Master-slave type parallel robot for femoral shaft fracture reduction and control system thereof

Abstract

The invention relates to the technical field of medical robots, and particularly discloses a master-slave type parallel robot for femoral shaft fracture reduction and a control system of the master-slave type parallel robot. An adjusting mechanism is mounted on one side of the top end of the base, a slave manipulator robot is mounted on the inner side of the upper portion of the adjusting mechanism, a plurality of tooth blocks are mounted on the inner wall of the slave manipulator robot, a supporting seat is mounted on the other side of the top end of the base, and an operating bed is mounted at the top end of the supporting seat. The position of the slave manipulator robot can be adjusted through driving of the first driver so that fracture reduction can be conducted on the left leg or the right leg of a patient, meanwhile, the telescopic function of the electric telescopic column allows the height of the slave manipulator robot to be adjusted so as to adapt to patients of different body types, and therefore the comfort of the patient during operation is improved, and in addition, the operation efficiency is improved. Driving of the second driver can further adjust the position of the slave hand robot, which enhances the flexibility and operating range of the robot.

Description

Technical Field

[0001] The invention belongs to the technical field of medical robots, and in particular relates to a master-slave femoral shaft fracture reduction parallel robot and a control system thereof. Background Art

[0002] Femoral shaft fracture refers to the fracture of the femoral shaft below the trochanter and above the femoral condyle. The femoral shaft is the thickest, longest, and most stress-bearing tubular bone in the human body. It usually needs to be subjected to great violence to fracture, such as direct impact from heavy objects, wheel crushing, firearm injury, etc. After the fracture, due to damage to the surrounding soft tissue, the blood supply is relatively poor. After the injury, patients often have thigh swelling, subcutaneous ecchymosis, local angulation, shortening, and rotational deformity, and the hip and knee joints cannot move. Due to the large dose of radiation involved in the treatment, the surgeon is exposed to radiation for a long time during treatment, so the doctor will use a reduction robot to reduce the fracture position.

[0003] Existing reduction parallel robots do face some challenges in practical applications, mainly including their relatively limited workspace, which limits the robot's flexibility and operating range in complex fracture reduction tasks. In addition, the robot's posture adjustment process is often not convenient enough, which increases the complexity and time cost of surgical operations. More importantly, most reduction parallel robots are designed for a fixed height. This design ignores the significant height and body differences between patients. Due to the different body shapes of each patient, fixed-height robot support equipment is difficult to provide a personalized comfort experience, which may not only affect the surgical effect, but also bring unnecessary physical burden and psychological pressure to the patient, thereby reducing the overall convenience of use and patient satisfaction. Summary of the invention

[0004] The object of the present invention is to provide a master-slave femoral shaft fracture reduction parallel robot and a control system thereof to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A master-slave femoral fracture reduction parallel robot, comprising:

[0007] Base;

[0008] An adjustment mechanism is installed on one side of the top of the base, a slave robot is installed on the inner side of the upper part of the adjustment mechanism, a plurality of tooth blocks are installed on the inner wall of the slave robot, a support seat is installed on the other side of the top of the base, and an operating table is installed on the top of the support seat;

[0009] The adjustment mechanism comprises an adjustment box, a first driver, an adjustment screw, an adjustment block, a storage box, a lifting mechanism and a limit slot, wherein the adjustment box is mounted on the top of the base, the first driver is arranged on the outer wall of the adjustment box, the adjustment screw is mounted between the inner walls of both sides of the adjustment box through a bearing, the adjustment block is mounted on the outer surface of the adjustment screw, the storage box is mounted on the top of the adjustment block, the lifting mechanism is arranged on the top of the storage box, and the limit slot is opened on the top of the adjustment box;

[0010] A clamping mechanism, which is installed at one end of the slave robot and can clamp a broken leg to perform fracture reduction surgery;

[0011] The supporting mechanism is installed between the outer wall of the supporting seat and the bottom end of the operating table, and the supporting mechanism plays a role in supporting and fixing the patient's legs.

