A precise positioning fracture docking robot

Abstract

The present invention discloses a precise positioning fracture docking robot, which relates to the technical field of medical devices and includes: a workbench and a first linear module installed on the top of the workbench. A first slider is installed on the top of the first linear module, and a second linear module is installed on the top of the first slider. An auxiliary docking device for assisting bone docking is arranged on one side of the second linear module. By setting an expansion auxiliary device, the expansion airbag generates uniform pressure after expansion, which can keep the two docked bones in a relatively stable position and prevent displacement. At the same time, the uniform pressing force provided by the expansion airbag can increase the contact area between the fracture ends, thereby improving the healing conditions of osteocytes. Before installing internal fixation devices such as steel plates and nails or external fixation devices at the fracture site, the expansion airbag can provide short-term stable support, simplifying the operation process of doctors, and thus improving the overall practicality of the device.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a fracture docking robot with precise positioning. Background Art

[0002] A fracture refers to the complete or partial break of the continuity of bone structure, which is one of the common diseases in orthopedics. Limb fractures are the most common among clinical fracture patients. After limb fractures, surgical treatment is the preferred treatment method. When performing surgical treatment on limb fracture patients, it is first necessary to perform reduction docking and fixation on both ends of the fracture site of the patient. When performing bone docking reduction, a special fracture docking robot is required.

[0003] According to the Chinese Patent Network, the publication number "CN 212853610 U" is "a fracture docking robot with precise positioning". On the workbench, there are left, middle, and right lifting track seats that can be driven to feed forward and backward, left and right. On them, the left, middle, and right lifting seats are slidably connected to lift outward. On the middle lifting seat, a rotary motor bracket is externally connected. On the rotary motor bracket, a distal connecting plate is connected outward through a first stepping motor in the front-rear direction. Inside the distal connecting plate, there is a palm support plate cavity that penetrates through in the front-rear direction. One side of the palm support plate cavity is rotationally connected through a support plate rotating shaft inside the inner side of one side plate of the distal connecting plate, and a second stepping motor is arranged outside the other side plate. The output shaft of the second stepping motor passes through the other side plate of the distal connecting plate and is connected to the other side of the palm support plate cavity; on the left and right lifting seats, left and right clamping arms are externally connected, and the left and right clamping arms respectively extend to the outside of the left and right manipulators and are relatively arranged with front and rear arm manipulators facing inwards. It can effectively position and support the palm, forearm, and upper arm, and the fixation is stable and reliable, which is beneficial to improving the subsequent rehabilitation effect.

[0004] Although the above patent can achieve fracture position docking, after the docking is completed, the above patent cannot compact the fracture site, resulting in poor contact at the fracture site of the bone, which affects its healing effect. Therefore, we provide a fracture docking robot with precise positioning to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide a fracture docking robot with precise positioning in order to solve the problem that poor docking is likely to occur at the fracture site of the bone.

[0006] To achieve the above object, the present invention provides the following technical solutions: A precise positioning fracture docking robot, comprising: a workbench and a first linear module installed on the top of the workbench, a first slider is installed on the top of the first linear module, a second linear module is installed on the top of the first slider, and an auxiliary docking device for assisting bone docking is arranged on one side of the second linear module; a support, the support is fixedly connected to the top of the workbench, and a second support base is fixedly connected to the top of the support; an expansion auxiliary device, located on one side of the auxiliary docking device, for pressing the fracture site, and a lateral adjustment assembly for adjusting its position is arranged at the bottom of the expansion auxiliary device.

[0007] As a further solution of the present invention: The auxiliary docking device includes a second slider installed on one side of the second linear module, a first support base is fixedly connected to one side of the second slider, a first fixing block is fixedly connected to the top of each of the first support base and the second support base, a second U-shaped frame is fixedly connected to the top of the first fixing block, a third one-way threaded lead screw is rotatably connected to the inner side of the second U-shaped frame, a first movable block is threadedly connected to the outer wall of the third one-way threaded lead screw, and one end of the first movable block penetrates into the inner side of the first fixing block and is fixedly connected to a pressing block.

