A cable-parallel fracture reduction robot

Abstract

A cable-parallel fracture reduction robot belongs to the field of robot technology. The static platform component is installed above the base, and the vertical components are installed on both sides of the static platform component. It can move horizontally and vertically along the static platform. The dynamic platform component is movably connected to the upper ends of the two groups of vertical components through ball joints. The vertical component drive mechanism is placed in the static platform component to control the movement of the vertical component. The dynamic platform moving joint drive mechanism is placed in the vertical component to control the upward movement of the vertical component and control the translation of the dynamic platform along its axis. The dynamic platform impedance control mechanism is placed in the dynamic platform component to control the self-rotation of the dynamic platform along its axis. The self-rotation axis, pitch axis and vertical axis are perpendicular to each other, forming a double-branch six-degree-of-freedom parallel structure. This application introduces artificial muscle drive on the basis of the parallel structure to achieve high-precision surgical operations while achieving surgical operation control that takes into account high load and high flexibility.

Description

Technical Field

[0001] The present invention relates to an orthopedic robot, and more particularly to a cable-parallel fracture reduction robot, belonging to the field of robot technology. Background Art

[0002] As one of the most common major diseases in clinical orthopedics, fractures pose a great threat to the physical health of susceptible populations. Among them, pelvic fractures, which account for 1%-3% of all body fractures, have a disability rate as high as 50%-60% and a fatality rate of more than 13%. Fracture reduction is the most important part of fracture surgery. A low-trauma, high-precision, and highly reliable reduction process is very important for the success of the surgery and the postoperative rehabilitation of patients. Currently, the traditional treatment methods for fracture reduction in clinical practice are mainly divided into two types. One is manual reduction and external fixation with splints, and the other is open reduction and internal fixation with plates. The advantage of manual reduction is that it does not require incising the fracture site, reducing the probability of infection. However, since the fracture information cannot be directly obtained, this method requires a high level of skill from the physician and also requires a relatively large number of reduction attempts, which is likely to cause secondary fractures. In open reduction, since the physician can directly obtain fracture information by visual inspection or touch, etc., the number of reduction attempts is reduced and the reduction accuracy is improved. However, it also greatly increases the possibility of infection during the surgery. Using a fracture reduction robot system for fracture surgery, by selecting high-precision mechanical components and servo control components and combining with planning and navigation technology based on medical images, the robot can independently complete the reduction operation of the fracture surgery. While reducing the risk of infection, it greatly improves the accuracy and reliability of the reduction process, saves the physical strength of the physician, and reduces the time for the physician to be exposed to radiation, which is conducive to the popularization of high-difficulty fracture surgeries.

[0003] The configurations of fracture reduction surgical robots mainly include three forms: serial, parallel, and series-parallel hybrid. Traditional parallel robot systems have the advantages of stable structure, high stiffness, and high precision. However, their working spaces are usually small, and the control is complex, and the kinematic calculation is also relatively complex. Serial robots have a relatively large working space and high flexibility, but they also occupy a large surgical space, thus restricting the operating space of medical staff. Moreover, the cumulative error of the serial mechanism will lead to a reduction in the positioning accuracy of the robot's end effector. The hybrid robot system can, to a certain extent, integrate the advantages of the serial and parallel configurations, but its working space is usually still restricted by its parallel part. In terms of the drive mode, existing fracture reduction robots mainly adopt the form of motor drive. Motor drive has high precision, fast response speed, convenient speed regulation, and low pollution. However, the thrust it provides is relatively small. To increase the output torque, a corresponding reducer often needs to be equipped.

[0004] Patent document CN112370164A discloses a spatial hybrid pelvic fracture reduction robot. The parallel part of the robot body adopts a Stewart platform configuration and is connected in series with an arc-shaped guide rail to meet the surgical requirements. However, in actual use, the movement along the axis direction of the arc-shaped guide rail is still restricted by the parallel platform, and at the same time, the gear-rack transmission mechanism will also reduce its movement accuracy to a certain extent.

[0005] Patent document CN104758035A discloses a six-degree-of-freedom series-parallel pelvic fracture reduction robot. This robot combines a 3-degree-of-freedom linear motion series platform component with a 3-degree-of-freedom rotational motion parallel platform component to achieve 6-degree-of-freedom motion. However, the end of its series part is connected to the parallel part, and the parallel platform is large in size and relatively heavy, unable to provide sufficient stiffness.

[0006] In summary, the movement space and load-bearing capacity of the existing fracture robots are limited and cannot meet the actual operation needs of surgeries. Summary of the Invention

[0007] The present invention aims to overcome the prior art and provides a cable-parallel fracture reduction robot. This application introduces artificial muscle drive, realizes a large surgical operation force, improves the load-bearing capacity of the robot, and enables flexible operation of the robot.

