Miniature condylar fracture reduction bionic hand

Abstract

The invention discloses a miniature bionic hand for reduction of condylar fracture. The miniature bionic hand comprises a fixed arm, a movable arm, a clamping jaw assembly, a rotating device, a clamping jaw opening and closing device and a clamping jaw tightening device, the rotating device comprises a fixed plate, a rotating plate, an angle plate and an angle control line; the two ends of the angle plate are connected with the fixed arm and the movable arm through rotating shafts, the fixed plate and the rotating plate are connected with the fixed arm and the movable arm, the ends, close to each other, of the fixed plate and the rotating plate are connected through a rotating structure, and the angle control line is connected with the angle plate and the line wheel. A lifting ring of the clamping jaw opening and closing device is arranged on the fixing base in a sleeving mode and connected with the clamping jaw assembly, the lifting ring is connected with an opening and closing control line through a sliding device, and the opening and closing control line is connected with the winding wheel set. A control line wheel of the clamping jaw tightening device is installed on a fixing base, the control line wheel is connected with a winding wheel set through a tightening control line, and the control line wheel is connected with the clamping ends of a plurality of connecting rod type clamping jaws through a plurality of sub control lines. The bionic hand can accurately position and reset a condylar fracture piece, the operation time is effectively shortened, and the treatment effect is improved.

Description

Technical Field

[0001] The invention relates to the technical field of oral and maxillofacial surgical instruments, and in particular to a micro-condylar fracture reduction bionic hand. Background Art

[0002] Intracapsular condylar fracture refers to the fracture of the weak condyle when it encounters direct or indirect external force impact, which can lead to limited mouth opening, malocclusion, severe pain, facial asymmetry, etc. In recent years, the incidence of intracapsular condylar fracture has increased significantly, so surgical reduction and fixation in the treatment of intracapsular condylar fracture has received more and more attention.

[0003] When reducing the fracture fragments during surgery, the preauricular approach is often chosen. In the narrow operating field of vision and space, the resistance of the lateral pterygoid muscle is overcome to align the fracture line, and a long titanium nail is inserted to reduce and fix it while restoring the occlusion. However, the existing surgical instruments (mandibular condylar forceps) have limitations. First, the field of vision during surgery is limited, and the beak of the condylar forceps is large, which requires high operation. In addition, when clamping the bone block, it is easy to accidentally clamp the muscle, joint capsule, articular disc, etc., causing trauma and causing pain to the patient. In addition, the condylar head is small and osteoporotic, and the clamping force cannot be accurately controlled, which often leads to the fracture fragment splitting, increasing the difficulty of surgery. The clamping end of the reduction forceps does not fit the shape of the fracture fragment well, making it difficult to clamp stably, and other operational inconveniences. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides a micro-condylar fracture reduction bionic hand, which can accurately locate and reduce the condylar fracture fragments, effectively reducing the operation time and improving the treatment effect.

[0005] The present invention is achieved through the following technical solutions: A micro condylar fracture reduction bionic hand, comprising a fixed arm, a movable arm, a clamping jaw assembly, a rotating device, a clamping jaw opening and closing device, a clamping jaw tightening device and a winding wheel assembly; The rotating device comprises a fixed plate, a rotating plate, an angle plate and an angle control line; The two ends of the angle plate are connected to the fixed arm and the movable arm through a rotating shaft, the fixed plate and the rotating plate are respectively connected to the fixed arm and the movable arm through the rotating shaft and are located on the same side of the angle plate, the ends of the fixed plate and the rotating plate close to each other are connected through a rotating structure, the angle control wire is wound on the angle plate and fixed, and the two ends of the angle control wire are wound through the fixed arm and connected to the winding wheel group; The clamping jaw opening and closing device comprises a lifting ring, a sliding device and an opening and closing control line; The clamp assembly includes a base and a plurality of connecting rod clamps distributed circumferentially on the base, the base is fixed to the end of the movable arm, the lifting ring is sleeved on the fixed base and connected to the connecting rod clamp, the lifting ring is connected to the opening and closing control line through a sliding device, and the two ends of the opening and closing control line are connected to the winding wheel group; The clamping jaw tightening device includes a control wire wheel and an elastic control wire; the control wire wheel is installed on a fixed seat, the elastic control wire is wound on the control wire wheel and fixed, the two ends of the elastic control wire are connected to the winding wheel group, and the control wire wheel is connected to the clamping ends of multiple connecting rod type clamps through multiple sub-control wires.