[0008] As a further solution of the present invention: The expansion auxiliary device includes two auxiliary rings arranged between the first support base and the second support base, one of the auxiliary rings is fixedly connected to the second support base through a connecting block, the other auxiliary ring is arranged on one side of the first support base, an expansion airbag is installed inside the auxiliary ring, a gas guide ring is arranged outside the auxiliary ring, an electromagnetic valve is fixedly connected to the air inlet of the expansion airbag, one end of the electromagnetic valve penetrates into the inside of the gas guide ring, a bellows is fixedly connected to the air inlet of one of the gas guide rings, a connecting block is fixedly connected to the air inlet of the other gas guide ring, a two-way air pump is installed at the air inlet of the connecting block, one end of the bellows is fixedly connected to the end of the connecting block, and a pressure adjustment member for adjusting the internal air pressure of the expansion airbag is arranged between the auxiliary ring and the expansion airbag.

[0009] As a further solution of the present invention: Four second partitions are fixedly connected to the inner side of the expansion airbag, and the four second partitions are equidistantly distributed inside the expansion airbag, dividing the expansion airbag into four independent annular cavities, and each annular cavity is communicated with the inside of the gas guide ring through an electromagnetic valve.

[0010] As a further solution of the present invention: The lateral adjustment assembly includes an adjustment seat fixedly connected to the bottom of the first support base. A first one-way threaded lead screw is rotatably connected to the inside of the adjustment seat, and one end of the first one-way threaded lead screw penetrates to the outside of the adjustment seat. A moving block is slidably connected to the inside of the adjustment seat, and the moving block is fixedly connected to one of the auxiliary rings. The moving block is threadedly connected to the outer wall of the first one-way threaded lead screw. A limiting chute matching the moving block is opened in the inside of the adjustment seat.

[0011] As a further solution of the present invention: The air pressure adjustment member includes a fixed ring fixedly connected to the inside of the auxiliary ring. A piston chamber is opened in the inside of the fixed ring. An air guide pipe is installed at the air outlet of the piston chamber. One end of the air guide pipe penetrates into the inside of the expansion airbag. A piston block is installed inside the fixed ring.

[0012] As a further solution of the present invention: The air pressure adjustment member further includes a first U-shaped frame fixedly connected to one side of the fixed ring. A second one-way threaded lead screw is rotatably connected to the inside of the first U-shaped frame. A second moving block is threadedly connected to the outer wall of the second one-way threaded lead screw, and one end of the second moving block penetrates into the inside of the fixed ring and is fixedly connected to the piston block.

[0013] As a further solution of the present invention: Four first partition plates are fixedly connected to the inside of the fixed ring. There are four piston blocks. The four piston blocks respectively correspond to one annular cavity inside the expansion airbag. One piston block is arranged between every two first partition plates. The four first partition plates divide the inside of the fixed ring into four cavities for the piston blocks to move.

[0014] Compared with the prior art, the beneficial effects of the present invention are:

[0015] 1. By setting the expansion assistor, when the fracture site is docked and the expansion airbag is adjusted to the designated position, the two-way air pump can be started. The two-way air pump supplies external gas into the inside of one air guide ring, and then through the connecting block and the corrugated pipe, it is introduced into the inside of the other air guide ring, so that the gas rushes into the two expansion airbags, making the expansion airbags expand and press tightly on the patient's bone part. After the expansion airbags expand, they generate uniform pressure, which can keep the two docked bones in a relatively stable position and prevent displacement. At the same time, the uniform pressing force provided by the expansion airbags can increase the contact area between the fracture ends, thereby improving the healing conditions of bone cells. Before installing internal fixation devices such as steel plates and nails or external fixation devices for the fracture site, the expansion airbags can provide short-term stable support, simplifying the operation process of doctors, and thus improving the overall practicality of the device;

