A three-axis motion parallel reduction mechanism for closed reduction of pelvic fractures

Abstract

The application discloses a three-axis motion parallel reset mechanism for closed reset of a pelvic fracture, which comprises a sick side pelvic fracture reset robot and a healthy side fixing device, and the sick side pelvic fracture reset robot comprises a movable base, a three-axis moving device, a three-axis rotating device, a reset force detecting device and a sick side screw holding device. Through the above structure, six-degree-of-freedom translation and rotation of a fracture block can be realized, and the reset force change can be monitored in real time, thereby providing a guarantee for operation safety. The three-axis rotating device is connected in series through a U-shaped frame, has a smaller space occupation than a traditional ball pair, can be close to the upper surface of a human body during reset, has a short force arm and can provide a larger reset force. The robot has the advantages of compact structure, high precision, large load force, high flexibility, large working space, a spatial virtual point as a motion center, adjustable position according to a patient and a fracture type and convenient operation.

Description

TECHNICAL FIELD

[0001] The application is a divisional application of 2024102952614, and relates to the technical field of medical equipment, in particular to a three-axis motion parallel reduction mechanism for closed reduction of pelvic fracture. BACKGROUND

[0002] With the development of society and the transportation industry, the number of patients with pelvic fracture is increasing year by year. The incidence of pelvic fracture accounts for 3% to 8% of the total body fracture, the disability rate is as high as 37%, and the mortality rate is as high as 30-60%. The traditional open reduction surgery has a large incision, a large amount of bleeding, and the reduction effect depends on the experience of the doctor. The closed reduction of pelvic fracture minimally invasive surgery avoids a large incision, significantly reduces the amount of bleeding, and reduces complications, and has become the development trend of pelvic fracture reduction surgery.

[0003] The reduction force required in the reduction surgery is as high as 500N, and the labor intensity of the doctor's manual reduction is large, and the reduction accuracy cannot be guaranteed. Compared with the doctor's manual reduction, the robot-assisted pelvic fracture reduction has the advantages of smooth operation, high accuracy, less intraoperative fluoroscopy, and reduced labor intensity of the doctor, and can provide higher accuracy and safety.

[0004] At present, the research on fracture surgery robots mainly focuses on long bone fractures, and there are few related researches on pelvic fracture reduction robots. The serial pelvic fracture reduction robot mainly uses a six-axis robot, which has low rigidity and small end load, and cannot meet the clinical requirements. The parallel pelvic fracture reduction robot mainly uses an Ilizarov external frame or a Stewart platform, which has large load, but small working space and large space occupation, which will affect the intraoperative X-ray film shooting and other operations. The serial-parallel pelvic fracture reduction robot mainly uses a serial moving platform as the base, and the parallel mechanism is located at the end of the serial platform to control the attitude of the fracture block. Such a robot is directly located at the bedside, which affects the operation of the doctor, and the parallel mechanism is often large in size, which will interfere with the operation space near the pelvis and affect the intraoperative X-ray film shooting. SUMMARY

[0005] The purpose of the present application is to provide a three-axis motion parallel reduction mechanism for closed reduction of pelvic fracture, to solve the problems of large labor intensity of doctors, more intraoperative fluoroscopy, low reduction accuracy, large robot size, small load and small rigidity in the related art.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical scheme:

[0007] A three-axis motion parallel reduction mechanism for closed reduction of pelvic fracture, characterized in that: the pelvic fracture reduction robot comprises a fracture reduction robot on the affected side and a fixation device on the healthy side; wherein,

[0008] The affected side pelvic fracture reduction robot comprises a movable base, a three-axis moving device, a three-axis rotating device, a reduction force detection device, and an affected side screw holding device. The affected side pelvic fracture reduction robot is moved to the affected side, placed beside the operating bed, and deviated to the position of the patient's feet to facilitate the preoperative and postoperative operation of the doctor. The movable base is fixedly connected with the bedside guide rail of the operating bed, the three-axis moving device is fixed above the movable base, is used for transverse and longitudinal traction of the fracture block, separates the fracture end, and locks the three-degree-of-freedom translation reduction of the fracture block; the three-axis rotating device is fixed in front of the three-axis moving device, is used for the three-degree-of-freedom rotation reduction of the fracture block; the output end is fixed with the reduction force detection device, the end of the reduction force detection device is detachably connected with the affected side screw holding device, and the disinfection requirement of the operation is facilitated; the affected side screw holding device can realize holding of the affected side holding screw at any position, is detachably connected with the affected side holding screw, through the above structure, the six-degree-of-freedom translation and rotation of the fracture block can be realized, and the change of the reduction force is monitored in real time, so that the safety of the reduction operation is ensured. The healthy side fixing device can realize holding of the healthy side holding screw at any position, is detachably connected with the healthy side holding screw, and is fixedly connected with the bedside guide rail of the operating bed, and is used for firmly fixing the healthy side half pelvis. The affected side pelvic fracture reduction robot, the patient, the operating bed, and the healthy side fixing device are connected to form a closed structure, the reduction force is an internal force, the bearing capacity of the robot can be improved, and the overall weight of the robot is reduced.