[0008] A cable-parallel fracture reduction robot includes a moving platform component, a vertical component, a static platform component, a moving platform moving joint drive mechanism, and a vertical component drive mechanism;

[0009] The static platform component is installed on the base. The vertical component can translate along its own vertical axis direction and is installed on both sides of the static platform component. The moving platform component is rotationally connected to the upper ends of the two vertical components. The vertical component drive mechanism is placed inside the static platform component to control the translation of the vertical component along the axis direction of the static platform component. The moving platform moving joint drive mechanism is placed inside the vertical component to control the upward movement of the vertical component, control the pitching rotation of the moving platform, and the translation along its axis direction. The moving platform impedance control mechanism is placed inside the moving platform component to control the self-rotation of the moving platform along the axis of the moving platform. The axes of the self-rotation, pitching, and vertical axis are perpendicular to each other pairwise.

[0010] Further, the impedance control mechanism of the moving platform includes pneumatic tendons of the moving platform, fixed seat A, extended pulley assembly, fixed seat B, guide pulley, and rope; the guide pulley is installed on the surgical end ball joint, at least two pneumatic tendons of the moving platform are arranged side by side on one side of the moving platform close to the non-surgical end ball joint, one end of the pneumatic tendon of the moving platform is installed on the fixed seat A arranged on the moving platform, the other end of the pneumatic tendon of the moving platform is connected to the extended pulley assembly, the extended pulley assembly is arranged on the fixed seat B, the fixed seat B is installed on the moving platform, one end of the rope is installed on the fixed seat B, the rope bypasses the extended pulley assembly and the guide pulley, and the other end of the rope is positioned at the surgical end ball joint.

[0011] Further, the surgical end ball joint includes a surgical end ball joint seat, a ball joint connecting frame, and a ball joint cross shaft assembly;

[0012] The surgical end ball joint seat is rotatably connected to the ball joint connecting frame through the ball joint cross shaft assembly, the moving platform is slidably arranged on the ball joint connecting frame, the surgical end ball joint seat is rotatably arranged on the vertical component, the guide pulley is installed on the ball joint connecting frame, the yaw guide pulley is installed on the surgical end ball joint seat, the rope bypasses the extended pulley assembly, the guide pulley, and the yaw guide pulley, and the other end of the rope is positioned at the surgical end ball joint.

[0013] Further, the vertical component driving mechanism includes a translational pneumatic tendon, fixed seat E, base inner and outer pulley group, fixed seat F, and extended pulley assembly; the chain transfer plate assembly is arranged on the static platform assembly, the chain transfer plate assembly can only move horizontally relative to the static platform assembly, one end of the translational pneumatic tendon is installed on the fixed seat E, the fixed seat E is installed on the static platform, the other end of the translational pneumatic tendon is connected to the extended pulley assembly, the extended pulley assembly is arranged on the fixed seat F, the fixed seat F is installed on the static platform assembly, the base inner and outer pulley group is arranged at the outer end of the static platform assembly, one end of the rope is installed on the fixed seat F, the rope bypasses the extended pulley group of the extended pulley assembly, the base inner and outer pulley group, and the inner pulley of the vertical chain transfer plate assembly, and the other end of the rope is fixed to the vertical component.

[0014] Further, the vertical component driving mechanism includes a translational pneumatic tendon, fixed seat E, base inner and outer pulley group, fixed seat F, and extended pulley assembly;

[0015] The branched chain adapter plate assembly is arranged on the static platform assembly. The branched chain adapter plate assembly can only move horizontally relative to the static platform assembly. One end of the translational pneumatic muscle tendon is installed on the fixed seat E, and the fixed seat E is installed on the static platform assembly. The other end of the translational pneumatic muscle tendon is connected to the extended pulley assembly. The extended pulley assembly is arranged on the fixed seat F, and the fixed seat F is installed on the static platform assembly. The inner and outer pulley groups of the base are arranged at the outer end of the static platform assembly. One end of the rope is installed on the fixed seat F. The rope bypasses the extended pulley group of the extended pulley assembly, the inner and outer pulley groups of the base, and the inner pulley of the vertical branched chain adapter plate assembly. The other end of the rope is fixed to the vertical assembly.

[0016] The beneficial effects of the present invention compared with the prior art are as follows:

[0017] It adopts artificial muscle drive to achieve large surgical operating force and improve the load-bearing capacity of the robot.

[0018] It adopts a parallel robot configuration with an orthogonal composite structure, which can improve the control accuracy and stability of the robot.

[0019] The cable-parallel rigid-flexible coupled parallel robot introduced greatly increases the working space scale.

[0020] Large working space, high load-bearing capacity, the cable-parallel mechanism configuration of the surgical robot and the specific implementation scheme; the extended pulley group has an eight-fold extended pulley assembly.

