Surgical robot for closed reduction of long bone fractures

Abstract

The present application 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 moving platform and a holding 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 rotatable around an axis along the second direction. The first output end is connected with the moving platform through a 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 rotatable around an axis along the third direction. The second output end is connected with the moving platform through a second universal joint unit. The holding mechanism is arranged on the moving platform. The first direction, the second direction and the third direction are perpendicular to each other. The present application can solve the problems of small motion space range, oversized structure, weak load bearing capacity, insufficient structural rigidity and low reduction accuracy of the current fracture reduction robot.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to a surgical robot for closed reduction of long bone fractures. Background Technology

[0002] With the rapid development of transportation, the incidence of long bone fractures has increased significantly, and the number of patients is showing a marked upward trend. This not only severely impacts patients' quality of life but also places a heavy economic burden on their families. In particular, improper treatment of long bone fractures can lead to limb deformities and functional impairments, further burdening patients' families and society. Therefore, medical issues related to long bone fractures have received increasing attention and discussion.

[0003] Traditional open reduction and repositioning surgery for long bone fractures is an open surgical approach. This method is not only highly invasive and involves significant blood loss, but also easily causes secondary damage to the patient. Current surgical treatments for long bone fractures often employ closed minimally invasive techniques to achieve reduction, avoiding large incisions and reducing intraoperative blood loss and postoperative complications. However, this still requires manual manipulation by the surgeon, resulting in prolonged exposure to radiation. Furthermore, due to muscle tension, the surgeon needs to exert considerable force to maintain the fracture reduction, leading to high surgical intensity and consequently lower precision. In recent years, combining robotic technology with closed reduction and repositioning surgery for long bone fractures, using robots to assist surgeons in performing this procedure, has gradually gained research and development.

[0004] In related technologies, parallel surgical robots developed based on the Stewart parallel platform have limited repositioning motion space and are too large, making them difficult to apply in actual surgery. Serial surgical robots modified from industrial six-degree-of-freedom robotic arms have low load capacity, and their end effector deformation is large when subjected to significant repositioning resistance, further reducing repositioning accuracy. Existing products lack consideration for reasonable robot layout, resulting in excessive footprint, inefficient use of surgical space resources, and easy interference with other instruments during surgery. The repositioning resistance in repositioning surgery is mainly along the axial direction of the fractured bone, and existing robots lack a high-rigidity structure along the fractured bone axis, resulting in weak load-bearing capacity along the fractured bone axis.

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

[0006] In view of this, the present invention aims to at least partially solve one of the technical problems in the related art. To this end, the present invention provides a surgical robot for closed reduction of long bone fractures, which can alleviate the problems of current fracture reduction robots, such as small range of motion, excessively large structural size, easy interference with other instruments during surgery, weak load-bearing capacity, insufficient structural rigidity, or low reduction accuracy.

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

[0008] According to one aspect of this application, an embodiment of this 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, which is movable in a first direction, a second direction and a third direction, and 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.

[0010] The second adjustment mechanism has a second output end, which is movable in the first direction, the second direction and the third direction respectively, and 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.

[0011] The holding mechanism is located 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 this application may also have the following additional technical features:

[0013] In some 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 being 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 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 having a first connecting hole and the second connecting arm having a second connecting hole, and the first rotating shaft being 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 having a third connecting hole and the fourth connecting arm having a fourth connecting hole, and the second rotating shaft being rotatably connected to the third connecting hole and the fourth connecting hole respectively.

[0015] In some embodiments, 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 to the corresponding end of the first arm body so that the first groove and the second groove are engaged to form the first connecting hole or the second connecting hole.

[0016] In some embodiments, 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 to the corresponding end of the second arm body so that the third groove and the fourth groove are engaged to form the third connecting hole or the fourth connecting hole.

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

[0018] In some 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 having a fifth connecting hole and the sixth connecting arm having a sixth connecting hole, and the third rotating shaft being 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 having a seventh connecting hole and the eighth connecting arm having an eighth connecting hole, and the fourth rotating shaft being rotatably connected to the seventh connecting hole and the eighth connecting hole respectively.

[0019] In some embodiments, 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 to the end of the corresponding third arm body so that the fifth groove and the sixth groove are engaged to form the fifth connecting hole or the sixth connecting hole.

[0020] In some embodiments, 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 to the end of the corresponding fourth arm body so that the seventh groove and the eighth groove are engaged to form the seventh connecting hole or the eighth connecting hole.