[0006] Preferably, the winding wheel assembly includes multiple reels, which are respectively connected to the angle control line, the opening and closing control line and the tension control line. One end of the reel is rotatably connected to the end of the fixed seat, and the other end is connected to the servo motor.

[0007] Preferably, the rotating structure is an arc-shaped surface or a toothed surface arranged on the ends of the fixed plate and the rotating plate.

[0008] Preferably, the angle control line includes a forward control line and a reverse control line; The side wall of the angle plate is provided with two wire grooves, the forward control wire and the reverse control wire are respectively arranged in the wire grooves and have opposite winding directions, one end of the forward control wire and the reverse control wire are fixed with the wire grooves, and the other end is connected to the wire wheel.

[0009] Preferably, the sliding device comprises a sliding block and a sliding groove; The slider is arranged at the end of the lifting ring, the slide groove is arranged on the fixed seat, and the slider is installed in the slide groove and can move up and down in the slide groove.

[0010] Preferably, the opening and closing control line includes an opening control line and a closing control line; One end of the opening control line is connected to the bottom of the slider and extends downward through the bottom of the slide groove. A wire hole is provided in the slider. One end of the closing control line is connected to the slider, and the other end bypasses the top of the slide groove and then extends downward. The other ends of the opening control line and the closing control line are connected to the wire wheel.

[0011] Preferably, a first steering guide wheel and a second steering guide wheel are respectively provided on the rotating shafts of the fixed arm and the movable arm; The opening control line and the closing control line are wound on two wire wheels in a cross-winding manner.

[0012] Preferably, a wire wheel groove is provided on the fixing seat, and the control wire wheel is rotatably installed in the wire wheel groove; The tension control line includes a tightening control line and a slack control line, which are wound on a control line wheel in opposite winding directions, and the control line wheel is connected to a plurality of connecting rod type clamps through a plurality of sub-control lines.

[0013] Preferably, a first wire wheel and a second wire wheel are respectively provided on the rotating shafts of the fixed arm and the movable arm, and the tightening control line and the loosening control line are wound around the first wire wheel and the second wire wheel in a cross-winding manner.

[0014] Preferably, the clamp assembly includes a base and a plurality of connecting rod type clamps circumferentially distributed on the base, the base is fixed to the end of the movable arm, and the connecting rod type clamp includes a first connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod; a sixth connecting rod, a seventh connecting rod and a grab bar; One end of the third connecting rod is connected to the base, and the other end is connected to one end of the fourth connecting rod, the other end of the fourth connecting rod is connected to the middle of the fifth connecting rod, one end of the fifth connecting rod is connected to one end of the first connecting rod, the other end of the fifth connecting rod is connected to one end of the sixth connecting rod, the other end of the first connecting rod is connected to the base, and the connecting end of the first connecting rod and the fifth connecting rod is connected to one end of the seventh connecting rod; The grab bar is an L-shaped structure, the other end of the seventh connecting rod is connected to the inflection point of the grab bar, the other end of the sixth connecting rod is connected to one end of the grab bar, the other end of the grab bar is a clamping end, and the clamping end is bent toward the center of the clamping claw assembly.