[0009] Further, the three-axis rotating device comprises a fixed ring, a fixed limiting toothed disc, a movable limiting toothed disc, a first connecting shaft, a first bearing, a lifting nut, a first rotating drive mounting seat, a first rotating drive, a first coupling, a second bearing, a first bearing cover, a U-shaped frame, a second rotating drive, a second rotating drive mounting seat, a second coupling, a third bearing, a third rotating drive, a third rotating drive mounting seat, a third coupling, and a fourth bearing. The fixed ring is sleeved and fixed on the three-axis moving device. The fixed limiting toothed disc is fixed below the fixed ring. The movable limiting toothed disc is fixed above the first rotating drive mounting seat, and the first bearing is embedded in the movable limiting toothed disc. The first connecting shaft is vertically installed below the fixed ring and passes through the center of the two limiting toothed discs. The first bearing is installed on the first connecting shaft. The lifting nut is threadedly connected with the first connecting shaft below, and is used for controlling the engagement and disengagement of the limiting toothed discs, so as to realize the rotation and fixation of the three-axis rotating device. The first rotating drive is fixed below the first rotating drive mounting seat. The first coupling is fixedly connected with the output end of the first rotating drive. The second bearing is fixed in the first bearing cover and is installed on the first coupling. The first bearing cover is fixedly connected with the first rotating drive mounting seat, so as to enhance the bending moment resistance of the first coupling. The U-shaped frame is fixedly connected with the output end of the first coupling. The second rotating drive is fixed to the outer side of the front end of one arm of the U-shaped frame through the second rotating drive mounting seat. The second coupling is fixedly connected with the output end of the second rotating drive. The third bearing is fixed to the inner side of the front end of two arms of the U-shaped frame. The third rotating drive mounting seat is fixedly connected with the output end of the second coupling through the inner ring of the third bearing. The third rotating drive is installed on the third rotating drive mounting seat. The third coupling is fixedly connected with the output end of the third rotating drive. The fourth bearing is installed on the third coupling, so as to enhance the bending moment resistance of the third coupling. The three-axis rotating device is used for realizing three-degree-of-freedom rotation reduction of a fracture block.

[0010] Further, the movable base comprises a bottom plate, four universal brake wheels, two directional brake wheels, four fixed foot cups, a machine box, two linear guide rail sliders, two clamping seats, two locking bolts, two locking wrenches, and two bed fixing clamps. The bottom plate extends downward to prevent the lateral overturning of the robot for reduction of the fractured pelvis. The four universal brake wheels, two directional brake wheels, and four fixed foot cups are arranged below the bottom plate for the movement and fixation of the robot for reduction of the fractured pelvis. The machine box is fixed to the upper part of the bottom plate, and the inside of the machine box is used to place a controller and a power supply, and the top of the machine box is used to fix a three-axis moving device. The two clamping seats are fixed to the top of the machine box, the clamping seats are provided with the locking bolts, and the locking wrenches are installed at the tail of the locking bolts. The two linear guide rail sliders are fixed to the side of the machine box, and the bed fixing clamps are fixed to the linear guide rail sliders. The bed fixing clamps are connected with the guide rails beside the bed, and are used to fix the robot for reduction of the fractured pelvis to prevent the movement of the robot during the operation. The linear guide rail sliders are used to realize the lifting of the bed fixing clamps to adapt to the height of the operating bed. The clamping seats and the locking bolts are used to limit and lock the bed fixing clamps left and right.

[0011] Further, the three-axis moving device comprises a first servo motor, a first linear module, a first reinforcing plate, a first fixed plate, a second servo motor, a second linear module, a second reinforcing plate, a second fixed plate, a third servo motor, a third linear module, and a third reinforcing plate. The first (second, third) linear module is fixedly provided with the first (second, third) servo motor and the first (second, third) fixed plate. The first linear module is fixed to the top of the movable base and is arranged along the long axis of the bed to realize the movement of the fractured bone along the long axis of the bed. The second linear module is fixed above the first fixed plate and is arranged perpendicular to the bed surface and is reinforced by the first reinforcing plate to realize the lifting of the fractured bone perpendicular to the bed surface. The third linear module is fixed to the second fixed plate and is arranged along the short axis of the bed to realize the movement of the fractured bone along the short axis of the bed. The second reinforcing plate is sleeved on the second linear module, the third reinforcing plate is sleeved on the third linear module, and the two reinforcing plates are fixed to the second fixed plate to reinforce the third linear module. The above structure is used to realize the three-degree-of-freedom translation of the fractured bone.