[0021] In some embodiments, the first adjustment mechanism includes a first translation component, a second translation component, a first lifting component, and a rotating component; the first translation component has a first translation end movable along the first direction, and the second translation component is disposed at the first translation end; the second translation component has a second translation end movable along the second direction, and the first lifting component is disposed at the second translation end; the first lifting component has a first lifting end movable along the third direction, and the rotating component is disposed at the first lifting end; the rotating component has a rotating end serving as the first output end, and the rotating end is connected to the first universal joint unit.

[0022] In some embodiments, the first translation component includes a first lead screw module, a first mounting base, and a first mounting plate serving as the first translation end. The first mounting base 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 drive end of the first lead screw module is connected to the first mounting plate.

[0023] In some embodiments, the second translation component includes a second lead screw module and a second mounting plate as the second translation end, the second mounting plate being slidably connected to the body of the second lead screw module along the second direction and connected to the drive end of the second lead screw module.

[0024] In some embodiments, the first lifting assembly 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 along the third direction and is connected to the drive end of the third lead screw.

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

[0026] In some embodiments, the second adjustment mechanism includes a third translation component, a fourth translation component, and a second lifting component; 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.

[0027] In some embodiments, the third translation component includes a fourth lead screw module, a second mounting base, and a third mounting plate serving as the third translation end. The second mounting base 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 drive end of the fourth lead screw module is connected to the third mounting plate.

[0028] In some embodiments, the fourth translation component includes a third guide rail and a fourth mounting plate serving as the fourth translation end, the third guide rail being disposed at the third translation end and extending along the second direction, and the fourth mounting plate being slidably connected to the third guide rail.

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

[0030] In some embodiments, the holding mechanism includes a carrier and a plurality of bone pin assemblies; the carrier is provided with a receiving space for accommodating the broken bone; the tips of the plurality of bone pin assemblies extend to the receiving space for fixing different parts of the broken bone.

[0031] In some embodiments, the support member 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 connects the first side plate and the second side plate so that the first side plate, the second side plate, and the connecting plate together enclose the receiving space. A portion of the plurality of bone needle assemblies is disposed on the first side plate, and the needle tip passes through the first side plate into the receiving space. Another portion of the plurality of bone needle assemblies is disposed on the second side plate, and the needle tip passes through the second side plate into the receiving space.

[0032] In some embodiments, 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 on the outside of the bone pin body, and one end of the elastic clip has a conical surface on its outer wall, a portion of which is located inside the bone pin sleeve; the locking nut is sleeved on the outside of the bone pin body and threadedly connected to the bone pin sleeve, and the other end of the elastic clip is located inside the locking nut.

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

[0034] In the embodiments of this application, the surgical robot for closed reduction of long bone fractures provided, through the coordinated arrangement of the first adjustment mechanism, the second adjustment mechanism, the moving platform and the holding mechanism, can alleviate the problems of traditional fracture reduction robots, such as small range of motion, large structural size, easy interference with other instruments during surgery, weak load-bearing capacity, insufficient structural rigidity and low reduction accuracy. It has the advantages of compact structure, small space occupation, high structural rigidity, strong load-bearing capacity, high reduction accuracy and easy control.

[0035] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0036] Figure 1 A schematic diagram of a surgical robot for closed reduction of long bone fractures is provided for some exemplary embodiments of this application;

[0037] Figure 2 Schematic diagrams of the moving platform and holding mechanism provided for some exemplary embodiments of this application;

[0038] Figure 3 A schematic diagram of the structure of a first adjustment mechanism is provided for some exemplary embodiments of this application;

[0039] Figure 4 A schematic diagram of a first universal joint unit and its internal structure provided for some exemplary embodiments of this application;

[0040] Figure 5 A schematic diagram of the structure of the second adjustment mechanism is provided for some exemplary embodiments of this application;

[0041] Figure 6 A schematic diagram of a second universal joint unit and its internal structure provided for some exemplary embodiments of this application;

[0042] Figure 7A schematic diagram of the structure of a movable base assembly provided as an example of some embodiments of this application.