[0015] Compared with the prior art, the present invention has the following beneficial technical effects: The present application discloses a micro bionic hand for reducing condylar fractures, in which a rotating device, a jaw opening and closing device and a jaw tightening device are arranged between a fixed arm and a movable arm, and three winding wheels are electrically rotated by three micro servo motors, and the winding and releasing of the control line are realized by controlling the rotating direction, so as to control the opening and closing of the jaws, the holding force of the jaws and the angle of the releasing hand; the fixed plate and the rotating plate in the rotating device are connected to each other by arc surfaces, which serve as the movable joints of the reducing device, and can cope with various needs caused by limited field of view or difficult operation during surgery, effectively reduce the difficulty of operation for doctors, and can perform surgery from any angle, effectively reducing the difficulty of surgery and improving the success rate of surgery; the arc design of the fixed plate and the rotating plate supports a rotation angle of up to 180°, and the user can adjust the rotation angle of the arm according to actual needs to adapt to different surgical positions and angle requirements; the micro bionic hand for reducing condylar fractures uses a micro motor to manipulate the tightness of the control line to achieve precise control of the clamping force and more precision, meeting the needs of different surgical scenarios, which makes the surgical operation easier and improves the surgical efficiency.

[0016] Furthermore, guide wheels are used in the jaw opening and closing device and the jaw tightening device to guide the control line to prevent internal winding. At the same time, the control line is wound in a cross manner, and a cross node is formed between the two guide wheels to avoid hindering the rotation of the arm after the control is tightened. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 This is a schematic structural diagram of the resetting bionic hand of the present invention; Figure 2 It is a structural schematic diagram of the clamping jaw opening and closing device for resetting the bionic hand of the present invention; Figure 3 It is a structural schematic diagram of the lifting device of the present invention; Figure 4 It is a structural schematic diagram of the fixing seat of the present invention; Figure 5 It is a structural schematic diagram of the lifting ring and the control line of the present invention; Figure 6 It is a structural schematic diagram of the lifting ring of the present invention; Figure 7 It is a structural schematic diagram of the angle adjustment device for resetting the bionic hand of the present invention; Figure 8 It is a structural schematic diagram of the angle adjustment plate of the present invention; Fig. 9 It is a structural schematic diagram of the clamping jaw tightening device of the present invention; Fig.10 It is a structural schematic diagram of the tightening wheel of the present invention; Fig.11 It is a structural schematic diagram of the clamping jaws of the present invention; Fig.12 It is a schematic structural diagram of the wire wheel of the present invention.

[0019] In the figure: 1, winding wheel assembly; 2, fixed arm; 3, movable arm; 4, fixed seat; 5, lifting ring; 6, clamping claw assembly; 7, fixed plate; 8, rotating plate; 10, first wire wheel; 11, first steering wire wheel; 12, second steering wire wheel; 13, closing control line; 14, opening control line; 15, slider; 16, slide groove; 17, guide column; 18, wire wheel groove; 20, second wire wheel; 21, angle plate; 22, positive control line; 23. Reverse control line; 24. Forward line fixed node; 25. Reverse line fixed node; 30. Third wire wheel; 31. First wire wheel; 32. First wire wheel; 33. Tighten control line; 34. Loosen control line; 35. Control line wheel; 36. Node plate; 60. First connecting rod; 61. Second connecting rod; 62. Third connecting rod; 63. Fourth connecting rod; 64. Fifth connecting rod; 65. Sixth connecting rod; 66. Seventh connecting rod; 67. Grab rod. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0022] See also Figure 1-12 A micro-condylar fracture reduction bionic hand comprises a fixed arm 2, a movable arm 3, a clamping jaw assembly, a rotating device, a clamping jaw opening and closing device, a clamping jaw tightening device and a winding wheel group 1.

[0023] The rotating device comprises a fixed plate 7, a rotating plate 8, an angle plate 21 and an angle control line; The two ends of the angle plate are connected to the fixed arm 2 and the movable arm 3 through a rotating shaft, the fixed plate 7 and the rotating plate 8 are respectively connected to the fixed arm 2 and the movable arm 3 through a rotating shaft and are located on one side of the angle plate 21, one end of the fixed plate 7 and the rotating plate 8 abut against each other and can rotate, the angle control wire is wound on the angle plate 21 and fixed, and the two ends of the angle control wire pass through the fixed arm 2 and are connected to the winding wheel group; The jaw opening and closing device comprises a lifting ring 5, a sliding device and an opening and closing control line; The clamp assembly includes a base and a plurality of connecting rod clamps distributed circumferentially on the base, the base is fixed to the end of the movable arm 3, the lifting ring 5 is sleeved on the fixed base 4 and connected to the connecting rod clamp, the lifting ring 5 is connected to the opening and closing control line through a sliding device, and the two ends of the opening and closing control line are connected to the winding wheel group; The clamping jaw tightening device includes a control wheel 35 and an elastic control line; the control wheel 35 is installed on the fixed seat 4, the elastic control line is wound on the control wheel 35 and fixed, the two ends of the elastic control line are connected to the winding wheel group, and the control wheel 35 is connected to the clamping ends of multiple connecting rod type clamps through multiple sub-control lines.

