Surgical robot for closed reduction of long bone fracture

Abstract

The invention relates to the technical field of medical equipment, in particular to a surgical robot for closed reduction of long bone fracture. The surgical robot for closed reduction of long bone fracture comprises a first adjusting mechanism, a second adjusting mechanism, a movable platform and a holding mechanism, the first adjusting mechanism is provided with a first output end, the first output end can move in the first direction, the second direction and the third direction and can rotate around the axis in the second direction, and the first output end is connected with the movable platform through a first universal joint unit. The second adjusting mechanism is provided with a second output end, the second output end can move in the first direction, the second direction and the third direction respectively and can rotate around the axis in the third direction, and the second output end is connected with the movable platform through a second universal joint unit; the holding mechanism is arranged on the movable platform; the first direction, the second direction and the third direction are perpendicular to one another. The problems that an existing fracture reduction robot is small in motion space range, too large in structural size, weak in load bearing capacity, insufficient in structural rigidity and low in reduction precision can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular, to a surgical robot for closed reduction of long bone fractures. Background Art

[0002] With the rapid development of transportation modes, the incidence of long bone fractures has increased significantly, and the number of patients has shown an obvious upward trend. It not only has a serious adverse impact on the quality of life of patients, but also brings a heavy economic burden to the families of patients. In particular, if the long bone fracture is not properly treated, it will cause limb deformity and impaired function, bringing a heavy burden to the families of patients and society. Therefore, more and more attention and discussions have been paid to the medical problems related to long bone fractures.

[0003] The traditional open reduction surgery for long bone fractures is an open surgical therapy. This therapy not only has large trauma and a large amount of bleeding, but also is likely to cause secondary injuries to patients. Currently, most long bone fracture surgeries are performed using a closed minimally invasive method to complete the reduction, avoiding large incisions while reducing the intraoperative bleeding volume and the occurrence of postoperative complications. However, it still requires manual operation by doctors, resulting in a long time of exposure to radiation for doctors. At the same time, due to the influence of muscle stretching, doctors need to provide a large force to maintain the fracture reduction state during the operation, resulting in a large operation intensity for doctors, and further leading to low accuracy of the reduction surgery. In recent years, the combination of robot technology and closed reduction surgery for long bone fractures, with the help of robots to assist doctors in completing the closed reduction surgery for long bone fractures, has gradually been studied and developed.

[0004] In related technologies, the reduction motion space range of the parallel surgical robot developed with the Stewart parallel platform as the main structure is limited, and at the same time, the size is too large, making it difficult to apply in actual surgical procedures; the serial surgical robot transformed from an industrial six-degree-of-freedom robotic arm has a low load, and the end deformation of the robot is large when it is subjected to a large reduction resistance, resulting in a further reduction in reduction accuracy; existing products lack consideration of the reasonable layout of the robot, and have the disadvantages of too large floor space, unreasonable utilization of surgical space resources, and easy interference with other instruments during the operation; the reduction resistance of the reduction surgery is mainly along the axial direction of the broken bone, and existing robots lack a high-rigidity structure along the axial direction of the broken bone, and the load-bearing capacity along the axis of the broken bone is weak.

[0005] Therefore, it is of great significance to develop a device (reduction robot) for closed reduction of long bone fractures to meet the requirements of space, load, and accuracy of the reduction surgery. Summary of the Invention

[0006] In view of this, the present invention aims to solve at least one of the technical problems in the related art to some extent. For this purpose, the present invention provides a surgical robot for closed reduction of long bone fractures, which can alleviate the problems existing in the current fracture reduction robots, such as small movement space range, too large structural size, easy interference with other intraoperative instruments, weak load-bearing capacity, insufficient structural stiffness or low reduction accuracy.

[0007] To solve the above technical problems, the present application is implemented as follows:

[0008] According to one aspect of the present application, an embodiment of the present application provides a surgical robot for closed reduction of long bone fractures, which includes: a first adjustment mechanism, a second adjustment mechanism, a moving platform and a holding mechanism;

[0009] The first adjustment mechanism has a first output end, the first output end is movable in a first direction, a second direction and a third direction respectively, and is rotatable around an axis along the second direction. The first output end is connected to the moving platform through a first universal joint unit, and the rotation axis of the first output end is collinear with the center line of the first universal joint unit;

[0010] The second adjustment mechanism has a second output end, the second output end is movable in the first direction, the second direction and the third direction respectively, and is rotatable around an axis along the third direction. The second output end is connected to the moving platform through a second universal joint unit, and the rotation axis of the second output end is collinear with the center line of the second universal joint unit;

[0011] The holding mechanism is arranged on the moving platform; the first direction, the second direction and the third direction are perpendicular to each other.

[0012] In addition, the surgical robot for closed reduction of long bone fractures according to the present application may further have the following additional technical features:

[0013] In some of these embodiments, the first universal joint unit includes a first rotating shaft and a second rotating shaft arranged in a cross shape in a first plane, the first plane is perpendicular to the second direction; the first output end is provided with a first connecting frame, and the first rotating shaft is rotatably connected to the first connecting frame; the moving platform is provided with a second connecting frame, and the second rotating shaft is rotatably connected to the second connecting frame.

[0014] In some of these embodiments, both the first connecting frame and the second connecting frame are concave frames; the first connecting frame includes a first connecting arm and a second connecting arm, the first connecting arm is provided with a first connecting hole, the second connecting arm is provided with a second connecting hole, and the first rotating shaft is rotatably connected to the first connecting hole and the second connecting hole respectively; the second connecting frame includes a third connecting arm and a fourth connecting arm, the third connecting arm is provided with a third connecting hole, the fourth connecting arm is provided with a fourth connecting hole, and the second rotating shaft is rotatably connected to the third connecting hole and the fourth connecting hole respectively.

[0015] In some of these embodiments, at least one of the first connecting arm and the second connecting arm includes a first arm body and a first fastening member, a first groove is provided at an end of the first arm body, a second groove is provided on the first fastening member, and the first fastening member is installed at the end of the corresponding first arm body so that the first groove and the second groove are fastened to form the first connecting hole or the second connecting hole.

[0016] In some of these embodiments, at least one of the third connecting arm and the fourth connecting arm includes a second arm body and a second fastening member, a third groove is provided at an end of the second arm body, a fourth groove is provided on the second fastening member, and the second fastening member is installed at the end of the corresponding second arm body so that the third groove and the fourth groove are fastened to form the third connecting hole or the fourth connecting hole.

[0017] In some of these embodiments, the second universal joint unit includes a third rotating shaft and a fourth rotating shaft arranged in a cross shape in a second plane, and the second plane is perpendicular to the third direction; a third connecting frame is provided at the second output end, and the third rotating shaft is rotatably connected to the third connecting frame; a fourth connecting frame is provided on the moving platform, and the fourth rotating shaft is rotatably connected to the fourth connecting frame.

