Force gain series-parallel pelvic fracture closed reduction robot

Abstract

The invention relates to a force gain series-parallel pelvic fracture closed reduction robot which is composed of a movable base, a six-degree-of-freedom force gain unit and a screw holding device. Wherein the six-degree-of-freedom force gain unit mainly comprises a motor support, a fixed platform, a movable platform, a reinforcing plate, a main branch chain, three movable driving branch chains and two rotary driving branch chains, six-degree-of-freedom translation and rotation of a fracture block can be achieved, and gain output of input force can be achieved. The main branch chain takes a spherical hinge of the fixed platform as a fulcrum, and transmits input force to the movable platform according to proportional gain through the lever principle. The three moving driving branch chains drive three translational degrees of freedom of the moving platform, the main branch chain and the two rotating driving branch chains cooperatively drive three rotating degrees of freedom of the moving platform, and the moving degrees of freedom and the rotating degrees of freedom achieve motion decoupling. The robot adopts series-parallel configuration, is compact in structure, high in rigidity, large in working space, high in precision and large in output force, and has a good application prospect.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a force-gain hybrid closed reduction robot for pelvic fractures. Background Technology

[0002] With the rapid development of modern society, the surge in traffic flow and the accelerated pace of production and life have led to frequent accidents such as traffic accidents, falls from heights, and sports injuries, resulting in a year-on-year increase in the number of patients with pelvic fractures. Traditional manual surgery relies on "fluoroscopy + experience," and the reduction force required for the surgery is as high as 500N, which has drawbacks such as long radiation exposure time, low reduction success rate, and high fatigue risk. Robot-assisted reduction technology, with its advantages of stable operation, high precision, less fluoroscopy, and reduced burden on doctors, has become an important development direction for closed reduction of pelvic fractures.

[0003] However, existing reduction robot systems still have significant limitations: Most existing fracture reduction robots employ a fully parallel configuration such as a 6-UPS, with a strongly coupled six-degree-of-freedom moving platform requiring real-time solving of nonlinear kinematic equations. This results in complex control and significant delays. Frequent intraoperative posture adjustments amplify end-effector positioning deviations, making it difficult to meet the demands for precise reduction. To meet the required force output for reduction, high-power motors are used, leading to bulky drive units. When the device is operated close to the patient's side, its excessive size obstructs the intraoperative imaging view and severely restricts the surgeon's operating space. Current technology lacks an efficient force transmission mechanism, making it impossible to achieve force gain within a compact structure. Existing purely serial pelvic fracture reduction robots are mainly six-axis robots, which have low stiffness and low end-effector load, failing to meet clinical requirements. Parallel pelvic fracture reduction robots primarily use Ilizarov frames or Stewart platforms, which have high load capacities but small workspaces, occupying a large area and affecting intraoperative X-ray imaging and other operations.

[0004] Therefore, there is an urgent need to design a hybrid pelvic fracture closed reduction robot with a compact structure, high rigidity, high precision, high output force, and large working space to provide reliable technical support for robot-assisted pelvic fracture reduction surgery. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a force-gain hybrid closed reduction robot for pelvic fractures.

[0006] A force-gain hybrid closed reduction robot for pelvic fractures includes a movable base, a six-degree-of-freedom force-gain unit, and a screw-holding device. The six-degree-of-freedom force-gain unit is mounted on the movable base and enables six-degree-of-freedom translation and rotation of the fracture fragments, while also providing a gain output to the input force. The screw-holding device is a quick-detachable end effector, fixed to the six-degree-of-freedom force-gain unit via screws, and used to hold the screws on the affected side of the pelvis. The movable base is locked and fixed to the operating table by locking clamps.

[0007] Preferably, the six-degree-of-freedom force gain unit mainly includes a motor support, a fixed platform, a moving platform, a reinforcing plate, a main branch, three moving drive branches, and two rotational drive branches. The fixed platform is mounted on a movable base, and its rigidity is enhanced by the reinforcing plate. The rear end of the main branch is connected to the motor support, the front end is connected to the moving platform, and the middle part forms a lever fulcrum through a ball joint mounted on the fixed platform, realizing the gain output of the input force. The front ends of the three moving drive branches are connected to the fixed platform through Hooke pairs, and the rear ends are connected to the motor support through ball joints, driving the three-dimensional translational motion of the moving platform. The front ends of the two rotational drive branches are connected to the moving platform through ball joints, and the rear ends are connected to the main branch through Hooke pairs, cooperating with the main branch to drive the three-dimensional rotational motion of the moving platform. The overall mechanism constitutes a hybrid configuration, achieving kinematic decoupling between the moving and rotational degrees of freedom.