[0012] Preferably, the lifting mechanism includes a lifting frame, an electric telescopic column, a support ring, a support frame, a second driver and an adjustment gear, the lifting frame is installed at the top of the storage box, the electric telescopic column is installed at the bottom of the lifting frame, the support ring is installed at the top of the lifting frame, and the inner wall of the support ring is installed on the outer surface of the slave robot through a bearing, the support frame is installed at the lower part of the outer wall of the support ring, the second driver is arranged on the upper part of the outer wall of the support frame, and the adjustment gear is installed at the upper part of the inner wall of the support frame through a bearing.

[0013] Preferably, the clamping mechanism includes a fixed frame, a third driver, forward and reverse screw rods, a movable frame and a clamping plate, the fixed frame is installed at the end of the hand robot away from the lifting mechanism, the third driver is arranged on the outer wall of the fixed frame, the forward and reverse screw rods are installed between the inner walls on both sides of the fixed frame through bearings, two movable frames and two clamping plates are provided, and the two movable frames are installed on the outer surfaces of the forward and reverse screw rods, and the two clamping plates are respectively installed on the opposite surfaces of the two movable frames.

[0014] Preferably, the opposing surfaces of the two clamping plates are both configured as arc-shaped concave surfaces, the adjustment gear is meshed with a plurality of gear blocks, the support frame is configured as an L-shaped structure, and the lifting frame and the adjustment block are both configured as T-shaped structures.

[0015] Preferably, the support mechanism includes a support frame, a support block, a fourth driver, an adjustment shaft and a fixing mechanism, the support frame is installed at the bottom end of the operating bed, the support block is installed in the middle of the bottom end of the support frame, two of the fourth driver, the adjustment shaft and the fixing mechanism are provided, and the two fourth drivers are respectively arranged on both sides of the bottom end of the support frame, the two adjustment shafts are installed between the top frame wall and the bottom frame wall of the support frame through bearings, and the two fixing mechanisms are respectively installed on the outer surfaces of the two adjustment bearings.

[0016] Preferably, the fixing mechanism includes a support plate, a placement pad, a fixing frame, a guide groove, an electric telescopic rod and a fixing plate, the support plate is installed on the outer surface of the adjusting shaft, the placement pad is installed on the top of the support plate, the fixing frame is installed on the outer wall of the support plate, the guide groove is opened in the middle of the outer wall of the fixing frame, the electric telescopic rod is installed on the bottom groove wall of the guide groove, and the fixing plate is installed on the top of the electric telescopic rod.

[0017] Preferably, the top end surface of the placement pad is flush with the top end surface of the operating bed, the electric telescopic rod and the electric telescopic column are arranged as a multi-stage telescopic structure, the bottom end surface of the fixed plate is arranged as an arc structure, and a protrusion is arranged on the outer wall of the fixed plate.

[0018] A control system for a master-slave femoral fracture reduction parallel robot, comprising:

[0019] Monitoring end, control end, processing end and display end;

[0020] The monitoring end includes a position sensing unit, a force sensing unit, a visual sensing unit, a safety and protection unit, and a feedback unit; the control end includes a master hand control unit, a mapping and conversion unit, and a slave hand control unit; the processing end includes a data processing unit, a storage unit, and an interaction and communication unit; and the display end includes an image processing unit and a display unit;

[0021] The position sensing unit is used to monitor the position information of the slave hand reset robot in three-dimensional space in real time, the force sensing unit is used to measure and feedback the magnitude and direction of the force applied to the fracture site by the slave hand reset robot during the reset process, the visual sensing unit is used to cooperate with the G-arm dual-display X-ray machine to collect real-time images of the patient's femoral shaft fracture, the safety and protection unit is used to monitor the operating status of the entire system, and the feedback unit is used to feed back the information collected by the position sensing unit, the force sensing unit, the visual sensing unit and the safety and protection unit to the control end;

[0022] The master hand control unit is used to receive operation instructions input by the doctor through the master hand to control the robot, and the mapping and conversion unit is used to map the operation instructions of the master hand control unit to the slave hand control unit. The slave hand control unit controls the slave hand resetting robot to perform corresponding actions according to the instructions processed by the mapping and conversion unit.

[0023] Preferably, the data processing unit is used to process and analyze various sensor data from the monitoring end, the storage unit is used to store the processed data and key information during the operation, and the interaction and communication unit is used to realize communication and collaboration between various units within the system, as well as communication between the system and external devices.