[0021] The technical solution of the present invention will be further described below in conjunction with the drawings and embodiments: Description of the Drawings

[0022] Figure 1 Stereogram of the cable-parallel fracture reduction robot of the embodiment adopting the 2-PPSP configuration;

[0023] Figure 2 Schematic diagram of the moving platform assembly and the moving platform impedance control mechanism of some embodiments;

[0024] Figure 3 Schematic diagram of the layout relationship between the moving platform moving joint drive mechanism and the vertical assembly of some embodiments;

[0025] Figure 4 Schematic diagram of the wire routing of the moving platform moving joint drive mechanism of some embodiments;

[0026] Figure 5 Schematic diagram of the branched chain adapter plate assembly of some embodiments;

[0027] Figure 6 Schematic diagram of the ball hinge pulley seat of some embodiments;

[0028] Figure 7Schematic diagram of the layout relationship of the vertical component drive mechanism, vertical component and static platform component for some embodiments;

[0029] Figure 8 Schematic diagram of the extended pulley assembly for some embodiments;

[0030] Figure 9 Stereogram of the cable parallel fracture reduction robot adopting the 3-PPSP configuration for some embodiments;

[0031] Figure 10 Stereogram of the cable parallel fracture reduction robot adopting the 4-PPSP configuration for some embodiments.

[0032] The markings in the figure are as follows:

[0033] 1. Moving platform component, 11. Moving platform, 12. Tooling component;

[0034] 13. Surgical end ball joint, 131. Surgical end ball joint seat, 133. Ball joint connecting frame, 134. Ball joint cross shaft assembly; 14. Non-surgical end ball joint;

[0035] 2. Vertical component, 21. Vertical joint, 22. Rope fixing piece;

[0036] 3. Static platform component;

[0037] 4. Moving platform moving joint drive mechanism, 40. Vertical joint pneumatic tendon, 41. Fixed seat C, 42. Fixed seat D, 43. Link transfer plate assembly, 431. Top pulley, 432. Inner pulley, 433. Limit block, 434. Guide slider, 44. Inner pulley, 45. Outer pulley, 46. Ball joint pulley seat, 47. Moving platform end pulley seat, 48. Fixed seat K;

[0038] 5. Vertical component drive mechanism; 50. Translational pneumatic tendon, 51. Fixed seat E, 52. Base outer pulley, 53. Base inner pulley, 54. Fixed seat F;

[0039] 6. Platform impedance control mechanism, 61. Moving platform pneumatic tendon, 62. Fixed seat A, 63. Extended pulley assembly, 631. Moving pulley seat, 632. Extended guide wheel, 633. Fixed pulley seat, 64. Fixed seat B, 65. Guide wheel;

[0040] 49. Rope. Specific implementation mode

[0041] The embodiments of the technical solution of the present invention will be described in detail below with reference to the drawings. Unless otherwise specified, the technical terms or scientific terms used in this application should have the ordinary meaning understood by those skilled in the art to which the present invention belongs.

[0042] Figure 1 Disclosed is a cable-parallel fracture reduction robot, which includes a moving platform assembly 1, a vertical assembly 2, a static platform assembly 3, a moving platform moving joint driving mechanism 4, and a vertical assembly driving mechanism 5;

[0043] The static platform assembly 3 is installed on the base. The vertical assembly 2 can translate along its own vertical axis direction and is installed on both sides of the static platform assembly 3 to realize the translation of the vertical assembly 2 along the axis direction of the static platform assembly 3. The moving platform assembly 1 is rotatably connected to the upper ends of the two vertical assemblies 2. Optionally, the rotational connection is made by a spherical pair. The driving mechanisms are arranged inside each component. The vertical assembly driving mechanism 5 is placed inside the static platform assembly 3 to control the translation of the vertical assembly 2 along the axis direction of the static platform assembly 3. The moving platform moving joint driving mechanism 4 is placed inside the vertical assembly 2 to control the upward movement of the vertical assembly 2, the pitching rotation of the moving platform 11, and the translation along its axis direction. The moving platform impedance control mechanism 6 is placed inside the moving platform assembly 1 to control the self-rotation of the moving platform 11 along the moving platform axis. The translation direction of the moving platform 11 controlled by the moving platform moving joint driving mechanism 4 is perpendicular to the translation direction of the moving platform 1 controlled by the vertical assembly driving mechanism 5. The axes of the self-rotation, pitching, and vertical axis are perpendicular to each other in pairs.

[0044] It can be foreseen that the axes of the self-rotation, pitching, and vertical axis are perpendicular to each other in pairs to form a three-axis coordinate system. The self-rotation axis is equivalent to the x-axis, the swinging axis is equivalent to the y-axis, and the vertical axis is equivalent to the z-axis.

[0045] The cable-parallel fracture reduction robot described above is of the 2-PPSP configuration. The moving platform 11 and the static platform assembly 3 are connected by two vertical assemblies 2. Each driving mechanism and the impedance mechanism are jointly controlled to enable the six-degree-of-freedom movement of the robot and achieve a double-branch six-degree-of-freedom parallel structure.