[0018] In some of these embodiments, both the third connecting frame and the fourth connecting frame are concave frames; the third connecting frame includes a fifth connecting arm and a sixth connecting arm, the fifth connecting arm is provided with a fifth connecting hole, the sixth connecting arm is provided with a sixth connecting hole, and the third rotating shaft is rotatably connected to the fifth connecting hole and the sixth connecting hole respectively; the fourth connecting frame includes a seventh connecting arm and an eighth connecting arm, the seventh connecting arm is provided with a seventh connecting hole, the eighth connecting arm is provided with an eighth connecting hole, and the fourth rotating shaft is rotatably connected to the seventh connecting hole and the eighth connecting hole respectively.

[0019] In some of these embodiments, at least one of the fifth connecting arm and the sixth connecting arm includes a third arm body and a third fastening member. A fifth groove is provided at an end of the third arm body, and a sixth groove is provided on the third fastening member. The third fastening member is installed at the end of the corresponding third arm body so that the fifth groove and the sixth groove are fastened to form the fifth connecting hole or the sixth connecting hole.

[0020] In some of these embodiments, at least one of the seventh connecting arm and the eighth connecting arm includes a fourth arm body and a fourth fastening member. A seventh groove is provided at an end of the fourth arm body, and an eighth groove is provided on the fourth fastening member. The fourth fastening member is installed at the end of the corresponding fourth arm body so that the seventh groove and the eighth groove are fastened to form the seventh connecting hole or the eighth connecting hole.

[0021] In some of these embodiments, the first adjustment mechanism includes a first translation assembly, a second translation assembly, a first lifting assembly, and a rotation assembly. The first translation assembly has a first translation end movable along the first direction, and the second translation assembly is disposed at the first translation end. The second translation assembly has a second translation end movable along the second direction, and the first lifting assembly is disposed at the second translation end. The first lifting assembly has a first lifting end movable along the third direction, and the rotation assembly is disposed at the first lifting end. The rotation assembly has a rotation end as the first output end, and the rotation end is connected to the first universal joint unit.

[0022] In some of these embodiments, the first translation assembly includes a first lead screw module, a first mounting seat, and a first mounting plate as the first translation end. The first mounting seat is provided with a first guide rail extending along the first direction, the first mounting plate is slidably connected to the first guide rail, and the driving end of the first lead screw module is connected to the first mounting plate.

[0023] In some of these embodiments, the second translation assembly includes a second lead screw module and a second mounting plate as the second translation end. The second mounting plate is slidably connected to the body of the second lead screw module along the second direction and is connected to the driving end of the second lead screw module.

[0024] In some of these embodiments, the first lifting assembly includes a third lead screw module and a first lifting base as the first lifting end. The first lifting base is slidably connected to the body of the third lead screw module along the third direction and is connected to the driving end of the third lead screw.

[0025] In some of these embodiments, the rotating assembly includes a first motor having a motor shaft as the rotating end, and the motor shaft is connected to the first universal joint unit.

[0026] In some of these embodiments, the second adjusting mechanism includes a third translation assembly, a fourth translation assembly, and a second lifting assembly; the third translation assembly has a third translation end movable along the first direction, and the fourth translation assembly is disposed at the third translation end; the fourth translation assembly has a fourth translation end movable along the second direction, and the second lifting assembly is disposed at the fourth translation end; the second lifting assembly has a second lifting end movable along the third direction, and the second lifting end is connected to the second universal joint unit as the second output end.

[0027] In some of these embodiments, the third translation assembly includes a fourth lead screw module, a second mounting seat, and a third mounting plate as the third translation end. The second mounting seat is provided with a second guide rail extending along the first direction, the third mounting plate is slidably connected to the second guide rail, and the driving end of the fourth lead screw module is connected to the third mounting plate.

[0028] In some of these embodiments, the fourth translation assembly includes a third guide rail and a fourth mounting plate as the fourth translation end. The third guide rail is disposed at the third translation end and extends along the second direction, and the fourth mounting plate is slidably connected to the third guide rail.

[0029] In some of these embodiments, the second lifting assembly includes a lifting column having the second lifting end.

[0030] In some of these embodiments, the holding mechanism includes a carrier and a plurality of bone needle assemblies; the carrier is provided with an accommodation space for accommodating the broken bone; the needle ends of the plurality of bone needle assemblies respectively extend into the accommodation space for fixing different parts of the broken bone.

[0031] In some of these embodiments, the carrier includes a first side plate, a second side plate, and a connecting plate. The first side plate and the second side plate are spaced apart along the first direction, and the connecting plate is connected between the first side plate and the second side plate so that the first side plate, the second side plate, and the connecting plate jointly enclose the accommodation space; a part of the plurality of bone needle assemblies is disposed on the first side plate, and the needle end passes through the first side plate and enters the accommodation space; another part of the plurality of bone needle assemblies is disposed on the second side plate, and the needle end passes through the second side plate and enters the accommodation space.

[0032] In some of these embodiments, the bone needle assembly includes a bone needle body, a bone needle sleeve, an elastic clip, and a locking nut; the bone needle sleeve is connected to the carrier; the bone needle body is movably inserted through the bone needle sleeve; the elastic clip is sleeved outside the bone needle body, and a conical surface is provided on the outer wall of one end of the elastic clip, and a part of the conical surface is located inside the bone needle sleeve; the locking nut is sleeved outside the bone needle body and is threadedly connected to the bone needle sleeve, and the other end of the elastic clip is arranged inside the locking nut.

[0033] Implementing the technical solutions of the present invention has at least the following beneficial effects:

[0034] In the embodiments of the present application, the surgical robot provided for closed reduction of long bone fractures can alleviate problems such as a small range of motion space, an overly large structural size, easy interference with other intraoperative instruments, weak load-bearing capacity, insufficient structural stiffness, and low reduction accuracy existing in traditional fracture reduction robots through the coordinated setting of the first adjustment mechanism, the second adjustment mechanism, the moving platform, and the grasping mechanism. It has the advantages of a compact structure, small occupied space, relatively high structural stiffness, strong load-bearing capacity, high reduction accuracy, and easy control.

[0035] The additional aspects and advantages of the present application will be partly given in the following description, partly will become apparent from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 Schematic structural diagram of a surgical robot for closed reduction of long bone fractures provided for some exemplary embodiments of the present application;

[0037] Figure 2 Schematic structural diagram of the moving platform and the grasping mechanism provided for some exemplary embodiments of the present application;

[0038] Figure 3 Schematic structural diagram of the first adjustment mechanism provided for some exemplary embodiments of the present application;

[0039] Figure 4 Schematic diagram of the first universal joint unit and its internal structure provided for some exemplary embodiments of the present application;

[0040] Figure 5 Schematic structural diagram of the second adjustment mechanism provided for some exemplary embodiments of the present application;

[0041] Figure 6 Schematic diagram of the second universal joint unit and its internal structure provided for some exemplary embodiments of the present application;

[0042] Figure 7Schematic diagram of the structure of the movable base assembly provided for some exemplary embodiments of the present application.