[0012] Further, the reduction force detection device comprises a flange seat, a six-dimensional force sensor, and an output shaft. The flange seat is fixedly connected with the third coupling, the six-dimensional force sensor is fixed to the flange seat, and the other end of the six-dimensional force sensor is fixed with the output shaft to realize the real-time monitoring of the change of the reduction force during the operation.

[0013] Further, the affected side screw holding device comprises a locking nut, a holding rod, three screw random holding mechanisms, the holding rod is installed on the output shaft, is quickly fixed and detached through the locking nut, the screw random holding mechanisms are installed on both sides of the holding rod, and the affected side holding screw position is quickly and conveniently found and firmly held and fixed.

[0014] Further, the healthy side fixing device comprises two bed fixing clamps, two U-shaped supports, four cross connecting pieces, two cross connecting rods and four screw random holding mechanisms, the bed fixing clamps are hung on the bedside guide rails, the U-shaped supports are fixed to the outer sides of the bed fixing clamps, one end of the cross connecting pieces is fixed to the U-shaped supports, the other end is fixed to the cross connecting rods, and the screw random holding mechanisms are installed on the cross connecting rods and used for quickly and conveniently finding the healthy side holding screw position and firmly holding and fixing.

[0015] Further, the bed fixing clamp comprises a guide rail connecting piece, two clamping blocks, two locking bolts and two locking wrenches, one end of the locking bolt is provided with the clamping block, the other end is provided with the locking wrench, is connected with the guide rail connecting piece through threads, the guide rail connecting piece is hung on the bedside guide rail, and the clamping block is clamped and fixed through the locking bolt.

[0016] Further, the screw random holding mechanism comprises a rotary fixing clamp, a connecting rod, a sleeve, a gasket, a bolt and a holding screw clamp, one end of the rotary fixing clamp is fixed to the holding rod, the other end is connected to the connecting rod, the lower end of the connecting rod is provided with the sleeve, is rotationally connected with the holding screw clamp, is axially fixed through the gasket and the bolt, and the holding screw clamp clamps and fixes the holding screw.

[0017] Compared with the prior art, the application has the beneficial effects that:

[0018] The pelvic fracture reduction robot on the affected side is placed beside the operating bed at the femur of the patient on the affected side, and can meet the space requirement of the doctor for intraoperative operation and X-ray shooting; the three-axis moving device is used to realize three-dimensional movement in space, the three-axis rotating device is used to realize three-dimensional rotation in space, the axes of the three-axis rotating device intersect at a point, similar to a ball pair, and can realize arbitrary rotation in space, the robot has high flexibility and large working space; the three-axis rotating device is connected in series through a U-shaped frame, has compact structure, occupies less space than the traditional ball pair, can be close to the upper surface of the human body during reduction, has short force arm, and can provide larger reduction force; each branch chain of the affected side screw holding device has seven degrees of freedom, can realize holding the screw at any position, and the device can form a parallel mechanism with the pelvis, each branch chain is mutually constrained, a small number of degrees of freedom of each branch chain are controlled, the affected side screw holding device and the pelvis can form a rigid body; the affected side pelvic fracture reduction robot, the patient, the operating bed and the healthy side screw holding mechanism are connected to form a closed loop, the reduction force is an internal force, the bearing capacity of the robot can be improved and the overall weight of the robot can be reduced; the motion center of the pelvic fracture reduction robot is a virtual point in space, the position can be adjusted according to the position of the patient and the type of fracture, and convenience is provided for the operation; the robot can provide unilateral and bilateral reduction operation according to the operation requirement and need, and can meet the operation requirement of patients with different body types. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is an isometric view of a three-axis motion parallel reduction mechanism for closed reduction of pelvic fracture of the application;

[0020] Figure 2 is a structural schematic view of a movable base;

[0021] Figure 3 is a structural schematic view of a three-axis moving device;

[0022] Figure 4 is a structural schematic view of a three-axis rotating device;

[0023] Figure 5 is a top view of a three-axis rotating device;

[0024] Figure 6 is a structural schematic view of a reduction force detection device;

[0025] Figure 7 is a structural schematic view of an affected side screw holding device;

[0026] Figure 8 is a structural schematic view of a healthy side fixing device;

[0027] Figure 9 is a structural schematic view of a bed fixing clamp;

[0028] Figure 10 is a structural schematic view of a screw random holding mechanism.