[0046] The motion of the cable-parallel fracture reduction robot of the present disclosure is obtained by coupling each driving mechanism. The motion along the z-axis is obtained by coupling the motions along the z-axis driven by two sets of vertical components 2 and two sets of moving platform moving joint driving mechanisms 4; the rotation about the x-axis is driven by an impedance control mechanism; the motion along the x-axis is such that the motion along the z-axis driven by two sets of vertical component driving mechanisms cancels out the motion along the z-axis driven by the moving platform moving joint, and at the same time, the motion along the x-axis is controlled by two sets of moving platform moving joint driving mechanisms; the rotation about the y-axis is obtained by the two sets of vertical component driving mechanisms respectively driving motions in different directions along the z-axis, and at the same time, the two moving platform moving joint obtaining mechanisms drive the same motion along the z-axis; the motion along the y-axis is such that the two sets of vertical component driving mechanisms respectively drive the same motion along the y-axis, and at the same time, it is coupled with the motion along the z-axis driven by the moving platform moving joint to cancel out its motion along the z-axis; the rotation about the z-axis is such that the two sets of vertical component driving mechanisms respectively drive motions in different directions along the y-axis, and at the same time, it is coupled with the motion along the z-axis driven by the moving platform moving joint driving mechanism to cancel out its motion along the z-axis.

[0047] In view of this, referring to Figure 2 , the moving platform assembly 1 includes a moving platform 11, a surgical end ball joint 13 and a non-surgical end ball joint 14; the moving platform assembly 1 is rotatably connected to the upper ends of the two sets of vertical components 2 through the surgical end ball joint 13 and the non-surgical end ball joint 14. The surgical end ball joint 13 and the non-surgical end ball joint 14 are respectively rotatably provided on the vertical component 2, and the moving platform 11 is slidably provided on the surgical end ball joint 13 and the non-surgical end ball joint 14.

[0048] The basic structures of the surgical end ball joint 13 and the non-surgical end ball joint 14 are the same. The non-surgical end ball joint is similar to the structure of the surgical end ball joint. Since the axial force is relatively large at the connection between the ball joint seat and the vertical joint, angular contact ball bearings are used and pressed by a cover plate to ensure the reliability in the axial direction. The tooling assembly 12 realizes the movement of the fixed tooling through a guide rail slider and is locked with a locking nut, so as to realize the fine adjustment of the position of the fixed tooling assembly along the surgical direction.

[0049] In view of this, the moving platform 11 is driven by the moving platform impedance control mechanism 6 to realize the self-rotation of the moving platform 11 along the axis of the moving platform, and can also realize the self-translation along the axis of the moving platform 11;

[0050] The motion of the cable-parallel fracture reduction robot of the present disclosure is obtained by coupling each driving mechanism. The motion along the z-axis is obtained by coupling the motions along the z-axis driven by two sets of vertical components 2 and two sets of moving platform moving joint driving mechanisms 4; the rotation about the x-axis is driven by the moving platform impedance control mechanism 6; the motion along the x-axis is that the motion along the z-axis driven by two sets of vertical components 2 cancels out the motion along the z-axis driven by the moving platform moving joint driving mechanism 4, and at the same time, the moving platform moving joint driving mechanism 4 controls the movement along the x-axis; the rotation about the y-axis is obtained by the two sets of vertical components 2 driving motions in different z-axis directions respectively, and at the same time, the two moving platform moving joint driving mechanisms 4 drive the same motion along the z-axis; the motion along the y-axis is that the two sets of vertical component driving mechanisms 5 drive the same motion along the y-axis respectively, and at the same time, it is coupled with the motion along the z-axis driven by the moving platform moving joint driving mechanism 4 to cancel out its motion along the z-axis; the rotation about the z-axis is that the vertical component driving mechanisms 5 drive motions in different y-axis directions respectively, and at the same time, it is coupled with the motion along the z-axis driven by the moving platform moving joint driving mechanism 4 to cancel out its motion along the z-axis.

[0051] The moving platform impedance control mechanism 6 is installed on the moving platform 11. The moving platform impedance control mechanism 6 includes moving platform pneumatic tendons 61, fixed seat A 62, extended pulley assembly 63, fixed seat B 64, guide pulley 65 and rope 49; the guide pulley 65 is installed on the surgical end ball joint 13. At least two moving platform pneumatic tendons 61 are arranged in parallel on the side of the moving platform 11 close to the non-surgical end ball joint 14. One end of the moving platform pneumatic tendon 61 is installed on the fixed seat A 62 provided on the moving platform 11, and the other end of the moving platform pneumatic tendon 61 is connected to the extended pulley assembly 63. The extended pulley assembly 63 is arranged on the fixed seat B 64, and the fixed seat B 64 is installed on the moving platform 11. One end of the rope 49 is installed on the fixed seat B 64, and the rope 49 bypasses the extended pulley assembly 63 and the guide pulley 65, and the other end of the rope 49 is positioned at the surgical end ball joint 13.