[0024] In some embodiments, the winding wheel assembly 1 includes three wire wheels, namely a first wire wheel 10, a second wire wheel 20 and a third wire wheel 30, see Fig.12 Two wire grooves are arranged on the wire wheel, and the two ends of the control wire are respectively wound in the two wire grooves and the ends are fixed. In this embodiment, the angle control line is connected to the second wire wheel 10, and the two ends of the angle control line are respectively fixed in two wire grooves, so that the corresponding wires at the two ends of the angle control line are wound in the wire grooves.

[0025] The opening and closing control line is connected to the first wire wheel 10, and the two ends of the opening and closing control line are respectively fixed in two wire grooves, so that the corresponding wires at the two ends of the opening and closing control line are wound in the wire grooves.

[0026] The tension control line is connected to the third wire wheel, and two ends of the tension control line are respectively fixed in two wire grooves, so that the corresponding wires at the two ends of the tension control line are wound in the wire grooves.

[0027] One end of each reel is connected to a servo motor, and a connecting shaft is provided at the other end of the reel. The reel is rotatably connected to the bottom of the fixed arm 2 through the connecting shaft. The servo motor drives the reel to rotate forward or reverse, thereby driving the two ends of the control line to tighten or loosen alternately.

[0028] In some embodiments, the fixed arm and the movable arm are connected via a rotating device, and the fixed arm and the movable arm have the same structure, which will be described in detail below using the fixed arm as an example.

[0029] The fixed arm includes a base plate and two connecting plates arranged on the top surface of the base plate. The two connecting plates are arranged in parallel and spaced apart. The two connecting plate brackets are provided with rotating shafts. The space between the two connecting plates forms the installation space of the angle plate 21 and the fixed plate 7, and makes the entire fixed plate form a U-shaped structure.

[0030] The fixed arm and the movable arm are symmetrically arranged with the open ends facing each other. One end of the angle plate is mounted on the rotating shaft of the fixed arm, and the other end of the angle plate is mounted on the rotating shaft of the movable arm. The fixed plate 7 and the rotating plate 8 are respectively sleeved on the two rotating shafts, and the ends close to each other abut against each other. In some embodiments, see Figure 7-9 The fixed plate 7 and the rotating plate 8 have the same structure. At least one end of the fixed plate 7 is an arc surface, which serves as a guide surface. The fixed plate 7 and the rotating plate 8 abut against each other through the raised arc surface. During the angle adjustment process of the fixed arm and the movable arm, the arc surfaces of the fixed plate 7 and the rotating plate 8 roll against each other.

[0031] The arc surfaces of the fixed plate 7 and the rotating plate 8 can also be replaced by toothed surfaces. The ends of the fixed plate 7 and the rotating plate 8 are toothed surfaces, and the fixed plate 7 and the rotating plate 8 are meshed with each other through the toothed surfaces.

[0032] In some embodiments, the angle control line includes a forward control line 22 and a reverse control line 23; the two ends of the angle plate 21 are arc-shaped, and the side wall of the angle plate 21 is provided with two wire grooves, the forward control line 22 and the reverse control line 23 are respectively arranged in the wire grooves and have opposite winding directions, one end of the forward control line 22 and the reverse control line 23 is fixed to the upper part of the wire groove, and the other end passes through the fixed arm to be connected to the second wire wheel.