[0029] BRIEF DESCRIPTION OF DRAWINGS

[0030] Surgical bed 1, movable base 2, three-axis moving device 3, three-axis rotating device 4, reset force detection device 5, affected side screw holding device 6, healthy side fixing device 7, bottom plate 8, universal brake wheel 9, directional brake wheel 10, fixed foot cup 11, machine box 12, linear guide rail slider 13, clamping seat 14, locking bolt 15, locking wrench 16, bed fixing clamp 17, first servo motor 18, first linear module 19, first reinforcing plate 20, first fixing plate 21, second servo motor 22, second linear module 23, second reinforcing plate 24, second fixing plate 25, third servo motor 26, third linear module 27, third reinforcing plate 28, third fixing plate 29, fixed ring 30, fixed limit gear disc 31, movable limit gear disc 32, first connecting shaft 33, first bearing 34, lifting nut 35, first rotary drive mounting seat 36, first rotary drive 37, first coupling 38, second bearing 39, first bearing cover 40, U-shaped frame 41, second rotary drive 42, second rotary drive mounting seat 43, second coupling 44, third bearing 45, third rotary drive 46, third rotary drive mounting seat 47, third coupling 48, fourth bearing 49, flange seat 50, six-dimensional force sensor 51, output shaft 52, locking nut 53, holding rod 54, screw random holding mechanism 55, bed fixing clamp 56, U-shaped support 57, cross connecting piece 58, horizontal connecting rod 59, guide rail connecting piece 60, clamping block 61, rotary fixing clamp 62, connecting rod 63, sleeve 64, gasket 65, bolt 66, holding nail clamp 67, holding nail 68. DETAILED DESCRIPTION

[0031] The application will be described in detail below with reference to the embodiments shown in the drawings, but it should be noted that these embodiments are not limiting to the application, and equivalent transformations or substitutions of function, method, or structure made by those skilled in the art according to these embodiments are within the protection scope of the application.

[0032] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so as to describe the embodiments of the application herein.

[0033] In the present application, the terms "upper", "lower", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation. In addition, in addition to indicating the orientation or positional relationship, the above-mentioned terms can also be used to indicate other meanings, for example, the term "upper" can also be used to indicate a certain dependent relationship or connection relationship in some cases. For those skilled in the art, the specific meaning of these terms in the present application can be understood according to the specific circumstances. In addition, the terms "provided", "fitted", "fixed" and the like should be understood broadly, and the term "fixed" is a detachable connection through a bolt. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances.

[0034] To reduce the labor intensity of doctors and the number of surgical fluoroscopy, and improve the accuracy of fracture reduction, a surgical robot is used for fracture reduction in related technologies. Since the reduction force required for pelvic fracture reduction is large and the workspace requirement is high, the existing pelvic fracture robot has a small end load and cannot meet the clinical requirements for reduction force. The robot is located on the side of the bed, which affects the doctor's operation and intraoperative X-ray film shooting.

[0035] Therefore, the present application provides a three-axis motion parallel reduction mechanism for closed reduction of pelvic fracture, to achieve the purpose of having greater load capacity and higher accuracy while the reduction robot does not affect the doctor's operation and intraoperative X-ray film shooting. Specifically as follows:

[0036] The serial pelvic fracture reduction robot is mainly based on a six-axis robot, which has low stiffness and small end load, and cannot meet the clinical requirements. The parallel pelvic fracture reduction robot mainly uses Ilizarov external frame or Stewart platform, which has large load but small workspace and occupies large space, which affects intraoperative X-ray film shooting and other operations. The serial-parallel pelvic fracture reduction robot is mainly based on a serial moving platform, and the parallel mechanism is located at the end of the serial platform to control the attitude of the fracture block. This type of robot is directly located on the side of the bed, which affects the doctor's operation. The parallel mechanism is often large in size and close to the pelvis, which will interfere with the surgical operation space and affect the intraoperative X-ray film shooting.

[0037] The present embodiment provides a three-axis motion parallel reduction mechanism for closed reduction of pelvic fracture, which is used for Figures 1-10As shown, the pelvic fracture reduction robot includes a sick side pelvic fracture reduction robot and a healthy side fixing device; wherein the sick side pelvic fracture reduction robot includes a movable base 2, a three-axis moving device 3, a three-axis rotating device 4, a reduction force detection device 5, and a sick side screw holding device 6; the sick side pelvic fracture reduction robot is moved to the sick side, placed beside the operating bed, and deviated to the position of the patient's feet to facilitate the preoperative and postoperative operation of the doctor. The movable base 2 is fixedly connected with the bedside guide rail of the operating bed 1, the three-axis moving device 3 is fixed above the movable base 2, is used for transverse and longitudinal traction of the fracture block, separates the fracture end, and performs three-degree-of-freedom translation reduction of the fracture block; the three-axis rotating device 4 is fixed in front of the three-axis moving device 3, is used for three-degree-of-freedom rotation reduction of the fracture block; the output end is fixed with the reduction force detection device 5, the end of the reduction force detection device 5 is detachably connected with the sick side screw holding device 6, and the need for disinfection of the operation is facilitated; the sick side screw holding device 6 can realize holding of the sick side holding screw at any position, is detachably connected with the sick side holding screw 68, through the above structure, six-degree-of-freedom translation and rotation of the fracture block can be realized, and the change of the reduction force is monitored in real time, which provides a guarantee for the safety of the reduction operation. The healthy side fixing device 7 can realize holding of the healthy side screw at any position, is detachably connected with the healthy side holding screw 68, and is fixedly connected with the bedside guide rail of the operating bed 1, and is used for firmly fixing the healthy side half pelvis. The sick side pelvic fracture reduction robot, the patient, the operating bed, and the healthy side fixing device are connected to form a closed structure, the reduction force is an internal force, the carrying capacity of the robot can be improved, and the overall weight of the robot can be reduced.