[0043] Explanation of reference numerals in the attached figures:

[0044] 100 - Movable base assembly;

[0045] 101-Mounting platform; 102-Control box; 103-Cascading wheels; 104-Fixed feet;

[0046] 200 - First regulating mechanism;

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

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

[0049] 203 - First lifting assembly; 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 regulating mechanism;

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

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

[0054] 303 - Second lifting assembly; 331 - Third mounting plate; 332 - Lifting reinforcing rib plate; 333 - Lifting base; 334 - Motor mounting bracket; 335 - Bearing housing; 336 - Rotary servo motor; 337 - Coupling; 338 - Retaining 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-Dynamic Platform;

[0058] 402-Holding mechanism; 421-Bearing component; 422-Bone pin assembly; 423-Positioning nut; 424-Connecting rib plate; 4221-Bone pin body; 4222-Bone pin sleeve; 4223-Elastic clamp; 4224-Locking nut. Detailed Implementation

[0059] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0060] As analyzed in the background section, existing parallel robots for fracture reduction suffer from drawbacks such as excessive footprint, inefficient use of surgical space, and susceptibility to interference with other intraoperative instruments; they also exhibit weak load-bearing capacity along the fracture axis. Existing technologies have confirmed effective solutions to alleviate these problems. Therefore, this application provides a surgical robot for closed reduction of long bone fractures. This robot can alleviate the problems of limited motion space, excessive structural dimensions, susceptibility to interference with other intraoperative instruments, weak load-bearing capacity, insufficient structural rigidity, and low reduction accuracy inherent in related fracture reduction robots. The following is a detailed description of this application.

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

[0062] Please see Figures 1 to 7 As shown, in some embodiments of this application, a surgical robot for closed reduction of long bone fractures is provided. 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 holding mechanism 402.

[0063] The first adjustment mechanism 200 has a first output end, which is movable in a first direction, a second direction, and a third direction, and 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, which is movable in a first direction, a second direction, and a third direction, and 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 holding mechanism 402 is disposed on the moving platform 401. The first direction, the second direction, and the third direction are perpendicular to each other.

[0064] In the embodiments of this application, the first direction can be the y-axis direction (such as the front-back direction), the second direction can be the x-axis direction (such as the left-right direction), and the third direction can be the z-axis direction (such as the up-down direction).

[0065] The surgical robot for closed reduction of long bone fractures described in this application features a compact structure, small footprint, high rigidity, and strong load-bearing capacity. Compared to existing six-degree-of-freedom robotic arms, this application distributes the axial reduction force load of the fracture and the weight load of the affected limb separately via two branches. Furthermore, the drive element is primarily a lead screw module, which offers better rigidity than a rotary joint, significantly enhancing the structure's load-bearing capacity and ensuring that the structure does not overturn or deform excessively when subjected to significant reduction resistance. Compared to traditional parallel platforms, this application utilizes a lead screw module to achieve three-degree-of-freedom translation, increasing the robot's workspace and overcoming the limitation of insufficient workspace in parallel robots.

[0066] In practical applications, the parallel robot of this application can be placed under and behind the affected limb, saving intraoperative space resources, without interfering with other surgical instruments, and facilitating clinical use. The robot has fewer structural elements in the fractured bone area, does not obscure the fracture site, and provides sufficient space for intraoperative fluoroscopy and surgical operations. Furthermore, in the preferred embodiment of this application, the robot can be quickly moved by the bottom universal wheels 103, making it easy to place. Simultaneously, after the universal feet are locked and the foot cups 104 are fixed, the robot can be quickly positioned and fixed, preventing movement due to reduction resistance. The robot is equipped with a moving guide rail as a passive moving pair, following the movement of the end effector to prevent jamming and providing high mobility. The distal fracture holding component 400 includes a holding mechanism 402. The distal fracture holding component 400 is designed with a quick-clamping structure, which is simple in structure, easy to assemble and disassemble, and facilitates the rapid clamping of bone pins and rapid fixation of the fractured bone during surgery, providing convenience and assurance for closed reduction surgery of long bone fractures.

[0067] The following section provides a more detailed explanation of the specific structure and connection configuration of each component of the surgical robot used for closed reduction of long bone fractures.

[0068] refer 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 holding mechanism 402. Both the first adjustment mechanism 200 and the second adjustment mechanism 300 can achieve six-degree-of-freedom end movement; therefore, the first adjustment mechanism 200 can also be called a six-degree-of-freedom lifting branch assembly, and the second adjustment mechanism 300 can also be called a six-degree-of-freedom traction branch assembly. The moving platform 401 and the holding mechanism 402 can form a distal fracture end holding assembly 400, which is connected to the first adjustment mechanism 200 and the second adjustment mechanism 300 (the six-degree-of-freedom lifting branch assembly and the six-degree-of-freedom traction branch assembly) respectively via the moving platform 401. A first adjustment mechanism 200 and a 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 arrangement of the first adjustment mechanism 200, the second adjustment mechanism 300, the moving platform 401, and the holding mechanism 402, the surgical robot for closed reduction of long bone fractures can achieve six degrees of freedom motion at the end of the mechanism, completing translational and rotational reduction operations. That is, it can achieve six degrees of freedom translation and rotation of the long bone fracture fragments, improving reduction accuracy.