[0043] Explanation of reference numerals in the drawings:

[0044] 100 - Movable base assembly;

[0045] 101 - Installation platform; 102 - Control box; 103 - Universal wheel; 104 - Fixed foot cup;

[0046] 200 - First adjustment mechanism;

[0047] 201 - First translation component; 211 - First lead screw module; 212 - First mounting seat; 213 - First guide rail;

[0048] 202 - Second translation component; 221 - First mounting plate; 222 - Passive moving guide rail;

[0049] 203 - First lifting component; 231 - Lifting column mounting plate; 232 - Lifting column; 233 - Reinforcing rib plate;

[0050] 204 - First universal joint unit; 241 - Fixed base, 242 - Double - row angular contact ball bearing, 243 - Fixed end cover; 244 - First connecting frame; 245 - Shaft - end locking end cover; 246 - First cross - shaft; 247 - First angular contact ball bearing; 248 - First disassembly cover; 249 - First support end cover; 250 - Second angular contact ball bearing; 251 - First moving - platform disassembly cover;

[0051] 300 - Second adjustment mechanism;

[0052] 301 - Third translation component; 311 - Fourth lead screw module; 312 - Second mounting seat; 313 - Second guide rail;

[0053] 302 - Fourth translation component; 321 - Second mounting plate;

[0054] 303 - Second lifting component; 331 - Third mounting plate; 332 - Lifting reinforcing rib plate; 333 - Lifting base; 334 - Motor mounting seat; 335 - Bearing seat; 336 - Rotary servo motor; 337 - Coupling; 338 - Fixed ring;

[0055] 304 - Second universal joint unit; 341 - Second cross - shaft; 342 - Third angular contact ball bearing; 343 - Third connecting frame; 344 - Second disassembly cover; 345 - Second support end cover; 346 - Fourth angular contact ball bearing; 347 - Second moving - platform disassembly cover; 348 - Third support end cover;

[0056] 400 - Distal fracture holding assembly;

[0057] 401 - Moving platform;

[0058] 402 - Gripping mechanism; 421 - Carrier; 422 - Bone pin assembly; 423 - Positioning nut; 424 - Connecting rib plate; 4221 - Bone pin body; 4222 - Bone pin sleeve; 4223 - Elastic clip; 4224 - Locking nut. Detailed implementation manners

[0059] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying 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. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without making creative efforts belong to the scope of protection of the present application.

[0060] As analyzed in the background art, the existing parallel robots for fracture reduction have the disadvantages of excessive occupied space, unreasonable utilization of surgical space resources, and easy interference with other intraoperative instruments; there are also problems such as weak load-bearing capacity along the axis of the fractured bone. And there is no effective technical solution in the existing technology to alleviate the above problems. In view of this, the present application provides a surgical robot for closed reduction of long bone fractures, which can alleviate the problems of small movement space range, large structural size, easy interference with other intraoperative instruments, weak load-bearing capacity, insufficient structural stiffness, and low reduction accuracy existing in the fracture reduction robot in the related technology. Next, the present application will be described in detail.

[0061] Figure 1 is a schematic structural diagram of a surgical robot for closed reduction of long bone fractures; Figure 2 is a schematic structural diagram of the moving platform and the gripping mechanism; Figure 3 is a schematic structural diagram of the first adjustment mechanism; Figure 4 is a schematic diagram of the first universal joint unit and its internal structure; Figure 5 is a schematic structural diagram of the second adjustment mechanism; Figure 6 is a schematic diagram of the second universal joint unit and its internal structure; Figure 7 is a schematic structural diagram of the movable base assembly.

[0062] Please refer to Figures 1 to 7 As shown, in some embodiments of the present application, a surgical robot for closed reduction of long bone fractures is provided, and the surgical robot for closed reduction of long bone fractures includes: a first adjustment mechanism 200, a second adjustment mechanism 300, a moving platform 401, and a gripping mechanism 402.

[0063] Among them, the first adjustment mechanism 200 has a first output end. The first output end is movable in the first direction, the second direction, and the third direction respectively, and is rotatable about an axis along the second direction. The first output end is connected to the moving platform 401 through a first universal joint unit 204, and the rotation axis of the first output end is collinear with the center line of the first universal joint unit 204; the second adjustment mechanism 300 has a second output end. The second output end is movable in the first direction, the second direction, and the third direction respectively, and is rotatable about an axis along the third direction. The second output end is connected to the moving platform 401 through a second universal joint unit 304, and the rotation axis of the second output end is collinear with the center line of the second universal joint unit 304; the gripping mechanism 402 is arranged on the moving platform 401; the first direction, the second direction, and the third direction are perpendicular to each other.

[0064] In the embodiment of the present application, the above-mentioned first direction may be the y-axis direction (such as the front-back direction), the second direction may be the x-axis direction (such as the left-right direction), and the third direction may be the z-axis direction (such as the up-down direction).

[0065] The surgical robot for closed reduction of long bone fractures in the present application has the characteristics of being structurally compact, occupying a small space, having a relatively high stiffness, and a strong load-bearing capacity. Compared with the existing six-degree-of-freedom robotic arm, in the present application, the axial reduction force load of the broken bone and the self-gravity load of the affected limb are respectively borne by two branch chains, and the driving elements are mainly screw modules, which have better stiffness than rotary pairs, greatly strengthening the load-bearing capacity of the structure and ensuring that the structure does not overturn and have large deformations when bearing a large reduction resistance. Compared with the traditional parallel platform, the present application uses screw modules to achieve three-degree-of-freedom translation, improving the working space of the robot and overcoming the disadvantage of insufficient working space of parallel robots.

[0066] In practical applications, the parallel robot of the present application can be integrally placed under and behind the affected limb, saving intraoperative space resources, not interfering with other surgical instruments, and facilitating clinical practical use; the robot has fewer structures arranged at the broken bone part, does not block the fracture site, and reserves enough space for intraoperative fluoroscopy and surgical operations. In addition, in the preferred embodiment of the present application, the robot can achieve rapid movement of the device through the bottom universal wheels 103, and the layout is convenient. At the same time, after the universal feet are locked and the fixed foot cups 104 are fixed, the robot can be quickly positioned and fixed to prevent the robot from moving due to the reduction resistance; the robot is provided with a moving guide rail as a passive moving pair, which follows the movement of the end of the mechanism for follow-up, preventing the mechanism from jamming and having a high movement flexibility. The distal broken bone gripping assembly 400 includes a gripping mechanism 402. The distal broken bone gripping assembly 400 is designed with a quick clamping structure, which is simple in structure, convenient to disassemble and assemble, and is convenient for quick clamping of bone pins and quick fixation of broken bones during the operation, providing convenience and guarantee for the closed reduction surgery of long bone fractures.

[0067] The specific structures and connection settings of the components of the surgical robot for closed reduction of long bone fractures will be further elaborated in detail below.

[0068] Referring to Figure 1 As shown, in some embodiments, the surgical robot for closed reduction of long bone fractures further includes a movable base assembly 100. That is, the surgical robot for closed reduction of long bone fractures includes a movable base assembly 100, a first adjustment mechanism 200, a second adjustment mechanism 300, a moving platform 401, and a gripping mechanism 402. Among them, both the first adjustment mechanism 200 and the second adjustment mechanism 300 can achieve six-degree-of-freedom movement at the free end. Therefore, the first adjustment mechanism 200 can also be called a six-degree-of-freedom lifting chain assembly, and the second adjustment mechanism 300 can also be called a six-degree-of-freedom traction chain assembly; the moving platform 401 and the gripping mechanism 402 can form a distal fracture-holding assembly 400, and the distal fracture-holding assembly 400 is connected to the first adjustment mechanism 200 and the second adjustment mechanism 300 (six-degree-of-freedom lifting chain assembly and six-degree-of-freedom traction chain assembly) respectively through the moving platform 401. The first adjustment mechanism 200 and the second adjustment mechanism 300 can be fixedly connected to the movable base assembly 100. For example, the first adjustment structure is connected to one end of the upper surface of the movable base assembly 100, and the second adjustment structure is connected to the other end of the upper surface of the movable base assembly 100.