[0016] 2. By setting a lateral adjustment component, after the fracture site is butt-jointed, when the fracture site is a flat surface, the first one-way threaded screw can be rotated to drive the moving block to drive an inflatable airbag to move to the center of the fracture site. The other inflatable airbag is located at the edge of the fracture site during the placement of the fracture site. When the fracture site is a flat surface, it is moved to the center of the fracture site after the butt-jointed fracture site. The inflatable airbag can be used to compress the fracture site. The inflatable airbag expands at the fracture site and can directly apply pressure to ensure that the fracture ends are closely fitted, reducing the risk of slight dislocation. At the same time, the inflatable airbag surrounds the fracture site. Providing symmetrical and uniform support force is helpful for accurate reduction of fracture ends. This setting avoids applying excessive additional stress to the bone shaft and helps protect bone tissue in other parts. When the fracture site is uneven, one inflatable airbag can be adjusted to the edge of the fracture site, so that the two inflatable airbags can be inflated at the edge of the fracture site. The position of the bones can be adjusted by lever principle, and gradually docked through uniform pulling force. For cases with obvious dislocation or irregular fracture surface shape, this arrangement can help achieve better position adjustment, thereby avoiding poor contact after docking at the fracture site, so that the fracture site can be accurately docked;

[0017] 3. By setting up the air pressure regulating part, when the inflation of the inflatable airbag is completed, the two-way air pump stops running and all the screw solenoid valves are closed. When the staff observes the mobile C-arm X-ray machine to see whether the fracture joint needs to be fine-tuned, they can open the solenoid valve at the position where the air pressure needs to be adjusted according to the position where fine-tuning is required, and then manually rotate the second one-way threaded screw to drive the second movable block to drive the piston block to move inside the piston chamber, so that the inflatable airbag can be supplied with air or exhausted, thereby adjusting the air pressure inside the annular cavity inside the separate inflatable airbag, thereby avoiding overpressure or underpressure caused by automatic control errors. At the same time, due to the different fracture types, bone strengths and surrounding soft tissue conditions of different patients, the manual pressure regulation function can be flexibly adjusted according to the specific situation to avoid a one-size-fits-all fixed pressure, thereby improving the overall practicality of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the present invention;

[0019] Figure 2 It is a schematic diagram of the support structure of the present invention;

[0020] Figure 3 is a cross-sectional view of an auxiliary ring of the present invention;

[0021] Figure 4 For the present invention Figure 3 Enlarged view of point A in the middle;

[0022] Figure 5Schematic diagram of the inner structure of the fixing ring of the present invention;

[0023] Figure 6 Schematic diagram of the piston block structure of the present invention;

[0024] Figure 7 Schematic diagram of the internal structure of the expansion airbag of the present invention;

[0025] Figure 8 Cross-sectional view of the first movable block of the present invention.

[0026] In the figure: 1, workbench; 2, support; 3, first linear module; 4, first slider; 5, second linear module; 6, second slider; 7, first support base; 8, first fixing block; 9, second support base; 10, adjusting seat; 11, auxiliary ring; 12, air guide ring; 13, bellows; 14, two-way air pump; 15, connecting block; 16, expansion airbag; 17, moving block; 18, first one-way threaded lead screw; 19, fixing ring; 20, limit chute; 21, piston chamber; 22, piston block; 23, air duct; 24, first U-shaped frame; 25, first movable block; 26, second one-way threaded lead screw; 27, second movable block; 28, first partition; 29, solenoid valve; 30, second partition; 31, pressing block; 32, second U-shaped frame; 33, third one-way threaded lead screw. Specific embodiments

[0027] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0028] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", "connected", "set" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The following describes the embodiments according to the overall structure of the present invention.

[0029] Embodiment 1

[0030] Please refer to Figures 1 to 8 , this embodiment provides a precise positioning fracture docking robot, including: a workbench 1 and a first linear module 3 installed on the top of the workbench 1. A first slider 4 is installed on the top of the first linear module 3. A second linear module 5 is installed on the top of the first slider 4. An auxiliary docking device for assisting bone docking, a support 2 is provided on one side of the second linear module 5. The support 2 is fixedly connected to the top of the workbench 1. A second support base 9 is fixedly connected to the top of the support 2. The auxiliary docking device includes a second slider 6 installed on one side of the second linear module 5. A first support base 7 is fixedly connected to one side of the second slider 6. A first fixing block 8 is fixedly connected to the top of each of the first support base 7 and the second support base 9. A second U-shaped frame 32 is fixedly connected to the top of the first fixing block 8. A third one-way threaded lead screw 33 is rotatably connected to the inner side of the second U-shaped frame 32. A first movable block 25 is threadedly connected to the outer wall of the third one-way threaded lead screw 33. One end of the first movable block 25 penetrates into the inner side of the first fixing block 8 and is fixedly connected to a pressing block 31;