[0052] Exemplarily, two sets of moving platform pneumatic tendons 61 arranged in parallel can realize the rotation of the moving platform 11 about the x-axis (one set of moving platform pneumatic tendons 61 is inflated and the other set of moving platform pneumatic tendons 61 is deflated) and provide a force in the positive x-axis direction (both sets of moving platform pneumatic tendons 61 are inflated at the same time). This mechanism controls the flipping motion of the moving platform supported by only two chain branches and provides a force to resist muscle contraction, improving the load-bearing capacity of the robot to a certain extent. The guide pulley 65 is installed on the connecting frame guide pulley fixing seat 66, and the connecting frame rope end fixing 67 is installed on the surgical end ball joint 13 for fixing the rope 49.

[0053] Refer to Figure 8, the range extender pulley assembly 63 includes a moving pulley seat 631, a range extender guide pulley 632, and a fixed pulley seat 633; four range extender guide pulleys 632 are respectively arranged on the moving pulley seat 631 and the fixed pulley seat 633, a rope is wound around the eight range extender guide pulleys 632, the fixed pulley seat 633 is installed on the moving platform 11, and the other end of the pneumatic tendon 61 of the moving platform is connected to the moving pulley seat 631;

[0054] The fixed pulley seat 633 is fixed to the fixed seat of each pulley assembly in each driving mechanism, the moving pulley seat 631 is fixed to the end of the pneumatic tendon 61 of the moving platform, and four range extender guide pulleys 632 are fixed on the moving pulley seat 631. This assembly can achieve an eight-fold range extension, increasing the movement stroke of the rope and solving the problem of the short working stroke of the pneumatic tendon.

[0055] Further, referring to Figure 2 , the surgical end ball joint 13 includes a surgical end ball joint seat 131, a ball joint connecting frame 133, and a ball joint cross shaft assembly 134; the surgical end ball joint seat 131 is rotatably connected to the ball joint inclined connecting frame 133 through the ball joint cross shaft assembly 134, the moving platform 11 is slidably arranged on the ball joint inclined connecting frame 133, the surgical end ball joint seat 131 is rotatably arranged on the vertical joint assembly 2, the guide pulley 65 is installed on the ball joint connecting frame 133, the yaw guide pulley 132 is installed on the surgical end ball joint seat 131, the rope 49 bypasses the range extender pulley assembly 63, the guide pulley 65, and the yaw guide pulley 132, and the other end of the rope 49 is positioned at the surgical end ball joint 13. The design of the guide pulley 65 and the yaw guide pulley 132 facilitates the reversal of the rope 49. At the same time, when the two sets of pneumatic tendons 61 of the moving platform generate different driving modes, interference is avoided, enabling the rope 49 to slide on the yaw guide pulley 132, reducing the resistance of the rope, and realizing the rotation of the moving platform 11 around the x-axis.

[0056] Exemplarily, referring to Figures 3 - 6 , the moving platform moving joint driving mechanism 4 includes a vertical joint pneumatic tendon 40, a fixed seat C41, a fixed seat D42, a range extender pulley assembly 63, and an inner and outer joint pulley group;

[0057] The fixed seat C41 is installed on the vertical component 2. The inner and outer pulley groups are installed at the lower part of the vertical component 2. The chain transfer plate assembly 43 is arranged on the vertical component 2, and the vertical component 2 can move up and down relative to the chain transfer plate assembly 43. The chain transfer plate assembly 43 can only move horizontally relative to the static platform assembly 3. One end of the vertical joint pneumatic tendon 40 is installed on the fixed seat C41, and the other end of the vertical joint pneumatic tendon 40 is connected to the range extender pulley assembly 63. The range extender pulley assembly 63 is arranged on the fixed seat D42, and the fixed seat D42 is installed on the vertical component 2. One end of the rope 49 is installed on the fixed seat D42. The rope bypasses the range extender pulley assembly 63, the top pulley 431 of the vertical chain transfer plate assembly 43, the inner and outer pulley groups, the pulley on the ball hinge pulley seat 46, and the pulley on the moving platform end pulley seat 47. The other end of the rope 49 is installed on the ball hinge connecting frame 133. In this embodiment, the inner and outer pulley groups of the joint are the inner pulley 44 and the outer pulley 45 respectively. The rope 49 of the moving platform moving joint driving mechanism 4 starts from the end of the pneumatic tendon and finally the end of the rope is fixed on the optical axis of the moving platform end pulley seat. The two sets of driving mechanisms are symmetrically arranged, and each set of driving mechanisms includes a pneumatic tendon. When the pneumatic tendons on one side of the two sets of pneumatic tendons contract and the other side elongates, the moving platform 11 can move in the positive and negative directions along the x-axis. When they contract simultaneously, the moving platform 11 can move in the positive direction along the z-axis. The vertical chain transfer plate is as Figure 5 shown, and the ball hinge pulley seat is as Figure 6 shown.