[0069] Thus, through the coordinated setting of the above-mentioned first adjustment mechanism 200, second adjustment mechanism 300, moving platform 401, and gripping mechanism 402, the surgical robot for closed reduction of long bone fractures can achieve six-degree-of-freedom movement at the end of the mechanism and complete translation and rotation reduction operations. That is, six-degree-of-freedom translation and rotation of long bone fracture fragments can be achieved, and the reduction accuracy can be improved.

[0070] Referring to Figure 2As shown, in some embodiments, the moving platform 401 is disposed on the holding mechanism 402, and the moving platform 401 and the holding mechanism 402 can form a distal fracture holding assembly 400. Among them, the holding mechanism 402 includes a carrier 421 and a plurality of bone pin assemblies 422. Further, the holding mechanism 402 may further include a positioning nut 423 and a connecting rib plate 424. The number of the above-mentioned bone pin assemblies 422 is multiple, such as two or more. The bone pin assembly 422 may also be referred to as a bone pin locking assembly. The bone pin assembly 422 includes a bone pin body 4221, a bone pin sleeve 4222, an elastic clip 4223, and a locking nut 4224; optionally, the elastic clip 4223 is a conical elastic clip. In the bone pin assembly 422, the bone pin sleeve 4222 is connected to the carrier 421; the bone pin body 4221 is movably inserted through the bone pin sleeve 4222; the elastic clip 4223 is sleeved on the outside of the bone pin body 4221, and a conical surface is provided on the outer wall of one end of the elastic clip 4223, and a part of the conical surface is located inside the bone pin sleeve 4222; the locking nut 4224 is sleeved on the outside of the bone pin body 4221, and the locking nut 4224 is threadedly connected to the bone pin sleeve 4222, and the other end of the elastic clip 4223 is disposed inside the locking nut 4224. That is, both ends of the elastic clip 4223 are in contact with the internal conical hole structure of the bone pin sleeve and the locking nut 4224. The conical elastic clip 4223 is a compressible structure. The bone pin sequentially passes through the locking nut 4224, the conical elastic clip 4223, and the bone pin sleeve 4222; by tightening the locking nut 4224 of the bone pin assembly 422, the conical elastic clip 4223 is compressed through the internal conical hole structure of the bone pin sleeve 4222, thereby realizing the bone pin clamping operation.

[0071] The above-mentioned carrier 421 is provided with an accommodation space for accommodating the fractured bone; the needle ends of the plurality of bone pin assemblies 422 respectively extend into the accommodation space for fixing different parts of the fractured bone. Exemplarily, the carrier 421 includes a first side plate, a second side plate, and a connecting plate. The first side plate and the second side plate are spaced apart along a first direction, and the connecting plate is connected between the first side plate and the second side plate so that the first side plate, the second side plate, and the connecting plate jointly enclose the accommodation space; a part of the plurality of bone pin assemblies 422 is disposed on the first side plate, and the needle end passes through the first side plate and enters the accommodation space; another part of the plurality of bone pin assemblies 422 is disposed on the second side plate, and the needle end passes through the second side plate and enters the accommodation space.

[0072] In this embodiment, the carrier 421 can be a U-shaped splint structure. The U-shaped splint is fixedly connected to the bone pin sleeve 4222 through a threaded hole. The positioning nut 423 is installed on both sides of the carrier 421, that is, the U-shaped splint, and is threadedly connected to the bone pin sleeve 4222 to realize the positioning and locking of the bone pin assembly 422. The carrier 421, that is, the U-shaped splint, is provided with multiple rows of threaded holes. Multiple groups of bone pin assemblies 422 are installed at multiple positions, and the bone pin body 4221 is fixedly connected to the broken bone to realize the fixation of the broken bone. In this way, the device is convenient to install and is convenient for quickly fixing the broken bone.

[0073] The above-mentioned carrier 421, that is, the U-shaped splint, is fixed to the moving platform 401 by screws. The two connecting rib plates 424 are respectively connected to the U-shaped splint and the moving platform 401 to form an anti-overturning structure, which can enhance the overall rigidity.

[0074] Reference Figure 3 As shown, in some embodiments, the first adjustment mechanism 200, that is, the six-degree-of-freedom lifting link assembly, includes a first universal joint unit 204, and also includes a first translation assembly 201, a second translation assembly 202, a first lifting assembly 203, and a rotating assembly. The first translation assembly 201 has a first translation end that can move along the first direction. The second translation assembly 202 is disposed at the first translation end. The second translation assembly 202 has a second translation end that can move along the second direction. The first lifting assembly 203 is disposed at the second translation end. The first lifting assembly 203 has a first lifting end that can move along the third direction. The rotating assembly is disposed at the first lifting end. The rotating assembly has a rotating end as the first output end, and the rotating end is connected to the first universal joint unit 204. Thus, the first output end can be moved respectively in the first direction, the second direction, and the third direction, and can rotate around the axis along the second direction. The above-mentioned first output end is connected to the moving platform 401 through the first universal joint unit 204, and the rotation axis of the first output end is collinear with the center line of the first universal joint unit 204.

[0075] The above-mentioned first translation assembly 201 includes a first lead screw module 211, a first mounting seat 212, and a first mounting plate 221 as the first translation end. The first mounting seat 212 is a first support guide rail mounting seat. The first mounting seat 212 is provided with a first guide rail 213, that is, a first support guide rail, extending along the first direction. The first mounting plate 221 is a passive moving guide rail mounting plate. The first mounting plate 221 is slidably connected to the first guide rail 213, and the driving end of the first lead screw module 211 is connected to the first mounting plate 221.

[0076] In some alternative embodiments, the second translation component 202 includes a second lead screw module and a second mounting plate 321 serving as the second translation end. The second mounting plate 321 is slidably connected to the body of the second lead screw module in the second direction and is connected to the driving end of the second lead screw module. Optionally, the first lifting component 203 includes a third lead screw module and a first lifting base serving as the first lifting end. The first lifting base is slidably connected to the body of the third lead screw module in the third direction and is connected to the driving end of the third lead screw. Optionally, the rotating component includes a first motor. The first motor has a motor shaft serving as the rotating end, and the motor shaft is connected to the first universal joint unit 204. In this embodiment, the first universal joint unit 204 can also be referred to as a three-degree-of-freedom ball hinge unit.