[0031] First, the linear module can be divided into three types: synchronous belt type, ball screw type, and linear motor type. The main components of the synchronous belt type linear module are: belt, linear guide rail, aluminum alloy profile, coupling, motor, photoelectric switch, etc. The main components of the ball screw type linear module are: ball screw, linear guide rail, aluminum alloy profile, ball screw support seat, coupling, motor, photoelectric switch, etc. Since the first linear module 3 and the second linear module 5 are prior arts, they are not described in detail in this solution. First, when docking the fracture position, one end of the fractured bone can be placed on the second support base 9 first, and the other end is passed through and placed on the first support base 7. Then, the third one-way threaded screw 33 is rotated respectively to drive the first movable block 25 to adjust the pressing block 31 to press the patient's bone part. Subsequently, the staff can manually adjust the first linear module 3 and the second linear module 5 respectively to adjust the position of the first support base 7, so that the bone fixed on the first support base 7 is docked with the bone fixed on the second support base 9. During the docking process, the staff can observe the mobile C-arm X-ray machine to check whether the docking is completed.

[0032] Embodiment 2

[0033] The expansion assistor, located on one side of the assist docking device, is used to press the fracture site. The expansion assistor includes two auxiliary rings 11 arranged between the first support base 7 and the second support base 9. One of the auxiliary rings 11 is fixedly connected to the second support base 9 through a connection block 15, and the other auxiliary ring 11 is arranged on one side of the first support base 7. An expansion airbag 16 is installed inside the auxiliary ring 11, and a gas guide ring 12 is arranged outside the auxiliary ring 11. The air inlet of the expansion airbag 16 is fixedly connected with an electromagnetic valve 29, and one end of the electromagnetic valve 29 penetrates into the interior of the gas guide ring 12. The air inlet of one gas guide ring 12 is fixedly connected with a corrugated pipe 13, and the air inlet of the other gas guide ring 12 is fixedly connected with a connection block 15. A two-way air pump 14 is installed at the air inlet of the connection block 15, and one end of the corrugated pipe 13 is fixedly connected to the end of the connection block 15;

[0034] A lateral adjustment assembly for adjusting its position is arranged at the bottom of the expansion assistor. The lateral adjustment assembly includes an adjustment seat 10 fixedly connected to the bottom of the first support base 7. A first one-way threaded screw 18 is rotatably connected to the inside of the adjustment seat 10, and one end of the first one-way threaded screw 18 penetrates to the outside of the adjustment seat 10. A moving block 17 is slidably connected to the inside of the adjustment seat 10, and the moving block 17 is fixedly connected with one of the auxiliary rings 11. The moving block 17 is threadedly connected to the outer wall of the first one-way threaded screw 18. A limit sliding groove 20 matching the moving block 17 is opened in the inside of the adjustment seat 10;

[0035] When the docking of the fracture site is completed and the inflatable airbag 16 is adjusted to the designated position, the two-way air pump 14 can be activated. The two-way air pump 14 supplies external gas into the interior of a gas guiding ring 12, and then through the connecting block 15 and the corrugated pipe 13, it is introduced into the interior of the other gas guiding ring 12, so that the gas rushes into the two inflatable airbags 16, causing the inflatable airbags 16 to expand and press tightly against the patient's bone site. After the inflatable airbags 16 expand, they generate uniform pressure, which can keep the two docked bones in a relatively stable position, preventing displacement. At the same time, the uniform pressing force provided by the inflatable airbags 16 can increase the contact area between the fracture ends, thereby improving the healing conditions of bone cells. Before installing internal fixation devices such as steel plates and nails or external fixation devices at the fracture site, the inflatable airbags 16 can provide short-term stable support, simplifying the doctor's operation process, thereby improving the overall practicality of the device;