[0058] The rope 49 of the embodiment scheme is arranged and wound so that the rope fully encloses the vertical component 2. Under the action of the two moving platform moving joint driving mechanisms 4, the moving platform 11 can move along the y-axis or the moving platform 11 can move along the x-axis.

[0059] For example, when the vertical joint pneumatic tendons 40 of the two moving platform moving joint driving mechanisms 4 act in the same way (for example, the pneumatic tendons 40 contract simultaneously to provide tension), at this time, the two sets of vertical components 2 rise and move along the z-axis at the same time. When the vertical component driving mechanism 5 acts, the upward moving vertical component 2 returns to its original position downward; when the vertical joint pneumatic tendons 40 of the two moving platform moving joint driving mechanisms 4 act in different ways (for example, one pneumatic tendon 40 contracts to provide tension; the other pneumatic tendon 40 elongates), at this time, the moving platform 11 can move along the x-axis.

[0060] Refer to Figure 8As shown, the range extender pulley assembly 63 includes a movable pulley seat 631, a range extender guide pulley 632, and a fixed pulley seat 633. Four range extender guide pulleys 632 are respectively arranged on the movable pulley seat 631 and the fixed pulley seat 633. A rope is wound around the eight range extender guide pulleys 632. The fixed pulley seat 633 is installed on the vertical assembly 2, and the other end of the vertical joint pneumatic tendon 40 is connected to the movable pulley seat 631. The movable pulley seat 631 is fixed to the end of the vertical joint pneumatic tendon 40, and four range extender guide pulleys 632 are fixed on the movable pulley seat 631. Exemplarily, with reference to Figure 7 , the vertical translation joint drive mechanism 5 includes a translation pneumatic tendon 50, a fixed seat E51, an inner and outer pulley group of the base, a fixed seat F54, and a range extender pulley assembly 63.

[0061] The chain transfer plate assembly 43 is arranged on the static platform 3. The chain transfer plate assembly 43 can only move horizontally relative to the static platform assembly 3. One end of the translation pneumatic tendon 50 is installed on the fixed seat E51, and the fixed seat E51 is installed on the static platform assembly 3. The other end of the translation pneumatic tendon 50 is connected to the range extender pulley assembly 63. The range extender pulley assembly 63 is arranged on the fixed seat F54, and the fixed seat F54 is installed on the static platform assembly 3. The inner and outer pulley group of the base is arranged at the outer end of the static platform assembly 3. One end of the rope 49 is installed on the fixed seat F54. The rope 49 bypasses the range extender pulley group of the range extender pulley assembly 63, the inner and outer pulley group of the base, and the inner pulley 432 of the vertical chain transfer plate assembly 43. The other end of the rope 49 is fixed to the vertical assembly 2.

[0062] The vertical assembly 2 includes a vertical joint member 21 and a rope fixing member 22. The rope fixing member 22 is installed at the top of the vertical joint member 21 for fixing the rope 49 coming from the inner pulley 432.

[0063] The vertical chain transfer plate assembly 43 includes a top pulley 431, an inner pulley 432, a limit block 433, and a guide slider 434. The top pulley 431 is used for winding the rope 49 in the vertical assembly 2. The inner pulley 432 is used for winding the rope 49 in the vertical assembly drive mechanism 5. The limit block 433 is used for sliding on the vertical assembly 2 to limit the movement of the vertical assembly 2 in the horizontal plane (y-axis or x-axis). The guide slider 434 is used for sliding on the side of the static platform assembly 3. The rope 49 of the vertical assembly drive mechanism 5 starts from the translation pneumatic tendon 50, and finally the end of the rope is fixed at the rope end fixing member 22 of the vertical assembly 2. The two sets of vertical movement joint drive mechanisms 4 are symmetrically arranged relative to the base. Each set of vertical assembly drive mechanisms 5 includes two translation pneumatic tendons 50. When one side of the two pneumatic tendons of each set of vertical assembly drive mechanisms 5 contracts and the other side elongates, the movable platform 11 can move in the positive and negative directions of the y-axis. When contracting simultaneously, it can move in the negative direction of the z-axis.

[0064] With reference to Figure 8, the range extender pulley assembly 63 includes a movable pulley seat 631, a range extender guide pulley 632, and a fixed pulley seat 633; four range extender guide pulleys 632 are respectively arranged on the movable pulley seat 631 and the fixed pulley seat 633, a rope is wound around the eight range extender guide pulleys 632, the fixed pulley seat 633 is installed on the static platform assembly 3, and the other end of the movable platform pneumatic tendon 61 is connected to the movable pulley seat 631.