[0070] refer 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. The holding mechanism 402 includes a carrier member 421 and multiple bone pin assemblies 422. Further, the holding mechanism 402 may also include a positioning nut 423 and a connecting rib plate 424. The number of bone pin assemblies 422 is multiple, such as two or more. The bone pin assembly 422 can also be called a bone pin locking assembly. The bone pin assembly 422 includes a bone pin body 4221, a bone pin sleeve 4222, an elastic clamp 4223, and a locking nut 4224; optionally, the elastic clamp 4223 is a conical elastic clamp. 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 the outer wall of one end of the elastic clip 4223 is provided with a conical surface, a portion of which 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 located inside the locking nut 4224. That is, the two ends of the elastic clip 4223 are in contact with the conical hole structure inside the bone needle tube sleeve and the locking nut 4224, respectively. The conical elastic clip 4223 is a compressible structure. The bone needle passes through the locking nut 4224, the conical elastic clip 4223 and the bone needle tube sleeve 4222 in sequence. The bone needle assembly 422 compresses the conical elastic clip 4223 through the conical hole structure inside the bone needle tube sleeve 4222 by tightening the locking nut 4224, thereby realizing the bone needle clamping operation.

[0071] The aforementioned support member 421 is provided with a receiving space for accommodating the broken bone; the needle tips of a plurality of bone needle assemblies 422 extend into the receiving space respectively for fixing different parts of the broken bone. Exemplarily, the support member 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 connects the first side plate and the second side plate so that the first side plate, the second side plate, and the connecting plate together form the receiving space; a portion of the plurality of bone needle assemblies 422 is disposed on the first side plate, and the needle tip passes through the first side plate into the receiving space; another portion of the plurality of bone needle assemblies 422 is disposed on the second side plate, and the needle tip passes through the second side plate into the receiving space.

[0072] In this embodiment, the support member 421 can be a U-shaped clamp structure. The U-shaped clamp is fixedly connected to the bone needle sleeve 4222 through threaded holes. The positioning nut 423 is installed on both sides of the support member 421, i.e., the U-shaped clamp, and is connected to the bone needle sleeve 4222 through threads to realize the positioning and locking of the bone needle assembly 422. The support member 421, i.e., the U-shaped clamp, is provided with multiple rows of threaded holes, so that multiple sets of bone needle assemblies 422 can be installed in multiple positions. The bone needle body 4221 is fixedly connected to the broken bone to realize the bone fracture fixation. In this way, the device is easy to install and facilitates the rapid fixation of the broken bone.

[0073] The aforementioned load-bearing component 421, namely the U-shaped clamp, is fixed to the moving platform 401 by screws. The two connecting stiffeners 424 are respectively connected to the U-shaped clamp and the moving platform 401 to form an anti-overturning structure, which can enhance the overall rigidity.

[0074] refer to Figure 3 As shown, in some embodiments, the first adjustment mechanism 200, i.e., the six-degree-of-freedom lifting chain assembly, includes a first universal joint unit 204, and further includes a first translation component 201, a second translation component 202, a first lifting component 203, and a rotation component. The first translation component 201 has a first translation end movable along a first direction, and the second translation component 202 is disposed at the first translation end. The second translation component 202 has a second translation end movable along a second direction, and the first lifting component 203 is disposed at the second translation end. The first lifting component 203 has a first lifting end movable along a third direction, and the rotation component is disposed at the first lifting end. The rotation component has a rotation end serving as a first output end, which is connected to the first universal joint unit 204. Thus, the first output end can be movable in the first, second, and third directions, respectively, and can rotate about an axis along the second direction. The first output end is connected to the moving platform 401 via 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 aforementioned first translation component 201 includes a first lead screw module 211, a first mounting base 212, and a first mounting plate 221 serving as the first translation end. The first mounting base 212 is a first support guide rail mounting base, and the first mounting base 212 is provided with a first guide rail 213 extending along a first direction, which is also the first support guide rail. The first mounting plate 221 is a passive moving guide rail mounting plate, and the first mounting plate 221 is slidably connected to the first guide rail 213. The driving end of the first lead screw module 211 is connected to the first mounting plate 221.

[0076] In some optional 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 along a second direction and is connected to the drive 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 along a third direction and is connected to the drive end of the third lead screw. Optionally, the rotation component includes a first motor with a motor shaft serving as the rotation end, and the motor shaft is connected to a 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 joint unit.