[0033] See also Figure 8 A forward line fixing node 24 and a reverse line fixing node 25 are respectively provided on both sides of the upper end of the angle plate. When the forward control line 22 and the reverse control line 23 are wound into the wire groove, the ends of the two control lines are fixed by the forward line fixing node 24 and the reverse line fixing node 25.

[0034] When the angle needs to be adjusted during the operation, the servo motor rotates forward, and the forward control line 22 is wound around the second wire wheel, that is, the wire is reeled in, while the reverse control line 23 synchronously releases the wire. During the winding process, the forward control line 22 applies a pulling force to the upper end of the angle plate, causing the movable arm to rotate toward the force-bearing side, and because the clamping jaw assembly is connected to the movable arm, the angle adjustment of the movable arm is achieved.

[0035] In addition, the angle control line can also be a complete control line, the middle part of the control line is fixed in the wire groove of the angle plate, and the two ends of the control line are respectively connected to the wire wheel, and the working principle is the same.

[0036] In some embodiments, see Figure 2 and 11 The above-mentioned clamping jaw assembly includes three connecting rod type clamping jaws arranged on the base, and the three connecting rod type clamping jaws are distributed circumferentially. The connecting rod type clamping jaws include a first connecting rod 60, a third connecting rod 62, a fourth connecting rod 63, a fifth connecting rod 64; a sixth connecting rod 65, a seventh connecting rod 66 and a grab rod 67.

[0037] Three hinged seats are provided on the base, one end of the third link 62 is connected to the hinged seat, and the other end is connected to one end of the fourth link 63, the other end of the fourth link 63 is connected to the middle part of the fifth link 64, one end of the fifth link 64 is connected to one end of the first link 60, the other end of the fifth link 64 is connected to one end of the sixth link 65, the other end of the first link 60 is connected to the hinged seat, and the connecting end of the first link 60 and the fifth link 64 is connected to one end of the seventh link 66; the grab bar 67 is an L-shaped structure, the other end of the seventh link 66 is connected to the inflection point of the grab bar 67, the other end of the sixth link 65 is connected to one end of the grab bar 67, the other end of the grab bar 67 is a clamping end, and the clamping end is bent toward the center of the clamping jaw assembly.

[0038] One end of the fixed seat 4 is fixedly connected to the end of the movable arm, and a guide column is arranged at the other end of the fixed seat 4. The base is arranged at the end of the guide column. The lifting ring 5 is sleeved on the guide column. A plurality of horizontal support rods are arranged on the lifting ring 5. The end of the support rod is transferred to one end of the second connecting rod 61, and the other end of the second connecting rod 61 is connected to the middle part of the third connecting rod.

[0039] In some embodiments, the sliding device of the clamp opening and closing device includes a slider 15 and a slide groove 16; the slider 15 is arranged at the end of the lifting ring 5, the slide groove is arranged on the fixed seat 4, and the slider 15 is installed in the slide groove and can move up and down in the slide groove.

[0040] The opening and closing control lines include an opening control line 13 and a closing control line 14; one end of the opening control line 13 is connected to the bottom of the slider and extends downward through the bottom of the slide groove. A wire hole is provided in the slider 15. One end of the closing control line 14 is connected to the wire hole, and the other end bypasses the top of the slide groove and then extends downward. The extended sections of the opening control line 13 and the closing control line 14 pass through the fixed arm and the movable arm and are connected to the first wire wheel 10.

[0041] The connection mode of the opening control line 13 and the closing control line 14 with the first wire wheel 10 is the same as the connection mode of the forward control line 22 and the reverse control line 23 with the first wire wheel 10, and will not be repeated here.

[0042] In order to prevent the control line from being tangled in the fixed arm and the movable arm, a first steering wire wheel 11 and a second steering wire wheel 12 are respectively provided on the rotating shafts of the fixed arm and the movable arm. The opening control line 13 and the closing control line 14 are wound around the two wire wheels in a cross-winding manner, and then pass through the wire hole on the fixed arm to be connected to the first wire wheel 10, and the first wire wheel 10 is connected to the servo motor.