[0008] Preferably, the main branch includes a geared motor, a coupling, a rotating shaft, a branch bracket, a ball joint, a U-shaped rotating fork, and a pin. The geared motor is mounted on a motor bracket, and its output shaft is connected to the rotating shaft via the coupling, driving the moving platform to rotate along the axis of the rotating shaft. The ball joint, through which the rotating shaft passes the fixed platform, forms a slidable cylindrical joint, and its end is connected to the U-shaped rotating fork via the pin to form a revolute joint. The protruding shaft of the U-shaped rotating fork is connected to the moving platform to form a revolute joint. The main branch forms a lever arm through the ball joint as a fulcrum, amplifying the driving force from the motor bracket side and transmitting it to the moving platform side. By adjusting the axial position of the rotating shaft within the ball joint, the length of the lever arm is changed to achieve an adjustable force gain ratio. The branch bracket is fixed to the boss of the rotating shaft and is used to mount the rotating drive branch.

[0009] Preferably, the moving drive chain includes a rotating support, a pin, a locking nut, a connecting shaft, a first electric push rod sleeve, a first electric push rod inner rod, and a ball joint seat. The rotating support is fixed to the fixed platform. One end of the connecting shaft is connected to the rotating support to form a rotating pair, and the other end is connected to the lug at the end of the electric push rod sleeve via the pin to form a rotating pair. The axes of the two rotating pairs are perpendicular, forming a Hooke pair. The first electric push rod sleeve and the first electric push rod inner rod form a sliding pair. The ball joint seat is fixed to the motor bracket and forms a ball joint with the ball head at the end of the first electric push rod inner rod. The moving drive chain consists of a Hooke pair, a sliding pair, and a ball joint, forming a six-degree-of-freedom chain for driving the three-dimensional translational motion of the moving platform.

[0010] Preferably, the rotation drive chain includes a U-shaped frame, a U-shaped frame end cap, a second electric push rod sleeve, a second electric push rod inner rod, and a compound ball joint. The U-shaped frame is connected to the chain support to form a revolute joint. The end boss of the second electric push rod sleeve is machined with a mounting shaft and connected to the U-shaped frame to form a revolute joint. The axes of the two revolute joints are perpendicular, forming a Hooke pair. The U-shaped frame end cap is connected to the U-shaped frame with screws to fix the second electric push rod sleeve. One end of the compound ball joint is threaded to the end of the second electric push rod inner rod, and the other end is connected to the moving platform to form a ball joint. The rotation drive chain, consisting of a Hooke pair, a prismatic pair, and a ball joint, constitutes a six-degree-of-freedom chain for driving the rotational motion of the moving platform.

[0011] Preferably, the movable base includes casters, a housing, a handle, a linear guide slider, a clamp, and a locking clamp. The casters and handle are fixed to the housing for movement of the force-gain hybrid pelvic fracture closed reduction robot. The linear guide slider and clamp are fixed to both sides of the housing. The locking clamp is fixed to the linear guide slider and connected to the bedside guide rail. The linear guide slider is used to raise and lower the locking clamp to clamp the bedside guide rail. The locking clamp consists of a clamping plate, locking bolts, a locking wrench, a square clamping block, and a cylindrical clamping block. The locking bolts are threaded to the clamping plate, with the locking wrench at one end and the square and cylindrical clamping blocks at the other end. The two sets of locking bolts drive the lateral square clamping block and the bottom cylindrical clamping block respectively, forming a bidirectional clamping mechanism to clamp and fix the movable base to the operating table. This achieves fixation between the movable base and the operating table, ensuring the stability and safety of the surgical procedure.

[0012] Compared with the prior art, the beneficial effects of this invention are as follows: The main branch of this robot forms a lever with a ball joint on the fixed platform as a rigid fulcrum. By changing the axial position of the rotating shaft within the ball joint, the lever arm can be adjusted. The lateral force of the motor support can be transmitted to the moving platform side after an adjustable proportional gain. This allows a small motor input force to generate an output force several times greater than the input force, acting on the pelvic fracture fragments, thus solving the problem of high output force required for pelvic fracture reduction. Three kinetic drive branches drive the three translational degrees of freedom of the moving platform, while the main branch and two rotational drive branches work together to drive the three rotational degrees of freedom of the moving platform. The kinetic and rotational degrees of freedom are kinematically decoupled and can be planned and implemented relatively independently, simplifying the robot's mathematical model and real-time control algorithm, and improving motion accuracy. The hybrid configuration avoids the structural complexity and space occupation of pure parallel mechanisms, while also having higher stiffness than pure serial mechanisms. Furthermore, the main branch, kinetic drive branch, and rotational drive branch adopt an integrated branch design, resulting in a compact structure, high stiffness, and a large working space. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of a force-gain hybrid pelvic fracture closed reduction robot according to the present invention.