[0024] Preferably, the image processing unit is used to process image data from the G-arm dual-display X-ray machine, and the display unit is used to display the processed images and other key information during the operation on the screen for the doctor's reference and decision-making.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] (1) The present invention provides an adjustment mechanism at the top of the base, and the position of the slave robot can be adjusted by driving the first driver so as to respectively reduce the fracture of the patient's left leg or right leg. At the same time, the telescopic function of the electric telescopic column allows the height of the slave robot to be adjusted to accommodate patients of different body shapes, thereby improving the patient's comfort during surgery. In addition, the position of the slave robot can be further adjusted by driving the second driver, which enhances the flexibility and operating range of the robot.

[0027] (2) The present invention sets a clamping mechanism at one end of the hand robot, and realizes its rotation by driving the forward and reverse screws through the third driver, thereby driving the two moving frames to respectively drive the clamping plates thereon to move toward the middle, so that the two clamping plates can firmly clamp the patient's broken leg, ensuring that the robot can smoothly perform the fracture reduction operation. At the same time, the design of the forward and reverse screws allows for flexible adjustment of the distance between the two clamping plates, thereby meeting the needs of patients of different body shapes, further expanding the scope of application of the robot.

[0028] (3) The present invention sets a support mechanism at the bottom end of the operating table, and drives the fixing plate to move downward by contracting the electric telescopic rod, ensuring that the fixing plate fits tightly against the patient's legs and fixes them on the placement pad. This can effectively support and fix the base of the patient's legs, thereby improving the stability of the patient's legs during the operation. At the same time, the fourth driver drives the adjustment shaft to rotate, so that the support plate drives the patient's uninjured legs to spread outward, avoiding any unnecessary interference or influence during the fracture reduction operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 One of the three-dimensional diagrams of the present invention;

[0030] Figure 2 is a cross-sectional view of the adjustment mechanism of the present invention;

[0031] Figure 3 It is a three-dimensional diagram of the lifting mechanism of the present invention;

[0032] Figure 4 For the present invention Figure 1 A magnified view of middle;

[0033] Figure 5 is a three-dimensional diagram of the clamping mechanism of the present invention;

[0034] Figure 6 is a three-dimensional diagram of the support mechanism of the present invention;

[0035] Figure 7 is a three-dimensional diagram of the fixing mechanism of the present invention;

[0036] Figure 8 is a flow chart of the control system of the present invention;

[0037] In the figure: 1. base; 2. adjustment mechanism; 3. slave robot; 4. clamping mechanism; 5. support seat; 6. support mechanism; 7. operating table; 8. gear block;

[0038] 21. Adjustment box; 22. First driver; 23. Adjustment screw; 24. Adjustment block; 25. Storage box; 26. Lifting mechanism; 27. Limiting slot;

[0039] 261. lifting frame; 262. electric telescopic column; 263. support ring; 264. support frame; 265. second drive; 266. adjustment gear;

[0040] 41. Fixed frame; 42. Third driver; 43. Forward and reverse screw rods; 44. Moving frame; 45. Clamping plate;

[0041] 61. Support frame; 62. Support block; 63. Fourth driver; 64. Adjustment shaft; 65. Fixing mechanism;

[0042] 651, support plate; 652, placement pad; 653, fixing frame; 654, guide groove; 655, electric telescopic rod; 656, fixing plate. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] Embodiment 1:

[0045] See also Figures 1 to 7 As shown, a master-slave femoral fracture reduction parallel robot comprises:

[0046] Base 1;

[0047] An adjustment mechanism 2 is installed on one side of the top of the base 1, a slave robot 3 is installed on the inner side of the upper part of the adjustment mechanism 2, a plurality of tooth blocks 8 are installed on the inner wall of the slave robot 3, a support seat 5 is installed on the other side of the top of the base 1, and an operating table 7 is installed on the top of the support seat 5;

[0048] The adjustment mechanism 2 includes an adjustment box 21, a first driver 22, an adjustment screw 23, an adjustment block 24, a storage box 25, a lifting mechanism 26 and a limit groove 27. The adjustment box 21 is installed at the top of the base 1, the first driver 22 is arranged on the outer wall of the adjustment box 21, the adjustment screw 23 is installed between the inner walls of both sides of the adjustment box 21 through a bearing, the adjustment block 24 is installed on the outer surface of the adjustment screw 23, the storage box 25 is installed on the top of the adjustment block 24, the lifting mechanism 26 is arranged at the top of the storage box 25, and the limit groove 27 is opened at the top of the adjustment box 21;

[0049] A clamping mechanism 4, which is installed at one end of the slave robot 3, and can clamp a broken leg to perform a fracture reduction operation;

[0050] The supporting mechanism 6 is installed between the outer wall of the supporting base 5 and the bottom end of the operating bed 7, and the supporting mechanism 6 plays a role in supporting and fixing the patient's legs.

