that they can understand the robot's current status, location, and the condition of the surgical area.

8. The remote real-time control system for a robot for reducing fractures of the upper and lower limbs and pelvis according to claim 6, characterized in that, The image processing and analysis module includes: The image acquisition unit is responsible for acquiring real-time image data from the imaging device on the robot to ensure that sufficiently clear and detailed images of the patient's pelvic area are obtained. The image preprocessing unit is used to preprocess the original image before actual image processing to remove noise, enhance contrast, and adjust brightness; The feature extraction unit is used to extract useful features from the image, including skeletal structure and joint position, so that the robotic system can better understand the anatomy of the patient's pelvic region. Image segmentation unit, used to separate specific regions in an image; The 3D reconstruction unit is used to convert 2D image data into 3D models to provide more comprehensive anatomical information; Image registration and alignment units are responsible for ensuring that they are spatially aligned so that doctors can obtain more comprehensive information; The real-time image display unit is used to display the processed images on the remote control station in real time for operators to observe and analyze. The anomaly detection and diagnosis unit is used to analyze images, detect any abnormalities, and assist doctors in making diagnoses.

9. The remote real-time control system for a robot for reducing fractures of the upper and lower limbs and pelvis according to claim 6, characterized in that, The real-time feedback and guidance module includes: Force feedback unit, used to measure the force applied by the robot to the patient in real time via force sensor; A visual tracking unit is used to track the position of the robot's end effector in real time using a camera; The force control unit is responsible for controlling the force of the robot actuators, which enables the robot to adjust the applied force according to the patient's physiological response to ensure the safety and precision of the surgery; The voice audio feedback unit is used to provide the robotic system with voice feedback to surgeons.

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