[0077] Specifically, the above-mentioned first adjustment mechanism 200 mainly consists of a first lead screw module 211, a first mounting seat 212, a first guide rail 213, a first mounting plate 221, a passive moving guide rail 222, a lifting column mounting plate 231, a lifting column 232, a reinforcing rib plate 233, and a first universal joint unit 204. Among them, the first lead screw module 211 and the first mounting seat 212 are both fixedly connected to the movable base assembly 100. The first support guide rail is installed on the first mounting seat 212. The first mounting plate 221 is fixedly connected to the first guide rail 213 and the first lead screw module 211 by screws to form a high-rigidity structure, enhancing the anti-overturning ability of the structure when subjected to a large reset resistance. Two groups of passive moving guide rails 222, a lifting column mounting plate 231, and a lifting column 232 are sequentially connected to the first mounting plate 221. The reinforcing rib plate 233 is fixedly connected to the lifting column 232 and the lifting column mounting plate 231 respectively. The first universal joint unit 204 is fixedly connected to the lifting column 232 by screws. The overall structure is connected to the moving platform 401 through the first universal joint unit 204, that is, a three-degree-of-freedom ball hinge unit. Thus, the first adjustment mechanism 200, that is, the six-degree-of-freedom lifting link assembly, can achieve three-degree-of-freedom translation and three-degree-of-freedom rotation movements, mainly bearing the structure and the own weight of the affected limb. The structures of the first support guide rail and the reinforcing rib plate 233 can ensure that the overall structure has a high rigidity.

[0078] Reference Figure 4 As shown, in some embodiments, the first universal joint unit 204, that is, the three-degree-of-freedom ball hinge unit, includes a first rotating shaft and a second rotating shaft arranged in a cross shape in the first plane. That is, the first rotating shaft and the second rotating shaft form a first cross shaft 246, and the first plane is perpendicular to the second direction. A first connecting frame 244 is provided at the first output end. The first rotating shaft is rotatably connected to the first connecting frame 244. The moving platform 401 is provided with a second connecting frame, and the second rotating shaft is rotatably connected to the second connecting frame.

[0079] Optionally, both the first connecting frame 244 and the second connecting frame are concave frames; in this application, the first connecting frame 244 can be a first U-shaped support frame. For example, the first connecting frame 244 includes a first connecting arm and a second connecting arm. The first connecting arm is provided with a first connecting hole, and the second connecting arm is provided with a second connecting hole. The first rotating shaft is rotatably connected to the first connecting hole and the second connecting hole respectively; the second connecting frame includes a third connecting arm and a fourth connecting arm. The third connecting arm is provided with a third connecting hole, and the fourth connecting arm is provided with a fourth connecting hole. The second rotating shaft is rotatably connected to the third connecting hole and the fourth connecting hole respectively. Optionally, at least one of the first connecting arm and the second connecting arm includes a first arm body and a first fastening member. The end of the first arm body is provided with a first groove, and the first fastening member is provided with a second groove. The first fastening member is installed at the end of the corresponding first arm body so that the first groove and the second groove are fastened to form the first connecting hole or the second connecting hole; at least one of the third connecting arm and the fourth connecting arm includes a second arm body and a second fastening member. The end of the second arm body is provided with a third groove, and the second fastening member is provided with a fourth groove. The second fastening member is installed at the end of the corresponding second arm body so that the third groove and the fourth groove are fastened to form the third connecting hole or the fourth connecting hole.

[0080] Specifically, the above-mentioned first universal joint unit 204, that is, a three-degree-of-freedom ball hinge unit, mainly consists of a fixed base 241, a double-row angular contact ball bearing 242, a fixed end cover 243, a first connecting frame 244, a shaft-end locking end cover 245, a first cross shaft 246 (including a first rotating shaft and a second rotating shaft), a first angular contact ball bearing 247, a first disassembly cover 248, a first support end cover 249, a second angular contact ball bearing 250, and a first moving platform disassembly cover 251. The double-row angular contact ball bearing 242 is installed inside the fixed base 241. The fixed end cover 243 is connected to the fixed base 241 for fixing the double-row angular contact ball bearing 242. The first connecting frame 244 passes through the double-row angular contact ball bearing 242, and the shaft end is fixedly connected to the shaft-end locking end cover 245 by a locking screw. The first cross shaft 246 is installed inside the first connecting frame 244 through the first angular contact ball bearing 247. The first disassembly cover 248 can be connected to the first connecting frame 244 to facilitate the installation and fixation of the cross shaft. The first support end cover 249 is fixed at both ends of the first connecting frame 244 for bearing fixation. The first cross shaft 246 is installed inside the moving platform 401 through the second angular contact ball bearing 250. The first moving platform disassembly cover 251 can be connected to the moving platform 401 to facilitate the installation and fixation of the cross shaft; the rotation axis of the first connecting frame 244 and the two rotation axes of the first cross shaft 246 intersect at a point, and this point is the rotation center of this three-degree-of-freedom ball hinge unit, thereby realizing the three-degree-of-freedom rotational movement of the structure.

[0081] Reference Figure 5As shown, in some embodiments, the second adjustment mechanism 300, namely the six-degree-of-freedom pulling chain assembly, includes a third translation assembly 301, a fourth translation assembly 302, and a second lifting assembly 303. The third translation assembly 301 has a third translation end movable along a first direction, and the fourth translation assembly 302 is disposed at the third translation end. The fourth translation assembly 302 has a fourth translation end movable along a second direction, and the second lifting assembly 303 is disposed at the fourth translation end. The second lifting assembly 303 has a second lifting end movable along a third direction, and the second lifting end is connected to the second universal joint unit 304 as the second output end. Thus, the second output end can be moved respectively in the first direction, the second direction, and the third direction, and can rotate about an axis along the third direction. The second output end is connected to the moving platform 401 through the second universal joint unit 304, and the rotation axis of the second output end is collinear with the center line of the second universal joint unit 304.

[0082] The above-mentioned third translation assembly 301 includes a fourth lead screw module 311, a second mounting seat 312, and a third mounting plate 331 as the third translation end. The third mounting plate 331 is a lead screw module mounting plate for lifting. The second mounting seat 312 is a second support rail mounting seat. The second mounting seat 312 is provided with a second guide rail 313 extending along the first direction, that is, the second support rail. The third mounting plate 331 is slidably connected to the second guide rail 313, and the driving end of the fourth lead screw module 311 is connected to the third mounting plate 331.

[0083] In some alternative embodiments, the fourth translation assembly 302 includes a third guide rail and a fourth mounting plate as the fourth translation end. The third guide rail is disposed at the third translation end and extends along the second direction. The fourth mounting plate is slidably connected to the third guide rail. Optionally, the second lifting assembly 303 includes a lifting column or a lifting reinforcing rib plate 332 and other structures. The lifting column has a second lifting end.