[0014] Figure 2 Schematic diagram of a six-degree-of-freedom force gain unit

[0015] Figure 3 Schematic diagram of the main branch

[0016] Figure 4 Exploded structure diagram of the mobile drive chain

[0017] Figure 5 Exploded structure diagram of the rotation-driven branch

[0018] Figure 6 Schematic diagram of the movable base

[0019] Figure 7 Schematic diagram of the locking clamp

[0020] Figure 8 Schematic diagram of the connection method of the screw holding device Detailed Implementation

[0021] The present invention will now be described in detail with reference to the embodiments shown in the accompanying drawings. However, it should be noted that these embodiments are not intended to limit the present invention. Any equivalent changes or substitutions in function, method, or structure made by those skilled in the art based on these embodiments are within the scope of protection of the present invention.

[0022] It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of this application are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so as to implement the embodiments of this application described herein.

[0023] In this application, when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof. In this disclosure, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", "far", "near", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only relational terms determined for the convenience of describing the structural relationship of each component or element of this disclosure, and do not specifically refer to any component or element of this disclosure, and should not be construed as a limitation to this disclosure. In this disclosure, terms such as "fixedly connected", "connected", "connected", "provided with", "equipped with", "configured with", etc. should be understood in a broad sense, which may mean a fixed connection, an integral connection or a detachable connection; it can be directly connected or indirectly connected through an intermediate medium. For relevant scientific research or technical personnel in this field, the specific meanings of the above terms in this disclosure can be determined according to specific circumstances, and should not be construed as a limitation to this disclosure.

[0024] Refer Figures 1 to 8 as shown Figure 1 is a schematic structural diagram of a force gain hybrid pelvic fracture closed reduction robot of the present invention, Figure 2 is a schematic structural diagram of a six-degree-of-freedom force gain unit, Figure 3 is a schematic structural diagram of the main chain, Figure 4 is an exploded structural diagram of the mobile drive chain, Figure 5 is an exploded structural diagram of the rotational drive chain, Figure 6 is a schematic structural diagram of a movable base, Figure 7 is a schematic structural diagram of a locking clamp, Figure 8 is a schematic diagram of the connection method of the screw holding device.

[0025] This example provides a force gain hybrid pelvic fracture closed reduction robot.

[0026] Refer Figure 1 、 Figure 8As shown in the figure, the force gain hybrid pelvic fracture closed reduction robot consists of a movable base 1, a six-degree-of-freedom force gain unit, and a screw holding device 9. The six-degree-of-freedom force gain unit is installed on the movable base 1, which can achieve six-degree-of-freedom translation and rotation of the fracture fragment and output the gain of the input force; the screw holding device 9 is a quickly detachable end effector, which is fixedly connected to the six-degree-of-freedom force gain unit through a screw and is used to hold the screws of the affected side pelvis; the movable base 1 is locked and fixed to the operating table 10 through a locking clamp.

[0027] Refer to Figure 1 and Figure 2 As shown in the figure, the six-degree-of-freedom force gain unit mainly includes a motor bracket 4, a fixed platform 3, a moving platform 8, a reinforcing plate 2, a main branch chain 6, three moving drive branch chains 5, and two rotational drive branch chains 7. The fixed platform 3 is installed on the movable base 1, and the stiffness of the fixed platform 3 is enhanced through the reinforcing plate 2; the rear end of the main branch chain 6 is connected to the motor bracket 4, the front end is connected to the moving platform 8, and the middle forms a lever fulcrum through a ball hinge installed on the fixed platform 3 to achieve the gain output of the input force; the front ends of the three moving drive branch chains 5 are connected to the fixed platform through Hooke joints, and the rear ends are connected to the motor bracket 4 through ball joints to independently drive the three-dimensional translation motion of the moving platform 8. The front ends of the two rotational drive branch chains 7 are connected to the moving platform 8 through ball joints, and the rear ends are connected to the main branch chain 6 through Hooke joints, and cooperate with the main branch chain 6 to drive the three-dimensional rotational motion of the moving platform 8; the overall mechanism forms a hybrid configuration and realizes the kinematic decoupling of the translational degree of freedom and the rotational degree of freedom.