[0036] After the fracture site is docked, when the fracture site is a flat surface, the first one-way threaded lead screw 18 can be rotated, thereby driving the moving block 17 to drive an inflatable airbag 16 to move to the central position of the fracture site. The other inflatable airbag 16 is located at the edge of the fracture site during the placement of the fracture site. When the fracture site is a flat surface, it moves to the central position of the docked fracture site. The fracture site can be pressed tightly through the inflatable airbag 16. The inflatable airbag 16 expands at the fracture site, and pressure can be directly applied to ensure that the fracture ends are closely fitted, reducing the risk of minor displacement. At the same time, the inflatable airbag 16 surrounds the fracture, providing symmetrical and uniform supporting forces, which helps to accurately reset the fracture ends. This setting avoids applying too much additional stress to the main bone part, helping to protect the bone tissues in other parts. When the fracture site is uneven, one inflatable airbag 16 can be adjusted to the edge of the fracture site, so that the two inflatable airbags 16 expand at the edge of the fracture site, and the lever principle can be used to adjust the position of the bone, and the bones are gradually docked through uniform pulling force. For cases with obvious displacement or irregular fracture surface shape, this arrangement can help achieve better position adjustment.

[0037] Embodiment 3

[0038] A pressure regulating member for regulating the internal air pressure of the expansion airbag 16 is provided between the auxiliary ring 11 and the expansion airbag 16. Four second partition plates 30 are fixedly connected to the inner side of the expansion airbag 16. The four second partition plates 30 are equidistantly distributed on the inner side of the expansion airbag 16, dividing the expansion airbag 16 into four independent annular chambers. Each annular chamber is internally communicated with the air guide ring 12 through a solenoid valve 29. The pressure regulating member includes a fixed ring 19 fixedly connected to the inner side of the auxiliary ring 11. A piston chamber 21 is formed inside the fixed ring 19. A gas guide pipe 23 is installed at the air outlet of the piston chamber 21. One end of the gas guide pipe 23 penetrates into the interior of the expansion airbag 16. A piston block 22 is installed on the inner side of the fixed ring 19. The pressure regulating member further includes a first U-shaped frame 24 fixedly connected to one side of the fixed ring 19. A second one-way threaded lead screw 26 is rotatably connected to the inner side of the first U-shaped frame 24. A second movable block 27 is threadedly connected to the outer wall of the second one-way threaded lead screw 26. One end of the second movable block 27 penetrates into the interior of the fixed ring 19 and is fixedly connected to the piston block 22. Four first partition plates 28 are fixedly connected to the interior of the fixed ring 19. There are four piston blocks 22. The four piston blocks 22 respectively correspond to one annular chamber inside the expansion airbag 16. One piston block 22 is arranged between every two first partition plates 28. The four first partition plates 28 divide the interior of the fixed ring 19 into four chambers for the piston blocks 22 to move;

[0039] After the expansion of the expansion airbag 16 is completed, the two-way air pump 14 stops operating, and all the lead screw solenoid valves 29 are closed. When the staff observes through the mobile C-arm X-ray machine whether the fracture docking part needs fine adjustment, according to the position that needs to be fine-tuned, the solenoid valve 29 at the position where the air pressure needs to be adjusted can be opened, and then the second one-way threaded lead screw 26 is manually rotated, so as to drive the second movable block 27 to drive the piston block 22 to move inside the piston chamber 21, thereby supplying or pumping air to the expansion airbag 16, so as to adjust the air pressure inside the annular chamber of the individual expansion airbag 16, thus avoiding overpressure or underpressure caused by automatic control errors. At the same time, due to different fracture types, bone strengths and surrounding soft tissue conditions of different patients, the manual pressure regulating function can be flexibly adjusted according to specific conditions, avoiding a one-size-fits-all fixed pressure, and thus improving the overall practicability of the device.

[0040] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent replacements or changes, and should be covered by the protection scope of the present invention.