[0077] Specifically, the first adjustment mechanism 200 can be mainly composed of a first lead screw module 211, a first mounting base 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. The first lead screw module 211 and the first mounting base 212 are both fixedly connected to the movable base assembly 100. The first support guide rail is installed on the first mounting base 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, which enhances the structure's anti-overturning ability when subjected to large reset resistance. Two sets of passive moving guide rails 222, lifting column mounting plate 231 and lifting column 232 are connected in sequence on 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 fixed to the lifting column 232 by screws. The overall structure is connected to the moving platform 401 through the first universal joint unit 204, which is also a three-degree-of-freedom ball joint unit. Thus, the first adjustment mechanism 200, namely the six-degree-of-freedom lifting chain assembly, can realize three-degree-of-freedom translation and three-degree-of-freedom rotational motion, mainly bearing the weight of the structure and the affected limb itself. The first support guide rail and the reinforcing rib plate 233 structure can ensure that the overall structure has high rigidity.

[0078] refer to Figure 4 As shown, in some embodiments, the first universal joint unit 204, also known as a three-degree-of-freedom ball joint unit, includes a first rotating shaft and a second rotating shaft arranged in a cross shape in a 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. The first output end is provided with a first connecting frame 244, and 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 having a first connecting hole and the second connecting arm having a second connecting hole, and a first rotating shaft 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 having a third connecting hole and the fourth connecting arm having a fourth connecting hole, and a second rotating shaft 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 to the end of the corresponding first arm body so that the first groove and the second groove are fastened to form a first connecting hole or a 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 to the end of the corresponding second arm body so that the third groove and the fourth groove are fastened to form a third connecting hole or a fourth connecting hole.

[0080] Specifically, the aforementioned first universal joint unit 204, also known as the three-degree-of-freedom ball joint 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. A double-row angular contact ball bearing 242 is installed inside the fixed base 241. A fixed end cover 243 is connected to the fixed base 241 to fix the double-row angular contact ball bearing 242. A first connecting frame 244 passes through the double-row angular contact ball bearing 242. The shaft end and the shaft end locking end cover 245 are fixed together by locking screws. A first cross shaft 246 is installed inside the first connecting frame 244 through a first angular contact ball bearing 247. A first disassembly cover 248 can be connected to the first connecting frame 244 to facilitate the installation and fixation of the cross shaft. A first support end cover 249 is fixed to both ends of the first connecting frame 244 for bearing fixation. The first cross shaft 246 is installed inside the moving platform 401 through a second angular contact ball bearing 250. A 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, which is the rotation center of the three-degree-of-freedom ball joint unit, thereby realizing the three-degree-of-freedom rotational motion of the structure.

[0081] refer to Figure 5As shown, in some embodiments, the second adjustment mechanism 300, i.e., the six-degree-of-freedom traction chain assembly, includes a third translation component 301, a fourth translation component 302, and a second lifting component 303. The third translation component 301 has a third translation end movable along a first direction, and the fourth translation component 302 is disposed at the third translation end. The fourth translation component 302 has a fourth translation end movable along a second direction, and the second lifting component 303 is disposed at the fourth translation end. The second lifting component 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 a second output end. Thus, the second output end can be movable in the first direction, the second direction, and the third direction, respectively, and can rotate about the 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 aforementioned third translation component 301 includes a fourth lead screw module 311, a second mounting base 312, and a third mounting plate 331 serving as the third translation end. The third mounting plate 331 is a lifting lead screw module mounting plate. The second mounting base 312 is a second support guide rail mounting base, and the second mounting base 312 is provided with a second guide rail 313 extending along a first direction, which is also the second support guide rail. The third mounting plate 331 is slidably connected to the second guide rail 313, and the drive end of the fourth lead screw module 311 is connected to the third mounting plate 331.

[0083] In some optional embodiments, the fourth translation component 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, and the fourth mounting plate is slidably connected to the third guide rail. Optionally, the second lifting component 303 includes a lifting column or a lifting reinforcing rib plate 332, etc., and the lifting column has a second lifting end.