[0028] Refer to Figure 1 and Figure 2 and Figure 3 As shown in the figure, the main branch chain 6 includes a reduction motor 11, a coupling 12, a rotating shaft 13, a branch chain bracket 14, a ball hinge 15, a pin 17, and a U-shaped rotating fork 16. The reduction motor 11 is installed on the motor bracket 4, and its output shaft is connected to the rotating shaft 13 through the coupling 12 to drive the rotational motion of the moving platform along the axis direction of the rotating shaft. The rotating shaft 13 passes through the ball hinge 15 of the fixed platform 3 to form a slidable cylindrical pair, and the end is connected to the U-shaped rotating fork 16 through the pin 17 to form a rotating pair. The extending shaft of the U-shaped rotating fork 16 is connected to the moving platform 8 to form a rotating pair. The main branch chain 6 forms a lever arm with the ball hinge 15 as the fulcrum, and after the driving force on the motor bracket side is gained, it is transmitted to the moving platform side. By adjusting the axial position of the rotating shaft in the ball hinge, the length of the lever arm is changed to achieve an adjustable force gain ratio. The branch chain bracket 14 is fixedly connected to the boss of the rotating shaft 13 and is used to install the rotational drive branch chain 7.

[0029] Refer to Figure 1 and Figure 2 and Figure 4As shown in the figure, the mobile drive chain 5 includes a rotating support 18, a pin shaft 20, a locking nut 21, a connecting shaft 19, a first electric push rod sleeve 22, a first electric push rod inner rod 23, and a ball hinge seat 24. The rotating support 18 is fixedly connected to the fixed platform. One end of the connecting shaft 19 is connected to the rotating support 18 to form a rotating pair, and the other end forms a rotating pair with the lug at the end of the electric push rod sleeve 22 through the pin shaft 20. The axes of the two rotating pairs are perpendicular to form a Hooke's joint. The first electric push rod sleeve 22 and the first electric push rod inner rod 23 form a sliding pair. The ball hinge seat 24 is fixed to the motor bracket and forms a spherical pair with the ball head at the end of the first electric push rod inner rod. The mobile drive chain 5 is composed of a Hooke's joint, a sliding pair, and a spherical pair to form a six-degree-of-freedom chain.

[0030] Refer to Figure 1 , Figure 2 , Figure 5 As shown in the figure, the rotary drive chain 7 includes a U-shaped frame 25, a U-shaped frame end cover 26, a second electric push rod sleeve 27, a second electric push rod inner rod 28, and a composite ball hinge 29. The U-shaped frame 25 is connected to the chain support 14 to form a rotating pair. The end boss of the second electric push rod sleeve 27 is processed with a mounting shaft and connected to the U-shaped frame 25 to form a rotating pair. The axes of the two rotating pairs are perpendicular to form a Hooke's joint. The U-shaped frame end cover 26 is connected to the U-shaped frame 25 by screws to fix the second electric push rod sleeve 27. One end of the composite ball hinge 29 is connected to the end of the second electric push rod inner rod 28 by thread, and the other end is connected to the moving platform to form a spherical pair. The rotary drive chain 7 is composed of a Hooke's joint, a sliding pair, and a spherical pair to form a six-degree-of-freedom chain for driving the rotation of the moving platform.

[0031] Refer to Figure 1 , Figure 6 As shown in the figure, the movable base 1 includes a box body 31, a handle 34, 4 universal wheels 30, 4 linear guide sliders 33, 4 clamps 32, and 2 locking clamps 35. The universal wheels 30 and the handle 34 are fixed on the box body for the movement of the force gain hybrid pelvic fracture closed reduction robot. The linear guide sliders 33 and the clamps 32 are fixed on both sides of the box body. The locking clamps 35 are fixed on the linear guide sliders. The locking clamps 35 are connected to the bedside guide rail. The linear guide sliders 33 are used to realize the lifting of the locking clamps 35 to clamp the bedside guide rail. Refer to Figure 7As shown, the locking clamp 35 consists of a clamping plate 36, two locking bolts 38, two locking wrenches 37, a square clamping block 40, and a cylindrical clamping block 39. The locking bolts 38 are threadedly connected to the clamping plate 36. One end of the bolts 38 is equipped with the locking wrench 37, and the other end is equipped with the square clamping block 40 and the cylindrical clamping block 39. The two sets of locking bolts 38 drive the lateral square clamping block 40 and the bottom cylindrical clamping block 39 respectively, forming a bidirectional clamping mechanism to clamp and fix the operating table, thereby fixing the movable base 1 to the operating table 10 and ensuring the stability and safety of the surgical procedure.