Claims

1. A precisely positioned fracture docking robot, characterized in that, Including: A workbench (1) and a first linear module (3) installed on the top of the workbench (1). A first slider (4) is installed on the top of the first linear module (3). A second linear module (5) is installed on the top of the first slider (4). An auxiliary docking device for assisting in bone docking is arranged on one side of the second linear module (5); A support (2) fixedly connected to the top of the workbench (1), and a second support base (9) is fixedly connected to the top of the support (2); An expansion auxiliary device located on one side of the auxiliary docking device for pressing the fracture site. A transverse adjustment assembly for adjusting its position is arranged at the bottom of the expansion auxiliary device; The auxiliary docking device includes a second slider (6) installed on one side of the second linear module (5). A first support base (7) is fixedly connected to one side of the second slider (6). A first fixing block (8) is fixedly connected to the top of each of the first support base (7) and the second support base (9). A second U-shaped frame (32) is fixedly connected to the top of the first fixing block (8). A third one-way threaded lead screw (33) is rotatably connected to the inner side of the second U-shaped frame (32). A first movable block (25) is threadedly connected to the outer wall of the third one-way threaded lead screw (33), and one end of the first movable block (25) penetrates into the inner side of the first fixing block (8) and is fixedly connected to a pressing block (31); The expansion auxiliary device includes two auxiliary rings (11) arranged between the first support base (7) and the second support base (9). One of the auxiliary rings (11) is fixedly connected to the second support base (9) through a connecting block (15). The other auxiliary ring (11) is arranged on one side of the first support base (7). An expansion airbag (16) is installed inside the auxiliary ring (11). An air guide ring (12) is arranged on the outer side of the auxiliary ring (11). An electromagnetic valve (29) is fixedly connected to the air inlet of the expansion airbag (16). One end of the electromagnetic valve (29) penetrates into the inside of the air guide ring (12). A bellows (13) is fixedly connected to the air inlet of one of the air guide rings (12). A connecting block (15) is fixedly connected to the air inlet of the other air guide ring (12). A two-way air pump (14) is installed at the air inlet of the connecting block (15). One end of the bellows (13) is fixedly connected to the end of the connecting block (15). An air pressure adjustment member for adjusting the air pressure inside the expansion airbag (16) is arranged between the auxiliary ring (11) and the expansion airbag (16).

2. The precise positioning fracture docking robot according to claim 1, wherein Four second partition plates (30) are fixedly connected to the inner side of the expansion airbag (16). The four second partition plates (30) are equidistantly distributed inside the expansion airbag (16), dividing the expansion airbag (16) into four independent annular chambers. Each annular chamber is communicated with the inside of the air guide ring (12) through one of the electromagnetic valves (29).

3. The precise fracture docking robot according to claim 2, characterized in that, The lateral adjustment assembly includes an adjustment base (10) fixedly connected to the bottom of the first support base (7). A first one-way threaded lead screw (18) is rotatably connected to the inner side of the adjustment base (10), and one end of the first one-way threaded lead screw (18) penetrates to the outside of the adjustment base (10). A moving block (17) is slidably connected to the inner side of the adjustment base (10), and the moving block (17) is fixedly connected to an auxiliary ring (11). The moving block (17) is threadedly connected to the outer wall of the first one-way threaded lead screw (18). A limiting chute (20) matching the moving block (17) is formed in the inner side of the adjustment base (10).

4. The precise positioning fracture docking robot according to claim 3, characterized in that, The air pressure adjustment member includes a fixed ring (19) fixedly connected to the inner side of the auxiliary ring (11). A piston chamber (21) is formed in the inner side of the fixed ring (19). An air guide pipe (23) is installed at the air outlet of the piston chamber (21), and one end of the air guide pipe (23) penetrates into the interior of the expansion airbag (16). A piston block (22) is installed on the inner side of the fixed ring (19).

5. The precise positioning fracture docking robot according to claim 4, characterized in that, The air pressure adjustment member further includes a first U-shaped frame (24) fixedly connected to one side of the fixed ring (19). A second one-way threaded lead screw (26) is rotatably connected to the inner side of the first U-shaped frame (24). A second moving block (27) is threadedly connected to the outer wall of the second one-way threaded lead screw (26), and one end of the second moving block (27) penetrates into the interior of the fixed ring (19) and is fixedly connected to the piston block (22).

6. The precise positioning fracture docking robot according to claim 5, characterized in that, Four first partition plates (28) are fixedly connected to the interior of the fixed ring (19). There are four piston blocks (22). The four piston blocks (22) respectively correspond to one annular chamber inside the expansion airbag (16). One piston block (22) is arranged between every two first partition plates (28). The four first partition plates (28) divide the interior of the fixed ring (19) into four cavities for the piston blocks (22) to move.

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