[0038] In the embodiment, the patient is Figure 1 , Figure 2The movable base 2 shown includes a bottom plate 8, 4 universal brake wheels 9, 2 directional brake wheels 10, 4 fixed foot cups 11, a chassis 12, 2 linear guide sliders 13, 2 clamping seats 14, 2 locking bolts 15, 2 locking wrenches 16, and 2 bed fixing clamps 17. The bottom plate 8 extends under the bed to prevent the pelvic fracture reduction robot from tipping over laterally. The 4 universal brake wheels 9, 2 directional brake wheels 10 and 4 fixed foot cups 11 are installed under the bottom plate 8 for moving and fixing the pelvic fracture reduction robot on the affected side; the chassis 12 is fixed to the upper part of the bottom plate 8, the interior of the chassis 12 is used to place the controller, power supply, etc., and the top is used Fixed three-axis moving device 3; the two clamping seats 14 are fixed on the top of the chassis 12, the clamping seat 14 is equipped with the locking bolt 15, and the locking wrench 16 is installed at the tail of the locking bolt 15; the two linear guide sliders 13 are fixed on the side of the chassis 12, the linear guide slider 13 is fixed with the bed fixing fixture 17, the bed fixing fixture 17 is connected to the bedside guide rail, and is used to fix the pelvic fracture reduction robot on the affected side to prevent the robot on the affected side from moving during surgery; the linear guide slider 13 is used to realize the lifting and lowering of the bed fixing fixture 17 to adapt to the height of the operating bed, and the clamping seat 14 and the locking bolt 15 are used for the left and right limit and locking of the bed fixing fixture.

[0039] In this embodiment, Figure 1 、 Figure 3 As shown, the three-axis moving device 3 includes a first servo motor 18, a first linear module 19, a first reinforcing plate 20, a first fixed plate 21, a second servo motor 22, a second linear module 23, a second reinforcing plate 24, a second fixed plate 25, a third servo motor 26, a third linear module 27, a third reinforcing plate 28, and a third fixed plate 29; the linear module adopts a screw module, and the first (second, third) linear module 19 (23, 27) is fixedly equipped with the first (second, third) servo motor 18 (22, 26) and the first (second, third) fixed plate 21 (25, 29), and the first linear module 19 is fixed to the top of the movable base 2 and arranged along the long axis direction of the bed. Used to realize the movement of fracture fragments along the long axis of the bed; the second linear module 23 is fixed above the first fixed plate 21, arranged perpendicular to the bed surface, and is reinforced and fixed by the first reinforcing plate 20, used to realize the lifting and lowering of the fracture fragment perpendicular to the bed surface; the third linear module 27 is fixed on the second fixed plate 25, located in front of the second linear module 23, arranged along the short axis of the bed, used to realize the movement of the fracture fragment along the short axis of the bed, the second reinforcing plate 24 is sleeved on the second linear module 23, and the third reinforcing plate 28 is sleeved on the third linear module 27. Both reinforcing plates are fixedly connected to the second fixed plate 25 to reinforce and fix the third linear module 27. The above structure is used to realize the three-degree-of-freedom translational reduction of the fracture fragment.