[0051] Depend on Figures 2 to 5 It can be seen that the lifting mechanism 26 includes a lifting frame 261, an electric telescopic column 262, a support ring 263, a support frame 264, a second driver 265 and an adjustment gear 266. The lifting frame 261 is installed on the top of the storage box 25, the electric telescopic column 262 is installed on the bottom of the lifting frame 261, the support ring 263 is installed on the top of the lifting frame 261, and the inner wall of the support ring 263 is installed on the outer surface of the slave robot 3 through a bearing, the support frame 264 is installed on the lower part of the outer wall of the support ring 263, the second driver 265 is arranged on the upper part of the outer wall of the support frame 264, and the adjustment gear 266 is installed on the upper part of the inner wall of the support frame 264 through a bearing;

[0052] The clamping mechanism 4 includes a fixed frame 41, a third driver 42, a forward and reverse screw rod 43, a movable frame 44 and a clamping plate 45. The fixed frame 41 is installed at the end of the slave robot 3 away from the lifting mechanism 26. The third driver 42 is arranged on the outer wall of the fixed frame 41. The forward and reverse screw rod 43 is installed between the inner walls on both sides of the fixed frame 41 through bearings. There are two movable frames 44 and two clamping plates 45, and the two movable frames 44 are installed on the outer surfaces of the forward and reverse screw rods 43. The two clamping plates 45 are respectively installed on the opposite surfaces of the two movable frames 44.

[0053] As can be seen from the above, first, confirm whether the patient's fracture is the left leg or the right leg, and then adjust the slave robot 3 to the position of the fractured leg. The adjustment screw 23 is driven by the first driver 22 to rotate, and then the adjustment block 24 drives the storage box 25 to move. At the same time, the support ring 263 also moves stably and drives the slave robot 3 to move together, so that the slave robot 3 can accurately reduce the fracture of the patient's injured leg. In addition, the telescopic function of the electric telescopic column 262 can drive the lifting frame 261 to move up and down, and then the support ring 263 drives the slave robot 3 to move up and down stably. This design can flexibly adjust the height of the slave robot 3 to adapt to patients of different body shapes, thereby improving the comfort during the operation, ensuring the effect of the operation, and avoiding unnecessary physical burden and psychological pressure on the patient, thereby improving the overall convenience of use and patient satisfaction; starting the second driver 265 can drive the adjustment gear 266 to rotate, and the meshing transmission between the adjustment gear 266 and a plurality of tooth blocks 8 is transmitted. This function not only expands the working space of the robot, but also significantly enhances its flexibility and operating range when handling complex fracture reduction tasks, making the robot's posture adjustment process more convenient, reducing the complexity and time cost of surgical operations, and effectively solving the problems of complex posture control, large working space restrictions, and low flexibility of surgical robots in the prior art; when the robot position is adjusted to the optimal state, the third driver 42 is started to drive the forward and reverse screws 43 to rotate, and then the two moving frames 44 are driven to drive the clamping plates 45 thereon to move toward the middle, so that the two clamping plates 45 can firmly clamp the patient's broken leg, ensuring that the robot can smoothly perform the fracture reduction operation. The design of the forward and reverse screws 43 allows for flexible adjustment of the spacing between the two clamping plates 45 to meet the needs of patients of different body shapes, further expanding the scope of application of the robot. Finally, through the close cooperation between the slave robot 3 and the control system, the fracture reduction operation can be completed efficiently and accurately.

[0054] Specifically, refer to Figures 2 to 5 As shown, the opposite surfaces of the two clamping plates 45 are both configured as arc-shaped concave surfaces, the adjustment gear 266 is meshed with a plurality of gear blocks 8, the support frame 264 is configured as an L-shaped structure, and the lifting frame 261 and the adjustment block 24 are both configured as T-shaped structures.