[0084] Specifically, the aforementioned first adjustment mechanism 200 mainly consists of a fourth lead screw module 311, a second mounting base 312, a second guide rail 313, a second mounting plate 321, a fourth translation component 302, a second lifting component 303, and a universal joint unit; wherein, the fourth translation component 302 may include a lead screw module, and the second lifting component 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 base 334, a bearing housing 335, a rotary servo motor 336, a coupling 337, and a retaining ring 338. Furthermore, the fourth lead screw module 311 and the second mounting base 312 are both fixedly connected to the movable base assembly 100. The second guide rail 313 is installed on the second mounting base 312. 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, which enhances the structure's anti-overturning ability when subjected to large axial reduction resistance of fractured bone. The lifting reinforcing rib plate 332 is fixedly connected to the lifting screw module and the lifting screw module mounting plate, respectively. The lifting base 333 is fixed on the lifting screw module slide. The motor mounting seat 334 and the bearing seat 335 are fixed on the lifting base 333. The rotary servo motor 336 is mounted 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. The fixing ring 338 is fixed on the second universal joint unit 304 and is located on one side of the bearing seat 335 to 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 chain assembly, can realize three-degree-of-freedom translation and three-degree-of-freedom rotational motion, mainly bearing the reset traction resistance. The structure of the second guide rail 313 and the lifting reinforcing rib plate 332 can ensure that the overall structure has high rigidity.

[0085] refer to 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; the second output end is provided with a third connecting frame 343, 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 frame 343 and the fourth connecting frame are concave frames; in this application, the third connecting frame 343 can be a second U-shaped support frame. For example, the third connecting frame 343 includes a fifth connecting arm and a sixth connecting arm, the fifth connecting arm having a fifth connecting hole, the sixth connecting arm having a sixth connecting hole, and a third rotating shaft 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 having a seventh connecting hole, the eighth connecting arm having an eighth connecting hole, and a fourth rotating shaft rotatably connected to the seventh connecting hole and the eighth connecting hole respectively. Optionally, at least one of the aforementioned fifth connecting arm and sixth connecting arm includes a third arm body and a third fastening member, the end of the third arm body having a fifth groove, the third fastening member having a sixth groove, and the third fastening member being installed to the end of the corresponding third arm body so that the fifth groove and the sixth groove are fastened together to form a fifth connecting hole or a 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 to the end of the corresponding fourth arm body so that the seventh groove and the eighth groove are engaged to form a seventh connecting hole or an eighth connecting hole.

[0087] Specifically, the aforementioned second universal joint unit 304 comprises 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 frame 343, a second disassembly cover 344, a second support end cover 345, a fourth angular contact ball bearing 346, a second moving platform disassembly cover 347, and a third support end cover 348. The second cross shaft 341 is installed inside the third connecting frame 343 via the third angular contact ball bearing 342. The second disassembly cover 344 can be connected to the third connecting frame 343 to facilitate the installation and fixation of the cross shaft. The second support end cover 345 is fixed to both ends of the third connecting frame 343 for bearing fixation. The second cross shaft 341 is installed inside the moving platform 401 via the fourth angular contact ball bearing 346. The second moving platform disassembly 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 to 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 motion 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 the driving elements. The three-degree-of-freedom translational motion of the mechanism is achieved through the synchronous movement of the first lead screw module 211 and the fourth lead screw module 311, the synchronous movement of the fourth translation component 302 and the passive moving guide rail 222, and the synchronous movement of the second lifting component 303 (lifting lead screw module) and the lifting column 232, respectively. The three-degree-of-freedom rotational motion of the mechanism is achieved through the relative movement of the first lead screw module 211 and the fourth lead screw module 311, the relative movement of the second lifting component 303 (lifting lead screw module) and the lifting column 232, and the movement of the rotary servo motor 336, respectively. The robot driving element is mainly the lead screw module, which has better rigidity than the rotary joint, thus improving the robot's load-bearing capacity.

[0089] In this embodiment, the first universal joint unit 204 and the second universal joint unit 304 are connected to the moving platform 401, which drives the end of the holding mechanism 402 of the distal end holding component 400 of the fracture bone to achieve six degrees of freedom of movement, and complete the translation and rotation reset operation; the passive moving guide rail 222 is a passive moving pair, which follows the movement of the end of the mechanism to prevent the mechanism from jamming and has high flexibility.