[0084] Specifically, the above-mentioned first adjustment mechanism 200 mainly consists of a fourth lead screw module 311, a second mounting seat 312, a second guide rail 313, a second mounting plate 321, a fourth translation assembly 302, a second lifting assembly 303 and a universal joint unit; among them, the fourth translation assembly 302 may include a lead screw module, and the second lifting assembly 303 may include a lifting lead screw module mounting plate, a lifting lead screw module, a lifting reinforcing rib plate 332, a lifting base 333, a motor mounting seat 334, a bearing seat 335, a rotary servo motor 336, a coupling 337 and a fixing ring 338. Further, the fourth lead screw module 311 and the second mounting seat 312 are both fixedly connected to the movable base assembly 100, the second guide rail 313 is installed on the second mounting seat 312, and the second mounting plate 321, the fourth translation assembly 302, the lifting lead screw module mounting plate, and the lifting lead screw module are sequentially fixedly connected to the second guide rail 313 and the fourth lead screw module 311 by screws to form a high-rigidity structure, enhancing the anti-overturning ability of the structure when subjected to a large axial reset resistance of the broken bone. The lifting reinforcing rib plate 332 is fixedly connected to the lifting lead screw module and the lifting lead screw module mounting plate respectively, the lifting base 333 is fixed on the sliding table of the lifting lead screw module, the motor mounting seat 334 and the bearing seat 335 are fixed on the lifting base 333, the rotary servo motor 336 is installed on the motor mounting seat 334, the second universal joint unit 304 passes through the bearing seat 335 and is connected to the rotary servo motor 336 through the coupling 337, and the fixing ring 338 is fixed on the second universal joint unit 304 and is located on one side of the bearing seat 335, which can prevent the second universal joint unit 304 from axially moving. The overall structure of the second adjustment mechanism 300 is connected to the moving platform 401 through the second universal joint unit 304. Thus, the second adjustment mechanism 300, that is, the six-degree-of-freedom traction branch chain assembly, can achieve three-degree-of-freedom translation and three-degree-of-freedom rotation movements, mainly bearing the reset traction resistance, and the structures of the second guide rail 313 and the lifting reinforcing rib plate 332 can ensure that the overall structure has a high rigidity.

[0085] Reference Figure 6 As shown, in some embodiments, the second universal joint unit 304 includes a third rotating shaft and a fourth rotating shaft arranged in a cross shape in the second plane, that is, the third rotating shaft and the fourth rotating shaft form a second cross shaft 341, and the second plane is perpendicular to the third direction; a third connecting frame 343 is provided at the second output end, and the third rotating shaft is rotatably connected to the third connecting frame 343; the moving platform 401 is provided with a fourth connecting frame, and the fourth rotating shaft is rotatably connected to the fourth connecting frame.

[0086] Optionally, both the third connecting bracket 343 and the fourth connecting bracket are concave brackets; in this application, the third connecting bracket 343 can be the second U-shaped support bracket. For example, the third connecting bracket 343 includes a fifth connecting arm and a sixth connecting arm. The fifth connecting arm is provided with a fifth connecting hole, and the sixth connecting arm is provided with a sixth connecting hole. The third rotating shaft is respectively rotatably connected to the fifth connecting hole and the sixth connecting hole; the fourth connecting bracket includes a seventh connecting arm and an eighth connecting arm. The seventh connecting arm is provided with a seventh connecting hole, and the eighth connecting arm is provided with an eighth connecting hole. The fourth rotating shaft is respectively rotatably connected to the seventh connecting hole and the eighth connecting hole. Optionally, at least one of the fifth connecting arm and the sixth connecting arm includes a third arm body and a third fastening member. The end of the third arm body is provided with a fifth groove, and the third fastening member is provided with a sixth groove. The third fastening member is installed at the end of the corresponding third arm body so that the fifth groove and the sixth groove are fastened to form the fifth connecting hole or the sixth connecting hole. At least one of the seventh connecting arm and the eighth connecting arm includes a fourth arm body and a fourth fastening member. The end of the fourth arm body is provided with a seventh groove, and the fourth fastening member is provided with an eighth groove. The fourth fastening member is installed at the end of the corresponding fourth arm body so that the seventh groove and the eighth groove are fastened to form the seventh connecting hole or the eighth connecting hole.

[0087] Specifically, the second universal joint unit 304 includes a second cross shaft 341 (including a third rotating shaft and a fourth rotating shaft), a third angular contact ball bearing 342, a third connecting bracket 343, a second dismounting cover 344, a second support end cover 345, a fourth angular contact ball bearing 346, a second moving platform dismounting cover 347, and a third support end cover 348. Among them, the second cross shaft 341 is installed inside the third connecting bracket 343 through the third angular contact ball bearing 342. The second dismounting cover 344 can be connected to the third connecting bracket 343 to facilitate the installation and fixation of the cross shaft. The second support end cover 345 is fixed at both ends of the third connecting bracket 343 for bearing fixation; the second cross shaft 341 is installed inside the moving platform 401 through the fourth angular contact ball bearing 346. The second moving platform dismounting cover 347 can be connected to the moving platform 401 to facilitate the installation and fixation of the cross shaft. The third support end cover 348 is fixed at both ends of the moving platform 401 for bearing fixation; the midpoint of the second cross shaft 341 is the rotation center of the second universal joint unit 304, realizing the two-degree-of-freedom rotational movement of the structure.

[0088] In this embodiment, the first lead screw module 211, the fourth lead screw module 311, the fourth translation component 302 (lead screw module), the second lifting component 303 (lifting lead screw module), the lifting column 232, and the rotary servo motor 336 are driving elements. The three-degree-of-freedom translational motion of the mechanism is realized by the synchronous motion of the first lead screw module 211 and the fourth lead screw module 311, the synchronous motion of the fourth translation component 302 and the passive moving guide 222, and the synchronous motion of the second lifting component 303 (lifting lead screw module) and the lifting column 232. The three-degree-of-freedom rotational motion of the mechanism is realized by the relative motion of the first lead screw module 211 and the fourth lead screw module 311, the relative motion of the second lifting component 303 (lifting lead screw module) and the lifting column 232, and the motion of the rotary servo motor 336. The driving elements of the robot are mainly lead screw modules, which have better stiffness than rotary pairs and improve the load-bearing capacity of the robot.

[0089] In this embodiment, the first universal joint unit 204 and the second universal joint unit 304 are connected to the moving platform 401, driving the end of the grasping mechanism 402 of the broken bone distal grasping assembly 400 to achieve six-degree-of-freedom motion and complete the translational and rotational reduction operations. The passive moving guide 222 is a passive moving pair, following the motion of the end of the mechanism for follow-up, preventing the mechanism from jamming, and having high flexibility.

[0090] Reference Figure 7 As shown, in some embodiments, the movable base assembly 100 includes an installation platform 101, a control box 102, casters 103, and fixed feet 104. The robot body structure is fixedly connected to the installation platform 101. The control box 102 is provided with a side opening and a handle, and internally includes a motion controller, a switch button, a power-on button, an enable button, and an emergency stop switch. The casters 103 and the fixed feet 104 are installed at the bottom of the control box 102. On the one hand, the casters 103 facilitate the rapid movement of the entire robot to the target position. On the other hand, the locking of the casters 103 and the fixation of the fixed feet 104 fix the position of the robot, preventing the robot from moving due to the reset resistance.