[0055] As can be seen from the above, the arc-shaped concave design of the two clamping plates 45 is conducive to firmly clamping and fixing the patient's broken leg. By adjusting the meshing state of the gear 266 and a plurality of tooth blocks 8, the slave robot 3 can be driven to rotate, thereby conveniently adjusting the position of the slave robot 3. In addition, the L-shaped support frame 264 is firmly connected to the support ring 263 to ensure the stability of the structure, and the design of the T-shaped lifting frame 261 and the adjustment block 24 effectively prevents them from detaching from the storage box 25 and the adjustment box 21.

[0056] Embodiment 2:

[0057] refer to Figure 6 and Figure 7 As shown, the support mechanism 6 includes a support frame 61, a support block 62, a fourth driver 63, an adjustment shaft 64 and a fixing mechanism 65. The support frame 61 is installed at the bottom end of the operating bed 7, the support block 62 is installed at the middle of the bottom end of the support frame 61, two fourth drivers 63, two adjustment shafts 64 and two fixing mechanisms 65 are provided, and the two fourth drivers 63 are respectively arranged on both sides of the bottom end of the support frame 61, the two adjustment shafts 64 are both installed between the top frame wall and the bottom frame wall of the support frame 61 through bearings, and the two fixing mechanisms 65 are respectively installed on the outer surfaces of the two adjustment bearings 64;

[0058] The fixing mechanism 65 includes a support plate 651, a placement pad 652, a fixing frame 653, a guide groove 654, an electric telescopic rod 655 and a fixing plate 656. The support plate 651 is installed on the outer surface of the adjusting shaft 64, the placement pad 652 is installed on the top of the support plate 651, the fixing frame 653 is installed on the outer wall of the support plate 651, the guide groove 654 is opened in the middle of the outer wall of the fixing frame 653, the electric telescopic rod 655 is installed on the bottom groove wall of the guide groove 654, and the fixing plate 656 is installed on the top of the electric telescopic rod 655.

[0059] As can be seen from the above, first, the patient lies flat on the operating table 7, and then places both legs on the placement pads 652 of the two supporting mechanisms 6 respectively. Next, the electric telescopic rod 655 is started, and its contraction action and the coordinated limiting effect of the guide groove 654 are used to drive the fixing plate 656 to move downward smoothly and stably until it fits tightly against the patient's legs and firmly fixes the patient's legs on the placement pad 652. This design effectively supports and fixes the patient's leg roots, significantly improving the patient's leg stability during the operation. At the same time, the fourth driver 63 is started to drive the adjustment shaft 64 to rotate smoothly, thereby driving the fixing mechanism 65 fixed with the patient's uninjured leg to rotate. As the fixing mechanism 65 rotates, the support plate 651 and the placement pad 652 therein also rotate together, so that the patient's uninjured leg naturally spreads outward. This step ensures that the uninjured leg will not cause any unnecessary interference or influence during the fracture reduction operation, providing a strong guarantee for the smooth progress of the operation.

[0060] Preferably, reference Figure 6 and Figure 7 As shown, the top end surface of the placement pad 652 is flush with the top end surface of the operating bed 7, the electric telescopic rod 655 and the electric telescopic column 262 are set as a multi-stage telescopic structure, the bottom end surface of the fixed plate 656 is set as an arc structure, and a protrusion is set on the outer wall of the fixed plate 656.

[0061] As can be seen from the above, this design ensures that the patient's legs can be placed comfortably on the placement pad 652. At the same time, the application of the multi-stage telescopic structure significantly expands the telescopic range of the electric telescopic rod 655 and the electric telescopic column 262. The arc shape enables the fixing plate 656 to fit the patient's legs more closely, thereby enhancing the fixation effect on the patient's legs. The protrusion on the fixing plate 656 slides inside the guide groove 654, which effectively limits the position of the fixing plate 656. The fixing frame 653 is also set to an L-shaped structure, so that it is firmly connected to the support plate 651.