[0090] refer to Figure 7 As shown, in some embodiments, the movable base assembly 100 includes a mounting platform 101, a control box 102, casters 103, and fixed feet 104. The robot body structure is fixedly connected to the mounting platform 101. The control box 102 is provided with a side opening and a handle, and includes a motion controller, a switch button, a power button, an enable button, and an emergency stop switch. The casters 103 and 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 robot to the target position. On the other hand, locking the casters 103 and fixing the feet 104 fixes the robot's position, preventing the robot from moving due to 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 anesthesia of the affected limb is completed before surgery, the patient is placed on the operating table in a lateral or supine position. The repositioning robot is moved to a suitable position directly below the fractured bone of the affected limb using the universal wheels 103. First, the fracture is fixed. The affected limb is placed inside the carrier 421. Multiple sets of bone pin assemblies 422 are connected to and locked with the carrier 421. Multiple bone pin bodies 4221 pass through the bone pin assemblies 422 and connect to the fractured bone. The locking nut 4224 is tightened. The conical hole structure inside the bone pin sleeve 4222 compresses the conical elastic clamp 4223, clamping the bone pin body 4221, thereby achieving the clamping and fixation of the fractured bone. Next, the fracture is reduced. The position and robot trajectory after reduction are determined by reduction registration and path planning. The caster wheel 103 is locked and the foot cup 104 is fixed. The reduction robot moves the fracture in six degrees of freedom through the synchronous or relative movement of the servo motor and the lead screw module, and moves to the target reduction position to complete the fracture reduction operation. Finally, the bone pin assembly 422 is loosened, the bone pin body 4221 is removed, the fracture is fixed by the intramedullary nail, and the movable base assembly 100 is pushed to move the reduction robot away, thus completing the closed reduction surgery for long bone fracture.

[0093] like Figure 1 , Figure 3 and Figure 5 As shown, the robot's translation and rotation functions are explained in detail:

[0094] The robot's three-degree-of-freedom translational motion is achieved 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 of the operating table; when the fourth translation component 302 (lead screw module) moves, the robot can move along the long axis of the operating table. At this time, the passive moving guide rail 222 follows the robot 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 rotational motion of the mechanism is achieved through relative movement of the lead screw module and rotation of the servo motor. The relative movement of the first lead screw module 211 and the fourth lead screw module 311 changes the relative position of the connection points between the first adjustment mechanism 200, the second adjustment mechanism 300, and the moving platform 401, causing the robot end effector to rotate along the vertical axis. At this time, the passive moving guide rail 222 acts as a passive moving pair, following the robot to prevent the mechanism from jamming. The relative movement of the second lifting assembly 303 (lifting lead screw module) and the lifting column 232 changes the relative position of the connection points between the moving platform 401 and the two branches, causing the robot end effector to rotate along the short axis of the operating table. At this time, the passive moving guide rail 222 acts as a passive moving pair, following the robot to prevent the mechanism from jamming. The rotation of the servo motor 336 can drive the robot end effector to rotate along the long axis of the operating table.

[0096] The surgical robot for closed reduction of long bone fractures disclosed in this invention, i.e., the surgical robot for closed reduction of long bone fractures, has the following beneficial effects:

[0097] 1) The robot has a compact structure and occupies little space. The robot is placed under and behind the affected limb, which saves space resources during the operation and does not interfere with other surgical instruments, making it convenient for clinical use. The robot has fewer structures in the fractured bone area, does not obscure the fracture site, and leaves enough space for intraoperative fluoroscopy and surgical operation.

[0098] 2) It has high rigidity and strong load-bearing capacity. The axial reduction force load of the fracture and the weight load of the affected limb are respectively borne by two branches. The driving element is mainly a lead screw module, which has better rigidity than a rotary pair. This greatly enhances the load-bearing capacity of the structure and ensures that the structure does not overturn or deform when subjected to large reduction resistance.

[0099] 3) Compared with traditional parallel platforms, this structure uses a lead screw module to achieve three-degree-of-freedom translation, which improves the robot's workspace and overcomes the disadvantage of insufficient workspace in parallel robots; the robot is equipped with a moving guide rail as a passive traverse pair, which follows the movement of the end effector of the mechanism to prevent the mechanism from jamming and has a high degree of movement flexibility.

[0100] 4) The repositioning robot is designed with a bone pin quick clamping structure, which is simple in structure and easy to disassemble and assemble, facilitating the quick clamping of bone pins and quick fixation of broken bones during surgery; the robot can move quickly through the bottom universal wheels, which is convenient to set up. At the same time, after the universal feet are locked and the fixed feet are fixed, the robot can be quickly positioned and fixed, preventing the robot from moving due to external repositioning resistance.

[0101] The parts of this invention not described in detail are techniques known to those skilled in the art.

[0102] The basic principles of the present invention have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in the present invention are merely examples and not limitations, and should not be considered as essential features of each embodiment of the present invention. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the present invention to the necessity of employing the aforementioned specific details.