[0065] The movable pulley seat 631 is fixed to the end of the platform pneumatic tendon 50, and four range extender guide pulleys 632 are fixed on the movable pulley seat 631. This assembly can achieve an eight-fold increase in range, improving the movement stroke of the rope and solving the problem of the short working stroke of the pneumatic tendon.

[0066] Refer to Figure 8 , the cable parallel fracture reduction robot described in this application is of the 2-PPSP configuration. The movable platform 11 and the static platform assembly 3 are connected by two sets of vertical moving joints. The number of vertical moving joints can also be increased, such as Figure 9 the 3-PPSP configuration shown, that is, a three-link cable parallel fracture reduction robot, and Figure 10 the 4-PPSP configuration shown, that is, a four-link cable parallel fracture reduction robot. The vertical moving joint drive mechanisms and the movable platform moving joint drive mechanisms of the three-link and four-link robots are similar to the corresponding drive mechanisms of the two-link robot, but there is no need to add an impedance control mechanism on the movable platform. That is, the three-link robot is driven by 7 pneumatic tendons, and the four-link robot is driven by 8 pneumatic tendons. Both are redundant drives and can achieve six-degree-of-freedom motion.

[0067] The present invention has been disclosed above with preferred embodiments. However, it is not intended to limit the present invention. Any person skilled in the art, without departing from the scope of the technical solution of the present invention, can make some changes or modifications to the above-disclosed structure and technical content to form equivalent embodiments of equivalent changes, which still fall within the scope of the technical solution of the present invention.

Claims

1. A cable-parallel fracture reduction robot, characterized in that: It comprises a moving platform component (1), a vertical component (2), a static platform component (3), a moving platform moving joint driving mechanism (4) and a vertical component driving mechanism (5); The static platform component (3) is mounted on a base, the vertical component (2) can move in a translational direction along its own vertical axis and is mounted on both sides of the static platform component (3), the dynamic platform component (1) is rotatably connected to the upper ends of the two groups of vertical components (2), the vertical component driving mechanism (5) is placed in the static platform component (3) to control the translational movement of the vertical component (2) along the axis of the static platform component (3), the dynamic platform moving joint driving mechanism (4) is placed in the vertical component (2) to control the upward movement of the vertical component (2), the pitch rotation of the dynamic platform (11) and the translational movement along its axis, the dynamic platform impedance control mechanism (6) is placed in the dynamic platform component (1) to control the self-rotation of the dynamic platform (11) along the axis of the dynamic platform, and the self-rotation axis, the pitch rotation axis and the vertical axis are perpendicular to each other. The rotational connection between the movable platform component (1) and the upper ends of the two groups of vertical components (2) is achieved through a surgical end ball joint (13) and a non-surgical end ball joint (14); the surgical end ball joint (13) and the non-surgical end ball joint (14) are rotatably arranged on the vertical components (2), and the movable platform (11) is slidably arranged on the surgical end ball joint (13) and the non-surgical end ball joint (14); The moving platform impedance control mechanism (6) comprises a moving platform pneumatic tendon (61), a fixed seat A (62), an extended-range pulley assembly (63), a fixed seat B (64), a guide wheel (65) and a rope; the guide wheel (65) is mounted on the surgical end ball joint (13); at least two moving platform pneumatic tendons (61) are arranged in parallel on the side of the moving platform (11) close to the non-surgical end ball joint (14); one end of the moving platform pneumatic tendon (61) is mounted on the fixed seat A (62) arranged on the moving platform (11); the other end of the moving platform pneumatic tendon (61) is connected to the extended-range pulley assembly (63); the extended-range pulley assembly (63) is arranged on the fixed seat B (64); the fixed seat B (64) is mounted on the moving platform (11); one end of the rope is mounted on the fixed seat B (64); the rope passes around the extended-range pulley assembly (63) and the guide wheel (65); the other end of the rope is positioned at the surgical end ball joint (13); The surgical end ball joint (13) comprises a surgical end ball joint seat (131), a ball joint connecting frame (133) and a ball joint cross-axis assembly (134); the surgical end ball joint seat (131) is rotatably connected to the ball joint connecting frame (133) via the ball joint cross-axis assembly (134); the movable platform (11) is slidably arranged on the ball joint connecting frame (133); the surgical end ball joint seat (131) is rotatably arranged on the vertical assembly (2); the guide wheel (65) is installed on the ball joint connecting frame (133); the deflection guide wheel (132) is installed on the surgical end ball joint seat (131); a rope passes around the extended-range pulley assembly (63), the guide wheel (65) and the deflection guide wheel (132); and the other end of the rope is positioned at the surgical end ball joint (13).