[0062] Embodiment three:

[0063] refer to Figure 8 As shown, a control system of a master-slave femoral fracture reduction parallel robot includes:

[0064] Monitoring end, control end, processing end and display end;

[0065] The monitoring end includes a position sensing unit, a force sensing unit, a visual sensing unit, a safety and protection unit, and a feedback unit; the control end includes a master hand control unit, a mapping and conversion unit, and a slave hand control unit; the processing end includes a data processing unit, a storage unit, and an interaction and communication unit; and the display end includes an image processing unit and a display unit;

[0066] The position sensing unit is used to monitor the position information of the slave hand reset robot in three-dimensional space in real time, the force sensing unit is used to measure and feedback the magnitude and direction of the force applied to the fracture site by the slave hand reset robot during the reset process, the visual sensing unit is used to cooperate with the G-arm dual-display X-ray machine to collect real-time images of the patient's femoral shaft fracture, the safety and protection unit is used to monitor the operating status of the entire system, and the feedback unit is used to feed back the information collected by the position sensing unit, the force sensing unit, the visual sensing unit and the safety and protection unit to the control end;

[0067] The master hand control unit is used to receive the operation instructions input by the doctor through the master hand to control the robot, and the mapping and conversion unit is used to map the operation instructions of the master hand control unit to the slave hand control unit, and the slave hand control unit controls the slave hand reset robot to perform corresponding actions according to the instructions processed by the mapping and conversion unit;

[0068] The data processing unit is used to process and analyze various sensor data from the monitoring end, the storage unit is used to store the processed data and key information during the operation, and the interaction and communication unit is used to realize the communication and collaboration between the various units within the system, and the communication between the system and external devices;

[0069] The image processing unit is used to process the image data from the G-arm dual-display X-ray machine, and the display unit is used to display the processed image and other key information during the operation on the screen for the doctor's reference and decision-making.

[0070] As can be seen from the above, the entire control system integrates three sensor units, which can monitor the status of the slave-hand reduction robot and the fracture reduction in real time, ensuring that the robot strictly follows the preset trajectory for precise movement and positioning. This system not only assists doctors in accurately controlling the reduction force and effectively avoiding secondary injuries to patients, but also can collect images of femoral shaft fractures in real time and transmit them to the image processing unit for advanced processing and intuitive display, providing doctors with accurate reduction effect evaluation; among them, the safety and protection unit is responsible for comprehensively monitoring the operating status of the entire system, covering key parameters such as robot position, force output, and moving speed, as well as the stability of auxiliary equipment such as operating beds and traction frames. Once any abnormality is found, the system will immediately initiate protection measures to ensure the safety of patients and medical staff; the feedback unit is responsible for feeding back all kinds of collected information to the control end, supporting doctors or control algorithms to make decisions and adjustments according to real-time conditions, and the master-hand control unit receives the operation instructions (such as movement, rotation, force application, etc.) input by the doctor through the master hand. These instructions are accurately processed by the mapping and conversion unit, taking into account the kinematic differences and The constraints ensure that the hand-reset robot can accurately reproduce the doctor's operating intention; the data processing unit deeply processes and analyzes various data such as position, force, and image, extracts key information, and supports data fusion and algorithm optimization to improve the reset accuracy and efficiency. The storage unit is used to save the processed data and key information during the operation, such as operation instructions, reset effect images, etc., to provide strong support for subsequent data analysis, surgical effect evaluation and scientific research; the interaction and communication unit promotes seamless collaboration between various units within the system, and realizes efficient communication with external equipment (such as traction frame, G-arm dual-display X-ray machine, etc.). Doctors can interact with the system through the operation interface, easily view real-time images, adjust operation parameters, etc.; the image processing unit specializes in processing image data from the G-arm dual-display X-ray machine, including contrast enhancement, denoising, precise marking of fracture sites, etc., to provide high-definition and highly readable images for doctors' reference. Finally, this information is presented in multiple modes (such as two-dimensional, three-dimensional, and multi-perspective) through a high-resolution display unit to meet the needs of doctors at different stages of the operation.