[0043] When it is necessary to control the closing of the clamping jaw assembly during surgery, the servo motor drives the first wire wheel to rotate, so that the closing control line 14 is wound around the first wire wheel, that is, the wire is wound, and the opening control line 13 is simultaneously released. During the winding process, the closing control line 14 bypasses the top of the slide groove to apply a pulling force to the slider to move it upward, and at the same time moves the lifting ring. During the movement of the lifting ring, the corresponding connecting rod type clamp is driven by the second connecting rod 61 to apply a thrust to close it.

[0044] When the clamping jaw assembly is opened, the servo motor drives the first wire wheel to rotate in the opposite direction, the opening control line 13 is used to reel in the wire, the closing control line 14 is used to release the wire, the slider moves downward, and during the movement of the lifting ring, the second connecting rod 61 drives the corresponding connecting rod type clamping jaw to apply tension to open it.

[0045] In some embodiments, since the clamping assembly adopts a connecting structure, the manufacturing accuracy and installation accuracy of each connecting rod restrict the clamping force and clamping accuracy of the clamping assembly. A clamping jaw tightening device is used to apply a control force to the clamping end of each connecting rod type clamp to ensure the stability of the clamping force.

[0046] See also Figure 9-10 The fixed seat is provided with a wire wheel groove 18, and the control wire wheel 35 is rotatably installed in the wire wheel groove 18; the tension control line includes a tightening control line 33 and a slack control line, the tightening control line 33 and the slack control line are wound on the control wire wheel 35, and the winding directions are opposite, the ends of the tightening control line 33 and the slack control line are connected to the node plate 36, and the node plate is fixedly connected to the control wire wheel 35.

[0047] The node plate is connected to multiple link type clamps through multiple sub-control lines, that is, one end of the sub-control line is connected to the node plate, and the other end of the sub-control line passes through the guide column and is connected to the gripping rod of each link type clamp, so as to apply tension to the gripping rod.

[0048] In order to prevent the tightening control line 33 and the loosening control line from being tangled in the fixed arm and the movable arm, a first wire wheel 31 and a first wire wheel 32 are respectively provided on the rotating shafts of the fixed arm and the movable arm. The tightening control line 33 and the loosening control line are wound around the two wire wheels in a cross-winding manner, and then pass through the wire hole on the fixed arm to be connected to the third wire wheel, and the third wire wheel is connected to the servo motor.

[0049] During the operation, when the jaws close and clamp the tissue, in order to ensure the adjustment of the holding force, the servo motor drives the third wire wheel to rotate, so that the tightening control line 33 is wound around the third wire wheel, that is, the wire is reeled in, and the loosening control line is simultaneously released. During the process of reeling in the tightening control line 33, the control wire wheel rotates to cause the sub-control wire to be subjected to tension, thereby applying tension to the grabbing rod to effectively clamp the tissue; when the control wire wheel rotates in the opposite direction, the tension of the sub-control wire disappears.

[0050] A micro-condylar fracture reduction bionic hand of the present application is provided with a rotating device, a clamping jaw opening and closing device and a clamping jaw tightening device between the fixed arm and the movable arm, and three winding wheels are rotated by three micro-servo motors. The winding and releasing of the control line are realized by controlling the rotation direction, so that the opening and closing of the clamping jaw, the holding force control of the clamping jaw and the angle control of the release hand can be controlled; the fixed plate and the rotating plate in the rotating device are connected to each other by arc surfaces, which serve as the movable joints of the reduction device and can cope with various needs caused by limited vision or difficult operation during surgery. The arc design of the fixed plate and the rotating plate supports a rotation angle of up to 180°, and the user can adjust the rotation angle of the arm according to actual needs to adapt to different surgical positions and angle requirements. Secondly, the guide wheel is used in the clamping jaw opening and closing device and the clamping jaw tightening device to guide the control line to prevent internal winding. At the same time, the control line is wound in a cross manner, and a cross node is formed between the two guide wheels to avoid hindering the rotation of the arm after the control is tightened.