[0091] The working principle of the surgical robot for closed reduction of long bone fractures of the present invention is as follows:

[0092] After the anesthesia of the affected limb is completed before the operation, the patient is placed on the operating table in the lateral or supine position, and the reduction robot is moved to an appropriate position directly below the broken bone of the affected limb by the universal wheels 103. First, the broken bone is fixed. The affected limb is placed inside the carrier 421, and multiple groups of bone needle assemblies 422 are connected to and locked with the carrier 421. Multiple bone needle bodies 4221 pass through the bone needle assemblies 422 and are connected to the broken bone. The locking nut 4224 is tightened, and the conical hole structure inside the bone needle sleeve 4222 compresses the conical elastic clip 4223 to clamp the bone needle body 4221, thereby realizing the clamping and fixation of the broken bone. Secondly, the intraoperative reduction of the broken bone is performed. The postures of the broken bone after reduction and the movement trajectory of the robot are determined through registration and path planning for reduction. The universal wheels 103 are locked, and the fixed foot cup 104 is fixed. Through the synchronous or relative movement of the servo motor rotation and the lead screw module, the reduction robot drives the broken bone to perform six-degree-of-freedom movement and moves to the target reduction posture to complete the broken bone reduction operation. Finally, the bone needle assembly 422 is loosened, the bone needle body 4221 is removed, the broken bone is fixed with an intramedullary nail, and the movable base assembly 100 is pushed to move the reduction robot away to complete the closed reduction surgery for long bone fractures.

[0093] As Figure 1 , Figure 3 and Figure 5 shown, the translation and rotation functions of the robot are described in detail:

[0094] The three-degree-of-freedom translation movement of the robot is realized through the synchronous movement of the lead screw module and the passive moving guide rail 222. When the first lead screw module 211 and the fourth lead screw module 311 move synchronously, the robot can move along the short axis direction of the operating table. When the fourth translation component 302 (lead screw module) moves, the robot can move along the long axis direction of the operating table. At this time, the passive moving guide rail 222 follows the robot for follow-up movement to prevent the first adjustment mechanism 200 from jamming. When the second lifting component 303 (lifting lead screw module) and the lifting column 232 move synchronously, the robot can move in the vertical direction.

[0095] The three-degree-of-freedom rotation movement of the mechanism is realized respectively through the relative movement of the lead screw module and the rotation of the servo motor. When the first lead screw module 211 and the fourth lead screw module 311 move relatively, the relative positions of the connection points of the first adjustment mechanism 200, the second adjustment mechanism 300 and the moving platform 401 change, driving the end of the robot to rotate along the vertical axis direction. At this time, the passive moving guide rail 222 serves as a passive moving pair and follows the robot for follow-up movement to prevent the mechanism from jamming. When the second lifting component 303 (lifting lead screw module) and the lifting column 232 move relatively, the relative positions of the connection points of the moving platform 401 and the two linkages change, driving the end of the robot to rotate along the short axis direction of the operating table. At this time, the passive moving guide rail 222 serves as a passive moving pair and follows the robot for follow-up movement to prevent the mechanism from jamming. When the rotation servo motor 336 moves, it can drive the end of the robot to rotate along the long axis direction of the operating table.

[0096] The surgical robot for closed reduction of long bone fractures disclosed in the present invention, that is, the surgical robot for closed reduction of long bone fractures, has the following beneficial effects:

[0097] 1) Compact structure and small occupied space. The whole robot is placed under and behind the affected limb, saving intraoperative space resources, not interfering with other surgical instruments, and facilitating clinical practical use; the robot has less structure arranged at the broken bone part, not blocking the fracture site, and reserving sufficient space for intraoperative fluoroscopy and surgical operation.

[0098] 2) High stiffness and strong load-bearing capacity. The axial reduction force load of the broken bone and the self-gravity load of the affected limb are respectively borne by two branch chains, and the driving elements are mainly screw modules, which have better stiffness compared with rotary pairs, greatly strengthening the load-bearing capacity of the structure and ensuring that the structure does not tip over and have large deformations when bearing large reduction resistance.

[0099] 3) Compared with traditional parallel platforms, this structure uses screw modules to achieve three-degree-of-freedom translation, improving the working space of the robot and overcoming the disadvantage of insufficient working space of parallel robots; the robot is provided with a moving guide rail as a passive moving pair, following the movement of the end of the mechanism for follow-up, preventing the mechanism from getting stuck, and having high movement flexibility.

[0100] 4) The reduction robot is designed with a quick clamping structure for bone pins, which has a simple structure, is convenient for disassembly and assembly, and is convenient for quickly clamping bone pins and quickly fixing broken bones during the operation; the robot realizes the quick movement of the device through the bottom universal wheels, and the layout is convenient. At the same time, after the universal feet are locked and the fixed foot cups are fixed, the robot can be quickly positioned and fixed to prevent the robot from moving due to external reduction resistance.

[0101] The parts not described in detail in the present invention are well-known technologies to those skilled in the art.

[0102] The basic principles of the present invention have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, advantages, effects, etc. mentioned in the present invention are only examples and not limitations, and it cannot be considered that these advantages, advantages, effects, etc. are essential for each embodiment of the present invention. In addition, the above-disclosed specific details are only for the purpose of illustration and easy understanding, rather than limitations. The above details do not limit the present invention to necessarily adopt the above specific details to implement.

[0103] It should be noted that the term "and / or" or " / " used herein is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. The singular forms of "a", "" and "the" used in the embodiments of the present invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0104] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "top", "bottom", "inner", "outer", "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", etc. is based on the orientation or positional relationship shown in the drawings, and 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 on the present invention.

[0105] In the present invention, unless otherwise clearly defined and limited, the terms "installed", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection, or communication with each other; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. 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.

[0106] In the present invention, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0107] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A surgical robot for closed reduction of long bone fractures, characterized in that, Comprising: A first adjusting mechanism, a second adjusting mechanism, a moving platform, and a gripping mechanism; The first adjusting mechanism has a first output end, which is movable in a first direction, a second direction, and a third direction respectively, and is rotatable about an axis along the second direction. The first output end is connected to the moving platform through a first universal joint unit, and the rotation axis of the first output end is collinear with the center line of the first universal joint unit; The second adjusting mechanism has a second output end, which is movable in the first direction, the second direction, and the third direction respectively, and is rotatable about an axis along the third direction. The second output end is connected to the moving platform through a second universal joint unit, and the rotation axis of the second output end is collinear with the center line of the second universal joint unit; The gripping mechanism is arranged on the moving platform; the first direction, the second direction, and the third direction are perpendicular to each other.

2. The surgical robot for closed reduction of long bone fractures according to claim 1, wherein The first universal joint unit includes a first rotating shaft and a second rotating shaft arranged in a cross shape in a first plane, and the first plane is perpendicular to the second direction; The first output end is provided with a first connecting frame, and the first rotating shaft is rotatably connected to the first connecting frame; The moving platform is provided with a second connecting frame, and the second rotating shaft is rotatably connected to the second connecting frame.

3. The surgical robot for closed reduction of long bone fractures according to claim 2, characterized in that, Both the first connecting frame and the second connecting frame are concave frames; The first connecting frame includes a first connecting arm and a second connecting arm. The first connecting arm is provided with a first connecting hole, and the second connecting arm is provided with a second connecting hole. The first rotating shaft is respectively rotatably connected to the first connecting hole and the second connecting hole; The second connecting frame includes a third connecting arm and a fourth connecting arm. The third connecting arm is provided with a third connecting hole, and the fourth connecting arm is provided with a fourth connecting hole. The second rotating shaft is respectively rotatably connected to the third connecting hole and the fourth connecting hole.