[0040] In this embodiment, as shown in Figure 1 , Figures 3-6 As shown in the figure, the three-axis rotating device 4 includes a fixed ring 30, a fixed limiting tooth disc 31, a movable limiting tooth disc 32, a first connecting shaft 33, a first bearing 34, a lifting nut 35, a first rotating drive mounting seat 36, a first rotating drive 37, a first coupling 38, a second bearing 39, a first bearing cover 40, a U-shaped frame 41, a second rotating drive 42, a second rotating drive mounting seat 43, a second coupling 44, a third bearing 45, a third rotating drive 46, a third rotating drive mounting seat 47, a third coupling 48, a fourth bearing 49, the fixed ring 30 is sleeved and fixed on the third fixed plate 29, the fixed limiting tooth disc 31 is fixed below the fixed ring 30, the movable limiting tooth disc 32 is fixed above the first rotating drive mounting seat 36, and the first bearing 34 is embedded in the movable limiting tooth disc 32, the first connecting shaft 33 is vertically installed below the fixed ring 30 and passes through the centers of the two limiting tooth discs (31, 32), the first bearing 34 is installed on the first connecting shaft 33, the lifting nut 35 is threadedly connected with the first connecting shaft 33 below, and is used for controlling the engagement and disengagement of the limiting tooth discs (31, 32) to realize the rotation and fixation of the three-axis rotating device 4; the first rotating drive 37 is fixed below the first rotating drive mounting seat 36, the first coupling 38 is fixedly connected with the output end of the first rotating drive 37, the second bearing 39 is fixed in the first bearing cover 40 and is installed on the first coupling 38, and the first bearing cover 40 is fixedly connected with the first rotating drive mounting seat 36 to enhance the bending moment resistance of the first coupling 38; the U-shaped frame 41 is fixedly connected with the output end of the first coupling 38, the second rotating drive 42 is fixed to the outer side of the front end of one arm of the U-shaped frame 41 through the second rotating drive mounting seat 43, the second coupling 44 is fixedly connected with the output end of the second rotating drive 42, the third bearing 45 is fixed to the inner side of the front end of the two arms of the U-shaped frame 41, the third rotating drive mounting seat 47 is fixedly connected with the output end of the second coupling 44 through the inner ring of the third bearing 45, the third rotating drive 46 is installed on the third rotating drive mounting seat 47, the third coupling 48 is fixedly connected with the output end of the third rotating drive 46, and the fourth bearing 49 is installed on the third coupling 48 to enhance the bending moment resistance of the third coupling 48, and the above structure is used for realizing the three-degree-of-freedom rotation reduction of the fracture block.

[0041] In this embodiment, as shown in Figure 1 , Figure 6 As shown in the figure, the reduction force detection device 5 includes a flange seat 50, a six-dimensional force sensor 51, and an output shaft 52, the flange seat 50 is fixedly connected with the third coupling 48, the six-dimensional force sensor 51 is fixed on the flange seat 50, and the other end of the six-dimensional force sensor 51 is fixedly connected with the output shaft 52, which is used for monitoring the change of the intraoperative reduction force in real time.

[0042] In this embodiment, as shown inFigure 1 、 Figure 7 As shown in the figure, the affected side screw holding device 6 includes a locking nut 53, a holding rod 54, and three screw random holding mechanisms 55. The holding rod 54 is installed on the output shaft 52 and is quickly fixed and detached through the locking nut 53. The three screw random holding mechanisms 55 are installed on both sides of the holding rod 54 and are used to quickly and conveniently find the position of the affected side holding screw and to firmly hold and fix it.

[0043] In this embodiment, the affected side screw holding device 6 is used to hold and fix the holding screw 68 on the affected side of the patient. Figure 1 、 Figure 8 As shown in the figure, the healthy side fixing device 7 includes two bed fixing clamps 56, two U-shaped supports 57, four cross connecting pieces 58, two horizontal connecting rods 59, and four screw random holding mechanisms 55. The two bed fixing clamps 56 are hung on the bedside guide rail and are located at both ends of the pelvis. The U-shaped supports 57 are fixed to the outside of the bed fixing clamps 56. One end of the cross connecting piece 58 is fixed to the U-shaped support 57, and the other end is fixed to the horizontal connecting rod 59. Two horizontal connecting rods are installed above and below. The screw random holding mechanism 55 is installed on the upper horizontal connecting rod 59 and is used to quickly and conveniently find the position of the healthy side holding screw and to firmly hold and fix it.

[0044] In this embodiment, the healthy side fixing device 7 is used to fix the holding screw 68 on the healthy side of the patient. Figure 1 、 Figure 2 、 Figure 9 、 Figure 10 As shown in the figure, the bed fixing clamp 56 includes a guide rail connecting piece 60, two clamping blocks 61, two locking bolts 15, and two locking wrenches 16. One end of the locking bolt 15 is provided with the clamping block 61, and the other end is provided with the locking wrench 16. They are respectively located on the side and bottom of the guide rail connecting piece 60 and are connected with the guide rail connecting piece 60 through threads. The guide rail connecting piece 60 is hung on the bedside guide rail and is clamped and fixed by driving the clamping block 61 through the locking bolt 15.