[0051] Located below the joint gear is a fixed shaft with three small discs. Its main function is to organize and shrink the wires in the reduction device to ensure that the wires inside the reduction device will not be tangled, thus not affecting the use. At the same time, it can also pre-tighten the control line and provide stable force distribution. This allows the micro-automatic positioning of the micro-condylar fracture reduction bionic hand to be more accurately operated, reducing the operation time and reducing the patient's pain.

[0052] In addition, the clamping claw assembly is connected to the grasping rod through a connecting ring, and each joint adopts an adjustable design, which can be adaptively adjusted according to the shape and size of the fracture fragment, and can be adapted according to the shape of the fracture fragment to ensure stable clamping and prevent the possibility of surgical reduction failure. When the servo motor tightens the control line, the claws of the micro-condylar fracture reduction bionic hand can be tightly clamped for reduction operation. In addition, the design of the micro-condylar fracture reduction bionic hand also fully considers the convenience of disinfection and cleaning. All components are made of corrosion-resistant materials to ensure the hygiene and durability of surgical instruments. Such a design not only improves the accuracy and safety of the operation, but also greatly improves the service life and reliability of surgical instruments.

[0053] Example 1 A micro condylar fracture reduction bionic device comprises a mechanical arm, a micro condylar fracture reduction bionic hand and a control system. The micro condylar fracture reduction bionic hand is connected to the mechanical arm, and the mechanical arm drives the micro condylar fracture reduction bionic hand to move. The control system is respectively connected to the mechanical arm and the micro condylar fracture reduction bionic hand, and is used to control the movement state of the mechanical arm and the clamping state of the micro condylar fracture reduction bionic hand, and can accurately adjust the holding force according to a pressure measuring device.

[0054] The mechanical structure design and fine reduction hand of the micro-condylar fracture reduction bionic device can achieve accurate positioning and stable reduction of the mandibular condyle, so as to ensure the accuracy of the doctor in the condylar reduction surgery. At the same time, its built-in micro motor and precision transmission system make the operation process smoother and more efficient. The micro-condylar fracture reduction bionic device has significant technical effects or advantages such as easy operation, accurate positioning, good reduction effect, and less trauma. It can not only significantly improve the success rate and safety of mandibular reduction surgery, but also effectively reduce the patient's pain and shorten the operation time, thus having significant clinical application value. In addition, the design of the reduction hand fully considers the actual needs of the operating room, and its compact structure and lightweight design make it more flexible and convenient in actual operation.

[0055] In general, the micro-condylar fracture reduction bionic hand has an ingenious structure and a compact size. It can accurately locate and reduce the condylar fracture fragments, effectively reducing the operation time and improving the treatment effect. In addition, the device is easy to operate, and doctors can quickly master the use skills, making the operation process smoother. It has brought revolutionary improvements to mandibular reduction surgery. Through its innovative design and excellent performance, the reduction hand is expected to be widely used in the field of oral surgery and bring good news to more patients.

[0056] The above contents are only for explaining the technical idea of ​​the present invention and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the present invention shall fall within the protection scope of the claims of the present invention.

Claims

1. A micro-condylar fracture reduction bionic hand, characterized in that: It includes a fixed arm, a movable arm, a clamping jaw assembly, a rotating device, a clamping jaw opening and closing device, a clamping jaw tightening device and a winding wheel assembly; The rotating device comprises a fixed plate, a rotating plate, an angle plate and an angle control line; The two ends of the angle plate are connected to the fixed arm and the movable arm through a rotating shaft, the fixed plate and the rotating plate are respectively connected to the fixed arm and the movable arm through the rotating shaft and are located on the same side of the angle plate, the ends of the fixed plate and the rotating plate close to each other are connected through a rotating structure, the angle control wire is wound on the angle plate and fixed, and the two ends of the angle control wire are wound through the fixed arm and connected to the winding wheel group; The clamping jaw opening and closing device comprises a lifting ring, a sliding device and an opening and closing control line; The clamp assembly includes a base and a plurality of connecting rod clamps distributed circumferentially on the base, the base is fixed to the end of the movable arm, the lifting ring is sleeved on the fixed base and connected to the connecting rod clamp, the lifting ring is connected to the opening and closing control line through a sliding device, and the two ends of the opening and closing control line are connected to the winding wheel group; The clamping jaw tightening device includes a control wire wheel and an elastic control wire; the control wire wheel is installed on a fixed seat, the elastic control wire is wound on the control wire wheel and fixed, the two ends of the elastic control wire are connected to the winding wheel group, and the control wire wheel is connected to the clamping ends of multiple connecting rod type clamps through multiple sub-control wires.