[0071] Application examples:

[0072] This design is used in medical surgical environments, especially in orthopedic operating rooms for the reduction and treatment of femoral shaft fractures. In orthopedic operating rooms, femoral shaft fracture reduction surgery is a complex and delicate operation that requires doctors to have high professional skills and stability. The parallel robot system of this design can give full play to its advantages. The operating room should be equipped with necessary medical equipment, such as X-ray machines, shadowless lamps, anesthesia machines, etc., to ensure the safety and accuracy of the operation. At the same time, the operating room should be kept clean and sterile to reduce the risk of infection. During the operation, the doctor operates the robot (slave end) through the console (master end), and the robot uses its high-precision motion control system to accurately reduce the patient's fracture site; the slave robot 3 of this design adopts a parallel mechanism design. This structure has the advantages of high rigidity, strong load-bearing capacity, and high precision. It is suitable for medical operations that require high-precision positioning and stable operation. The doctor controls the patient through the master end. The console sends instructions, and the control system converts these instructions into specific actions of the robot to achieve precise control of the robot slave end. This control method can reduce human errors during the operation and improve surgical accuracy. The robot system includes multiple modules such as an adjustment mechanism 2, a clamping mechanism 4, and a support mechanism 6. Each module has a specific function and completes the fracture reduction task through collaborative work. The design of the adjustment mechanism 2 enables the robot to be highly adjusted according to the body shape and surgical needs of different patients, thereby improving the patient's comfort during the operation and reducing the pain caused by the operation. Through the design of the clamping mechanism 4 and the support mechanism 6, the robot can be suitable for patients of different body shapes, expanding the scope of surgical application and improving the universality of the operation. The control system of the master-slave control method reduces the physical and mental burden of doctors during the operation, allowing doctors to focus more on the surgical operation itself and improve the efficiency and quality of the operation.

[0073] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A master-slave femoral fracture reduction parallel robot, characterized in that: include: Base (1); An adjustment mechanism (2) is installed on one side of the top of the base (1); a slave robot (3) is installed on the inner side of the upper part of the adjustment mechanism (2); a plurality of tooth blocks (8) are installed on the inner wall of the slave robot (3); a support seat (5) is installed on the other side of the top of the base (1); and an operating table (7) is installed on the top of the support seat (5); The adjustment mechanism (2) comprises an adjustment box (21), a first driver (22), an adjustment screw (23), an adjustment block (24), a storage box (25), a lifting mechanism (26) and a limiting groove (27); the adjustment box (21) is mounted on the top of the base (1); the first driver (22) is arranged on the outer wall of the adjustment box (21); the adjustment screw (23) is mounted between the inner walls of both sides of the adjustment box (21) through a bearing; the adjustment block (24) is mounted on the outer surface of the adjustment screw (23); the storage box (25) is mounted on the top of the adjustment block (24); the lifting mechanism (26) is arranged on the top of the storage box (25); and the limiting groove (27) is opened at the top of the adjustment box (21); A clamping mechanism (4), wherein the clamping mechanism (4) is installed at one end of the slave robot (3), and the clamping mechanism (4) can clamp a broken leg to perform a fracture reduction operation; A support mechanism (6) is installed between the outer wall of the support base (5) and the bottom end of the operating table (7), and the support mechanism (6) plays a role in supporting and fixing the patient's legs.

2. A master-slave femoral fracture reduction parallel robot according to claim 1, characterized in that: The lifting mechanism (26) comprises a lifting frame (261), an electric telescopic column (262), a support ring (263), a support frame (264), a second driver (265) and an adjustment gear (266); the lifting frame (261) is installed at the top end of the storage box (25); the electric telescopic column (262) is installed at the bottom end of the lifting frame (261); the support ring (263) is installed at the top end of the lifting frame (261); the inner wall of the support ring (263) is installed on the outer surface of the slave robot (3) through a bearing; the support frame (264) is installed on the lower part of the outer wall of the support ring (263); the second driver (265) is arranged on the upper part of the outer wall of the support frame (264); and the adjustment gear (266) is installed on the upper part of the inner wall of the support frame (264) through a bearing.

3. A master-slave femoral fracture reduction parallel robot according to claim 2, characterized in that: The clamping mechanism (4) comprises a fixed frame (41), a third driver (42), a forward and reverse screw rod (43), a movable frame (44) and a clamping plate (45); the fixed frame (41) is installed at one end of the slave robot (3) away from the lifting mechanism (26); the third driver (42) is arranged on the outer wall of the fixed frame (41); the forward and reverse screw rod (43) is installed between the inner walls of both sides of the fixed frame (41) through bearings; two movable frames (44) and two clamping plates (45) are each provided, and the two movable frames (44) are both installed on the outer surface of the forward and reverse screw rod (43); and the two clamping plates (45) are respectively installed on the opposite surfaces of the two movable frames (44).