[0103] It should be noted that the terms "and / or" or " / " used herein are merely descriptions of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The singular forms "a," "the," and "the" used in the embodiments of the invention and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0104] In the description of this invention, it should be understood that the terms "top," "bottom," "inner," "outer," "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," and "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0105] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0106] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as 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 not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A surgical robot for closed reduction of long bone fractures, characterized in that, The robot is a parallel robot, which includes: a first adjustment mechanism, a second adjustment mechanism, a moving platform, and a holding mechanism; The first adjustment mechanism has a first output end, which is movable in a first direction, a second direction and a third direction, and 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 first adjustment mechanism includes a first translation component, a second translation component, a first lifting component, and a rotation component; The first translation component has a first translation end movable along the first direction, and the second translation component is disposed at the first translation end; the second translation component has a second translation end movable along the second direction, and the first lifting component is disposed at the second translation end; the first lifting component has a first lifting end movable along the third direction, and the rotation component is disposed at the first lifting end; the rotation component has a rotation end serving as the first output end, and the rotation end is connected to the first universal joint unit; The second adjustment mechanism has a second output end, which is movable in the first direction, the second direction and the third direction respectively, and 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 second adjustment mechanism includes a third translation component, a fourth translation component, and a second lifting component; The third translation component has a third translation end that is 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 that is 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 that is movable along the third direction, and the second lifting end is connected to the second universal joint unit as the second output end; The holding mechanism is located 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, characterized in that, The first universal joint unit includes a first pivot and a second pivot arranged in a cross shape in a first plane, wherein 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 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.

4. The surgical robot for closed reduction of long bone fractures according to claim 3, characterized in that, 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 to 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, the second fastening member is provided with a fourth groove, and the second fastening member is installed to the corresponding end of the second arm body so that the third groove and the fourth groove are engaged 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, characterized in that, The second universal joint unit includes a third shaft and a fourth shaft arranged in a cross shape in a second plane, and the second plane is perpendicular to the third shaft; 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, characterized in that, 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 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, and the eighth connecting arm is provided with an eighth connecting hole. The fourth rotating shaft is rotatably connected to the seventh connecting hole and the eighth connecting hole, respectively.

7. The surgical robot for closed reduction of long bone fractures according to claim 6, characterized in that, 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 to 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, the fourth fastening member is provided with an eighth groove, and the fourth fastening member is installed to the end of the corresponding fourth arm body so that the seventh groove and the eighth groove are engaged 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, characterized in that, The first translation component includes a first lead screw module, a first mounting base, and a first mounting plate serving as the first translation end. The first mounting base is provided with a first guide rail extending along the first direction. The first mounting plate is slidably connected to the first guide rail. The drive end of the first lead screw module is connected to the first mounting plate. And / or, the second translation component includes a second lead screw module and a second mounting plate as the second translation end, the second mounting plate being slidably connected to the body of the second lead screw module along the second direction and connected to the drive 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, wherein 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. And / or, the rotating assembly includes a first motor having a motor shaft as the rotating end, the motor shaft being connected to the first universal joint unit.

9. The surgical robot for closed reduction of long bone fractures according to claim 1, characterized in that, The third translation component includes a fourth lead screw module, a second mounting base, and a third mounting plate as the third translation end. The second mounting base is provided with a second guide rail extending along the first direction. The third mounting plate is slidably connected to the second guide rail. The drive 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 being disposed at the third translation end and extending along the second direction, and the fourth mounting plate being slidably connected to the third guide rail; And / or, the second lifting assembly includes a lifting column having a second lifting end.

10. The surgical robot for closed reduction of long bone fractures according to claim 1, characterized in that, The holding mechanism includes a carrier and multiple bone needle assemblies; The support member is provided with a receiving space for accommodating the broken bone; The tips of the multiple bone pin assemblies extend into the receiving space to fix different parts of the broken bone.

11. The surgical robot for closed reduction of long bone fractures according to claim 10, characterized in that, The support member 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 together form the accommodating space. A portion of the plurality of bone needle assemblies is disposed on the first side plate, and the needle tip passes through the first side plate into the receiving space; Another portion of the plurality of bone needle assemblies is disposed on the second side plate, and the needle tip passes through the second side plate into the receiving space.

12. The surgical robot for closed reduction of long bone fractures according to claim 10 or 11, characterized in that, The bone needle assembly includes a bone needle body, a bone needle sleeve, an elastic clamp, and a locking nut; The bone needle sleeve is connected to the carrier; The bone needle body is movably inserted into the bone needle sleeve; The elastic clip is disposed on the outside of the bone needle body, and the outer wall of one end of the elastic clip is provided with a conical surface, a portion of which is located inside the bone needle sleeve. The locking nut is sleeved on the outside of the bone needle body and threadedly connected to the bone needle sleeve, and the other end of the elastic clamp is located inside the locking nut.

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