2. The micro condylar fracture reduction bionic hand according to claim 1, characterized in that: The winding wheel group includes multiple wire wheels, which are respectively connected to angle control lines, opening and closing control lines and tension control lines. One end of the wire wheel is rotatably connected to the end of the fixing seat, and the other end is connected to the servo motor.

3. The micro condylar fracture reduction bionic hand according to claim 1, characterized in that: The rotating structure is an arc-shaped surface or a tooth-shaped surface arranged at the ends of the fixed plate and the rotating plate.

4. The micro condylar fracture reduction bionic hand according to claim 1, characterized in that: The angle control line includes a forward control line and a reverse control line; The side wall of the angle plate is provided with two wire grooves, the forward control wire and the reverse control wire are respectively arranged in the wire grooves and have opposite winding directions, one end of the forward control wire and the reverse control wire are fixed with the wire grooves, and the other end is connected to the wire wheel.

5. The micro condylar fracture reduction bionic hand according to claim 1, characterized in that: The sliding device comprises a sliding block and a sliding groove; The slider is arranged at the end of the lifting ring, the slide groove is arranged on the fixed seat, and the slider is installed in the slide groove and can move up and down in the slide groove.

6. The micro condylar fracture reduction bionic hand according to claim 5, characterized in that: The opening and closing control line includes an opening control line and a closing control line; One end of the opening control line is connected to the bottom of the slider and extends downward through the bottom of the slide groove. A wire hole is provided in the slider. One end of the closing control line is connected to the slider, and the other end bypasses the top of the slide groove and then extends downward. The other ends of the opening control line and the closing control line are connected to the wire wheel.

7. The micro condylar fracture reduction bionic hand according to claim 5, characterized in that: A first steering guide wheel and a second steering guide wheel are respectively arranged on the rotating shafts of the fixed arm and the movable arm; The opening control line and the closing control line are wound on two wire wheels in a cross-winding manner.

8. The micro-condylar fracture reduction bionic hand according to claim 1, characterized in that: The fixing seat is provided with a wire wheel groove, and the control wire wheel is rotatably installed in the wire wheel groove; The tension control line includes a tightening control line and a slack control line, which are wound on a control line wheel in opposite winding directions, and the control line wheel is connected to a plurality of connecting rod type clamps through a plurality of sub-control lines.

9. The micro condylar fracture reduction bionic hand according to claim 8, characterized in that: The rotating shafts of the fixed arm and the movable arm are respectively provided with a first wire wheel and a second wire wheel, and the tightening control line and the loosening control line are wound around the first wire wheel and the second wire wheel in a cross-winding manner.

10. A micro condylar fracture reduction bionic hand according to any one of claims 1 to 9, characterized in that: The clamp assembly includes a base and a plurality of link-type clamps circumferentially distributed on the base, the base is fixed to the end of the movable arm, and the link-type clamp includes a first link, a third link, a fourth link, a fifth link, a sixth link, a seventh link and a grab bar; One end of the third connecting rod is connected to the base, and the other end is connected to one end of the fourth connecting rod, the other end of the fourth connecting rod is connected to the middle of the fifth connecting rod, one end of the fifth connecting rod is connected to one end of the first connecting rod, the other end of the fifth connecting rod is connected to one end of the sixth connecting rod, the other end of the first connecting rod is connected to the base, and the connecting end of the first connecting rod and the fifth connecting rod is connected to one end of the seventh connecting rod; The grab bar is an L-shaped structure, the other end of the seventh connecting rod is connected to the inflection point of the grab bar, the other end of the sixth connecting rod is connected to one end of the grab bar, the other end of the grab bar is a clamping end, and the clamping end is bent toward the center of the clamping claw assembly.

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