4. The surgical robot for closed reduction of long bone fractures according to claim 3, wherein, At least one of the first connecting arm and the second connecting arm includes a first arm body and a first fastening member. The end of the first arm body is provided with a first groove, and the first fastening member is provided with a second groove. The first fastening member is installed at the end of the corresponding first arm body so that the first groove and the second groove are fastened to form the first connecting hole or the second connecting hole; And / or, at least one of the third connecting arm and the fourth connecting arm includes a second arm body and a second fastening member. The end of the second arm body is provided with a third groove, and the second fastening member is provided with a fourth groove. The second fastening member is installed at the end of the corresponding second arm body so that the third groove and the fourth groove are fastened to form the third connecting hole or the fourth connecting hole.

5. The surgical robot for closed reduction of long bone fractures according to claim 1, wherein The second universal joint unit includes a third rotating shaft and a fourth rotating shaft arranged in a cross shape in a second plane, and the second plane is perpendicular to the third direction; The second output end is provided with a third connecting frame, and the third rotating shaft is rotatably connected to the third connecting frame; The moving platform is provided with a fourth connecting frame, and the fourth rotating shaft is rotatably connected to the fourth connecting frame.

6. The surgical robot for closed reduction of long bone fractures according to claim 5, wherein, Both the third connecting frame and the fourth connecting frame are concave frames; The third connecting frame includes a fifth connecting arm and a sixth connecting arm. The fifth connecting arm is provided with a fifth connecting hole, and the sixth connecting arm is provided with a sixth connecting hole. The third rotating shaft is respectively rotatably connected to the fifth connecting hole and the sixth connecting hole; The fourth connecting frame includes a seventh connecting arm and an eighth connecting arm. The seventh connecting arm is provided with a seventh connecting hole, and the eighth connecting arm is provided with an eighth connecting hole. The fourth rotating shaft is respectively rotatably connected to the seventh connecting hole and the eighth connecting hole.

7. The surgical robot for closed reduction of long bone fractures according to claim 6, wherein, At least one of the fifth connecting arm and the sixth connecting arm includes a third arm body and a third fastening member. The end of the third arm body is provided with a fifth groove, and the third fastening member is provided with a sixth groove. The third fastening member is installed at the end of the corresponding third arm body so that the fifth groove and the sixth groove are fastened to form the fifth connecting hole or the sixth connecting hole; And / or, at least one of the seventh connecting arm and the eighth connecting arm includes a fourth arm body and a fourth fastening member. The end of the fourth arm body is provided with a seventh groove, and the fourth fastening member is provided with an eighth groove. The fourth fastening member is installed at the end of the corresponding fourth arm body so that the seventh groove and the eighth groove are fastened to form the seventh connecting hole or the eighth connecting hole.

8. The surgical robot for closed reduction of long bone fractures according to claim 1, wherein The first adjusting mechanism includes a first translation assembly, a second translation assembly, a first lifting assembly and a rotating assembly; The first translation assembly has a first translation end movable along the first direction, and the second translation assembly is arranged at the first translation end; The second translation assembly has a second translation end movable along the second direction, and the first lifting assembly is arranged at the second translation end; The first lifting assembly has a first lifting end movable along the third direction, and the rotating assembly is arranged at the first lifting end; The rotating assembly has a rotating end as the first output end, and the rotating end is connected to the first universal joint unit.

9. The surgical robot for closed reduction of long bone fractures according to claim 8, characterized in that, The first translation assembly includes a first lead screw module, a first mounting seat and a first mounting plate as the first translation end. The first mounting seat is provided with a first guide rail extending along the first direction, and the first mounting plate is slidably connected to the first guide rail. The driving end of the first lead screw module is connected to the first mounting plate; And / or, the second translation assembly includes a second lead screw module and a second mounting plate as the second translation end. The second mounting plate is slidably connected to the main body of the second lead screw module along the second direction and is connected to the driving end of the second lead screw module; And / or, the first lifting assembly includes a third lead screw module and a first lifting base as the first lifting end. The first lifting base is slidably connected to the main body of the third lead screw module along the third direction and is connected to the driving end of the third lead screw; And / or, the rotating assembly includes a first motor. The first motor has a motor shaft as the rotating end, and the motor shaft is connected to the first universal joint unit.

10. The surgical robot for closed reduction of long bone fractures according to claim 1, wherein The second adjusting mechanism includes a third translation assembly, a fourth translation assembly and a second lifting assembly; The third translation component has a third translation end movable along the first direction, and the fourth translation component is disposed at the third translation end; The fourth translation component has a fourth translation end movable along the second direction, and the second lifting component is disposed at the fourth translation end; The second lifting component has a second lifting end movable along the third direction, and the second lifting end is connected to the second universal joint unit as the second output end.

11. The surgical robot for closed reduction of long bone fractures according to claim 10, wherein, The third translation component includes a fourth lead screw module, a second mounting seat, and a third mounting plate as the third translation end. The second mounting seat is provided with a second guide rail extending along the first direction. The third mounting plate is slidably connected to the second guide rail, and the driving end of the fourth lead screw module is connected to the third mounting plate; And / or, the fourth translation component includes a third guide rail and a fourth mounting plate as the fourth translation end. The third guide rail is disposed at the third translation end and extends along the second direction. The fourth mounting plate is slidably connected to the third guide rail; And / or, the second lifting component includes a lifting column, and the lifting column has the second lifting end.

12. The surgical robot for closed reduction of long bone fractures according to claim 1, characterized in that, The holding mechanism includes a carrier and a plurality of bone pin assemblies; The carrier is provided with an accommodation space for accommodating the broken bone; The needle ends of the plurality of bone pin assemblies respectively extend into the accommodation space for fixing different parts of the broken bone.

13. The surgical robot for closed reduction of long bone fractures according to claim 12, wherein The carrier includes a first side plate, a second side plate, and a connecting plate. The first side plate and the second side plate are spaced apart along the first direction. The connecting plate is connected between the first side plate and the second side plate so that the first side plate, the second side plate, and the connecting plate jointly enclose the accommodation space; A part of the plurality of bone pin assemblies is disposed on the first side plate, and the needle end passes through the first side plate and enters the accommodation space; Another part of the plurality of bone pin assemblies is disposed on the second side plate, and the needle end passes through the second side plate and enters the accommodation space.

14. The surgical robot for closed reduction of long bone fractures according to claim 12 or 13, characterized in that, The bone pin assembly includes a bone pin body, a bone pin sleeve, an elastic clip, and a locking nut; The bone pin sleeve is connected to the carrier; The bone pin body is movably inserted through the bone pin sleeve; The elastic clip is sleeved outside the bone pin body, and a conical surface is provided on the outer wall of one end of the elastic clip, and a part of the conical surface is located inside the bone pin sleeve; The locking nut is sleeved outside the bone pin body and is threadedly connected to the bone pin sleeve, and the other end of the elastic clip is disposed inside the locking nut.

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