[0045] In this embodiment, the bed fixing clamp 56 is used to fix the holding screw 68 on the healthy side of the patient. Figure 1 、 Figure 7 、 Figure 8 、 Figure 10 As shown in the figure, the screw random holding mechanism 55 includes a rotary fixing clamp 62, a connecting rod 63, a sleeve 64, a gasket 65, a bolt 66, and a holding screw clamp 67. One end of the rotary fixing clamp 62 is fixed to the holding rod 54, and the other end is connected to the connecting rod 63. The lower end of the connecting rod 63 is provided with the sleeve 64, which is rotationally connected with the holding screw clamp 67. The sleeve 64 and the bolt 66 are used for axial fixation. The holding screw clamp 67 clamps and fixes the holding screw 68.

[0046] The working principle of the present application is as follows: first, the holding nails are respectively placed in the healthy side and the diseased side of the pelvis, 3 holding nails are placed in the healthy side of the pelvis, 1 holding nail is placed in the healthy side of the femur, 2 holding nails are placed in the diseased side of the pelvis, and 1 holding nail is placed in the diseased side of the femur. The holding screw is fixed by the 4-screw random holding mechanism, the 4-screw random holding mechanism is fixedly connected with the upper horizontal connecting rod, and the pelvis is stably fixed through the healthy side fixing device; the diseased side pelvis fracture reduction robot is moved to the diseased side and placed beside the operating bed, the bed fixing clamp is fixedly connected with the bed beside the guide rail, and the brake wheel is locked and fixed; the holding rod is installed on the output shaft and fixed by the locking nut, the diseased side holding screw is fixed by the 3-screw random holding mechanism, the screw random holding mechanism is installed on both sides of the holding rod and fixedly locked, and the pelvis is connected with the fracture reduction robot. Then, a three-dimensional model of the pelvis fracture before operation is established, and the fracture block reduction path is planned. Finally, the fracture reduction is implemented through the six-degree-of-freedom translation and rotation of the fracture reduction robot, the doctor repeatedly observes the fracture block reduction through the X-ray film, and guides the robot to adjust, first performs translation to complete the rough reduction, then adjusts the posture of the fracture block, finally adjusts the position of the end effector, and completes the accurate reduction of the fracture block.

[0047] The present application provides a three-axis motion parallel reduction mechanism for closed reduction of pelvic fracture, which has the following beneficial effects:

[0048] 1) The diseased side pelvis fracture reduction robot is placed beside the operating bed and located at the diseased side of the femur of the patient, which can meet the space requirement of the doctor for intraoperative operation and X-ray film shooting;

[0049] 2) The three-axis rotation device is connected in series through the U-shaped frame, which occupies less space than the traditional ball pair, can be close to the upper surface of the human body during reduction, has a short force arm, and can provide a larger reduction force;

[0050] 3) Each branch chain of the diseased side screw holding device has seven degrees of freedom, which can realize arbitrary position holding of the holding screw;

[0051] 4) The diseased side pelvis fracture reduction robot, the patient, the operating bed and the healthy side screw holding mechanism are connected to form a closed structure, the reduction force is an internal force, which can improve the bearing capacity of the robot and reduce the overall weight of the robot.

[0052] The series of detailed descriptions listed above are only specific descriptions of the feasible implementation modes of the present application, and are not used to limit the protection scope of the present application. Any equivalent implementation mode or change made without departing from the spirit of the present application should be included in the protection scope of the present application.

[0053] It will be apparent to those skilled in the art that the application is not limited to the details of the above-exemplified embodiments and that the present application can be implemented in other particular forms without departing from the spirit or essential characteristics of the present application. The embodiments should therefore be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the above description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Claims