2. The cable-parallel fracture reduction robot according to claim 1, characterized in that: The movable platform moving joint driving mechanism (4) comprises a vertical joint pneumatic tendon (40), a fixing seat C (41), a fixing seat D (42), an extended-range pulley assembly (63) and an inner and outer joint pulley assembly; The fixing seat C (41) is installed on the vertical component (2), the inner and outer pulley blocks are installed on the lower part of the vertical component (2), the branch chain adapter plate assembly (43) is arranged on the vertical component (2), and the vertical component (2) can move up and down relative to the branch chain adapter plate assembly (43), and the branch chain adapter plate assembly (43) can only move horizontally relative to the static platform assembly (3), one end of the vertical joint pneumatic tendon (40) is installed on the fixing seat C (41), and the other end of the vertical joint pneumatic tendon (40) is connected to the extended range slide The extended-range pulley assembly (63) is arranged on a fixed seat D (42), the fixed seat D (42) is mounted on the vertical assembly (2), one end of the rope is mounted on the fixed seat D (42), the rope passes through the extended-range pulley assembly (63), the top pulley (431) and the inner and outer pulley groups of the vertical branch chain adapter plate assembly (43), the pulley on the ball-jointed pulley seat (46) and the pulley on the pulley seat (47) at the end of the movable platform, and the other end of the rope is mounted on the ball-jointed connecting frame (133).

3. The cable-parallel fracture reduction robot according to claim 2, characterized in that: The vertical assembly driving mechanism (5) comprises a translational pneumatic muscle (50), a fixing seat E (51), a base inner and outer pulley assembly, a fixing seat F (54) and a range-extending pulley assembly (63); The branch chain adapter plate assembly (43) is arranged on the static platform assembly (3), and the branch chain adapter plate assembly (43) can only move horizontally relative to the static platform assembly (3). One end of the translational pneumatic tendon (50) is installed on the fixed seat E (51), and the fixed seat E (51) is installed on the static platform assembly (3). The other end of the translational pneumatic tendon (50) is connected to the extended-range pulley assembly (63), and the extended-range pulley assembly (63) is arranged on the fixed seat F (54), and the fixed seat F (54) is installed on the static platform assembly (3). The inner and outer pulley groups of the base are arranged at the outer end of the static platform assembly (3), and one end of the rope is installed on the fixed seat F (54). The rope passes around the extended-range pulley group of the extended-range pulley assembly (63), the inner and outer pulley groups of the base, and the inner pulley (432) of the vertical branch chain adapter plate assembly (43), and the other end of the rope is fixed to the vertical assembly (2).

4. The cable-parallel fracture reduction robot according to claim 1, characterized in that: The range-increasing pulley assembly (63) comprises a movable pulley seat (631), a range-increasing guide wheel (632) and a fixed pulley seat (633); four range-increasing guide wheels (632) are respectively arranged on the movable pulley seat (631) and the fixed pulley seat (633); ropes are wound around the eight range-increasing guide wheels (632); the fixed pulley seat (633) is mounted on the moving platform (11); and the other end of the moving platform pneumatic tendon (61) is connected to the movable pulley seat (631).

5. The cable-parallel fracture reduction robot according to claim 2, characterized in that: The range-increasing pulley assembly (63) comprises a movable pulley seat (631), a range-increasing guide wheel (632) and a fixed pulley seat (633); four range-increasing guide wheels (632) are respectively arranged on the movable pulley seat (631) and the fixed pulley seat (633); ropes are wound around the eight range-increasing guide wheels (632); the fixed pulley seat (633) is mounted on the vertical assembly (2); and the other end of the vertical joint pneumatic tendon (40) is connected to the movable pulley seat (631).

6. The cable-parallel fracture reduction robot according to claim 3, characterized in that: The range-increasing pulley assembly (63) comprises a movable pulley seat (631), a range-increasing guide wheel (632) and a fixed pulley seat (633); four range-increasing guide wheels (632) are respectively arranged on the movable pulley seat (631) and the fixed pulley seat (633); ropes are wound around the eight range-increasing guide wheels (632); the fixed pulley seat (633) is mounted on the static platform assembly (3); and the other end of the movable platform pneumatic tendon (61) is connected to the movable pulley seat (631).

7. The cable-parallel fracture reduction robot according to claim 1, characterized in that: The number of the moving platform components (1), the vertical components (2) and the static platform components (3) are configured as follows: A moving platform component (1), two vertical components (2) and a static platform component (3) are provided; the two vertical components (2) are symmetrically arranged on both sides of the static platform component (3), and the moving platform component (1) is arranged on the two vertical components (2); Alternatively, a moving platform component (1), three vertical components (2) and a static platform component (3) are provided, one vertical component (2) is arranged on one side of the static platform component (3), two vertical components (2) are arranged on the other side of the static platform component (3), and the moving platform component (1) is arranged on the three vertical components (2); Alternatively, a moving platform component (1), four vertical components (2) and a static platform component (3) are provided, two vertical components (2) are arranged on both sides of the static platform component (3), and the moving platform component (1) is provided on the four vertical components (2).

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