4. A master-slave femoral fracture reduction parallel robot according to claim 3, characterized in that: The opposing surfaces of the two clamping plates (45) are both configured as arc-shaped concave surfaces, the adjusting gear (266) is meshed with a plurality of tooth blocks (8), the supporting frame (264) is configured as an L-shaped structure, and the lifting frame (261) and the adjusting block (24) are both configured as T-shaped structures.

5. The master-slave femoral fracture reduction parallel robot according to claim 1, characterized in that: The support mechanism (6) comprises a support frame (61), a support block (62), a fourth driver (63), an adjustment shaft (64) and a fixing mechanism (65); the support frame (61) is mounted at the bottom end of the operating table (7); the support block (62) is mounted at the middle of the bottom end of the support frame (61); two fourth drivers (63), two adjustment shafts (64) and two fixing mechanisms (65) are provided, and the two fourth drivers (63) are respectively provided at two sides of the bottom end of the support frame (61); the two adjustment shafts (64) are both installed between the top frame wall and the bottom frame wall of the support frame (61) through bearings; and the two fixing mechanisms (65) are respectively installed on the outer surfaces of the two adjustment bearings (64).

6. A master-slave femoral fracture reduction parallel robot according to claim 5, characterized in that: The fixing mechanism (65) comprises a support plate (651), a placement pad (652), a fixing frame (653), a guide groove (654), an electric telescopic rod (655) and a fixing plate (656); the support plate (651) is mounted on the outer surface of the adjustment shaft (64); the placement pad (652) is mounted on the top of the support plate (651); the fixing frame (653) is mounted on the outer wall of the support plate (651); the guide groove (654) is provided in the middle of the outer wall of the fixing frame (653); the electric telescopic rod (655) is mounted on the bottom groove wall of the guide groove (654); and the fixing plate (656) is mounted on the top of the electric telescopic rod (655).

7. A master-slave femoral fracture reduction parallel robot according to claim 6, characterized in that: The top end surface of the placement pad (652) is flush with the top end surface of the operating bed (7), the electric telescopic rod (655) and the electric telescopic column (262) are configured as a multi-stage telescopic structure, the bottom end surface of the fixing plate (656) is configured as an arc structure, and a protrusion is provided on the outer wall of the fixing plate (656).

8. A control system for a master-slave femoral fracture reduction parallel robot, applicable to a master-slave femoral fracture reduction parallel robot according to claims 1 to 7, characterized in that: include: Monitoring end, control end, processing end and display end; The monitoring end includes a position sensing unit, a force sensing unit, a visual sensing unit, a safety and protection unit, and a feedback unit; the control end includes a master hand control unit, a mapping and conversion unit, and a slave hand control unit; the processing end includes a data processing unit, a storage unit, and an interaction and communication unit; and the display end includes an image processing unit and a display unit; The position sensing unit is used to monitor the position information of the slave hand reset robot in three-dimensional space in real time, the force sensing unit is used to measure and feedback the magnitude and direction of the force applied to the fracture site by the slave hand reset robot during the reset process, the visual sensing unit is used to cooperate with the G-arm dual-display X-ray machine to collect real-time images of the patient's femoral shaft fracture, the safety and protection unit is used to monitor the operating status of the entire system, and the feedback unit is used to feed back the information collected by the position sensing unit, the force sensing unit, the visual sensing unit and the safety and protection unit to the control end; The master hand control unit is used to receive operation instructions input by the doctor through the master hand to control the robot, and the mapping and conversion unit is used to map the operation instructions of the master hand control unit to the slave hand control unit. The slave hand control unit controls the slave hand resetting robot to perform corresponding actions according to the instructions processed by the mapping and conversion unit.

9. The control system of a master-slave femoral fracture reduction parallel robot according to claim 8, characterized in that: The data processing unit is used to process and analyze various sensor data from the monitoring end, the storage unit is used to store the processed data and key information during the operation, and the interaction and communication unit is used to realize communication and collaboration between various units within the system, as well as communication between the system and external devices.

10. The control system of a master-slave femoral fracture reduction parallel robot according to claim 8, characterized in that: The image processing unit is used to process the image data from the G-arm dual-display X-ray machine, and the display unit is used to display the processed image and other key information during the operation on the screen for the doctor's reference and decision-making.

Images