1. A three-axis motion parallel reduction mechanism for closed reduction of pelvic fractures, characterized in that: The three-axis motion parallel reduction mechanism for closed reduction of pelvic fracture comprises a sick side pelvic fracture reduction robot and a healthy side fixing device, wherein The sick side pelvic fracture reduction robot comprises a movable base, a three-axis moving device, a three-axis rotating device, a reduction force detection device and a sick side screw holding device; the sick side pelvic fracture reduction robot is moved to the sick side and placed beside the operating bed, and is deviated to the position of the patient's feet; the movable base is fixedly connected with the bedside guide rail of the operating bed, the three-axis moving device is fixed above the movable base and used for transverse and longitudinal traction of the fracture block, separation and unlocking of the fracture end and three-degree-of-freedom translation reduction of the fracture block; the three-axis rotating device is fixed in front of the three-axis moving device and used for three-degree-of-freedom rotation reduction of the fracture block; the output end of the three-axis rotating device is fixed with the reduction force detection device, and the end of the reduction force detection device is detachably connected with the sick side holding screw holding device, which is convenient for the need of surgical disinfection; The movable base comprises a bottom plate, a universal brake wheel, a directional brake wheel, a fixed foot cup, a machine box, a linear guide rail slide, a clamping seat, a locking bolt, a locking wrench and a bed fixing clamp; the bottom plate extends downward to prevent the sick side pelvic fracture reduction robot from being laterally overturned; the universal brake wheel, the directional brake wheel and the fixed foot cup are arranged below the bottom plate and used for movement and fixation of the sick side pelvic fracture reduction robot; the machine box is fixed on the upper part of the bottom plate, the inside of the machine box is used for placing a controller and a power supply, and the top of the machine box is used for fixing the three-axis moving device; the clamping seat is fixed on the top of the machine box, the clamping seat is provided with the locking bolt, and the locking wrench is installed at the tail of the locking bolt; the linear guide rail slide is fixed on the side of the machine box, the bed fixing clamp is fixed on the linear guide rail slide, the bed fixing clamp is connected with the bedside guide rail of the operating bed, and the linear guide rail slide is used for lifting the bed fixing clamp to adapt to the height of the operating bed; the clamping seat and the locking bolt are used for left and right limiting and locking fixation of the bed fixing clamp; The sick side screw holding device can hold the sick side screw at any position and is detachably connected with the sick side holding screw; the device can form a parallel mechanism with the pelvis, each branch chain is mutually constrained, a small number of degrees of freedom of each branch chain are controlled, the sick side screw holding device and the pelvis can form a rigid body; the healthy side fixing device can hold the healthy side holding screw at any position, is detachably connected with the healthy side holding screw and is fixedly connected with the bedside guide rail of the operating bed and is used for firmly fixing the healthy side half pelvis; The sick side screw holding device comprises a locking nut, a holding rod and a screw random holding mechanism; the holding rod is installed on an output shaft and is quickly fixed and detached through the locking nut; the screw random holding mechanism is installed on both sides of the holding rod; The screw random holding mechanism comprises a rotating fixed clamp, a connecting rod, a sleeve, a gasket, a bolt and a holding screw clamp; one end of the rotating fixed clamp is fixed on the holding rod, the other end is connected with the connecting rod, the lower end of the connecting rod is provided with the sleeve, the sleeve is rotatably connected with the holding screw clamp, the gasket and the bolt are used for axial fixation, and the holding screw clamp clamps and fixes the holding screw.

2. The three-axis motion parallel reduction mechanism for closed reduction of pelvic fractures according to claim 1, characterized in that: The three-axis moving device comprises a first servo motor, a first linear module, a first reinforcing plate, a first fixed plate, a second servo motor, a second linear module, a second reinforcing plate, a second fixed plate, a third servo motor, a third linear module, a third reinforcing plate and a third fixed plate. The first linear module is fixed on the top of the movable base and arranged along the long axis of the bed, so as to realize the movement of the fracture block along the long axis of the bed; the second linear module is fixed above the first fixed plate and arranged perpendicularly to the bed surface, and is reinforced by the first reinforcing plate, so as to realize the lifting of the fracture block perpendicularly to the bed surface; the third linear module is fixed on the second fixed plate and arranged along the short axis of the bed, so as to realize the movement of the fracture block along the short axis of the bed; the second reinforcing plate is sleeved on the second linear module, the third reinforcing plate is sleeved on the third linear module, and the two reinforcing plates are fixed to the second fixed plate, so as to reinforce and fix the third linear module.

3. The three-axis motion parallel reduction mechanism for closed reduction of pelvic fractures according to claim 1, wherein: The reset force detection device comprises a flange seat, a six-dimensional force sensor and an output shaft, the flange seat is fixedly connected with the third coupling, the six-dimensional force sensor is fixed on the flange seat, and the other end of the six-dimensional force sensor is fixedly connected with the output shaft.

4. The three-axis motion parallel reduction mechanism for closed reduction of pelvic fractures according to claim 1, wherein: The healthy side fixing device comprises a bed fixing clamp, a U-shaped support, a cross connecting piece, a horizontal connecting rod and a screw random holding mechanism, the bed fixing clamp is hung on the bedside guide rail, the U-shaped support is fixed to the outer side of the bed fixing clamp, one end of the cross connecting piece is fixed to the U-shaped support, the other end of the cross connecting piece is fixed to the horizontal connecting rod, and the screw random holding mechanism is installed on the horizontal connecting rod.

5. The tri-axial motion parallel reduction mechanism for closed reduction of pelvic fractures according to claim 4, wherein: The bed fixing clamp comprises a guide rail connecting piece, a clamping block, a locking bolt and a locking wrench, one end of the locking bolt is provided with the clamping block, the other end of the locking bolt is provided with the locking wrench, the locking bolt is threadedly connected with the guide rail connecting piece, the guide rail connecting piece is hung on the bedside guide rail, and the clamping block is clamped and fixed by driving the locking bolt.

Images