[0032] Specific implementation steps: First, after assembling the robot as a whole, place the movable base next to the operating table, fix the locking clamp to the bedside guide rail, and then lock the clamp and brake wheel in place; fix the affected side of the pelvis by adjusting the screw holding device; then adjust the axial position of the rotating shaft in the ball joint by controlling the moving drive chain, thereby changing the length of the lever arm to adjust the expected force gain ratio; finally, adjust the position of the moving platform by controlling the main chain, three moving drive chains and two rotating drive chains to achieve precise reduction of the fracture fragments.

[0033] This invention provides a force-gain hybrid closed reduction robot for pelvic fractures, which has the following beneficial effects:

[0034] 1) High output force: The main branch forms a lever with the ball joint on the fixed platform as a rigid fulcrum. The lateral force of the motor support can be transmitted to the moving platform side after being increased by an adjustable ratio, so that a small input force generates an output force several times greater than the input force to act on the reduction of pelvic fracture.

[0035] 2) The control is simple and the precision is high. The translational and rotational degrees of freedom are kinematically decoupled, and can be planned and implemented relatively independently, which simplifies the mathematical model of the robot and the real-time control algorithm and improves the motion accuracy.

[0036] 3) The robot has a compact structure, high rigidity, and large working space. It adopts a hybrid configuration, and the main branch, the mobile drive branch, and the rotation drive branch adopt an integrated branch design, which simplifies the structure.

[0037] The detailed descriptions listed above are merely specific descriptions of feasible embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

[0038] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention may be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within the present invention.

Claims

1. A force-gain hybrid pelvic fracture closed reduction robot, characterized in that: The force gain hybrid pelvic fracture closed reduction robot is composed of a movable base, a six-degree-of-freedom force gain unit and a screw holding device; the six-degree-of-freedom force gain unit is installed on the movable base and can realize six-degree-of-freedom translation and rotation of a fracture block and gain output of input force; the screw holding device is a fast detachable end effector, is fixed to the six-degree-of-freedom force gain unit through a screw and is used for holding a screw of a sick side pelvic holding device; the movable base is locked and fixed to a surgical bed through a locking clamp.

2. The force-gain hybrid pelvic fracture closed reduction robot according to claim 1, wherein: The six-degree-of-freedom force gain unit comprises a motor support, a fixed platform, a movable platform, a reinforcing plate, a main branch chain, three moving drive branch chains and two rotating drive branch chains; the fixed platform is installed on the movable base and the stiffness of the fixed platform is enhanced through the reinforcing plate; the main branch chain is connected with the motor support at the rear end and connected with the movable platform at the front end, the middle part is formed as a lever fulcrum through a spherical hinge installed on the fixed platform, and gain output of input force is realized; the three moving drive branch chains are connected with the fixed platform through a hooke joint at the front end and connected with the motor support through a spherical hinge at the rear end, and three-dimensional translation movement of the movable platform is driven; the two rotating drive branch chains are connected with the movable platform through a spherical hinge at the front end and connected with the main branch chain through a hooke joint at the rear end, and three-dimensional rotation movement of the movable platform is driven in cooperation with the main branch chain; the whole mechanism is formed as a hybrid configuration and kinematic decoupling of moving degrees of freedom and rotating degrees of freedom is realized.

3. The force gain hybrid pelvic fracture closed reduction robot according to claim 1, characterized in that: The main branch chain comprises a speed reducer, a shaft coupling, a rotating shaft, a branch chain support, a spherical hinge, a U-shaped rotating fork and a pin; the speed reducer is installed on the motor support, the output shaft is connected with the rotating shaft through the shaft coupling and is used for driving the movable platform to rotate along the rotating shaft axis direction; the rotating shaft penetrates through the spherical hinge of the fixed platform to form a slidable cylindrical pair, and the tail end is connected with the U-shaped rotating fork through the pin to form a rotating pair, the extending shaft of the U-shaped rotating fork is connected with the movable platform to form a rotating pair; the main branch chain forms a lever arm through the spherical hinge as a fulcrum, the driving force on the motor support side is transmitted to the movable platform side after gain, the axial position of the rotating shaft in the spherical hinge is adjusted to change the lever arm length to realize adjustable force gain ratio; the branch chain support is fixed on the boss of the rotating shaft and is used for installing the rotating drive branch chain.

4. The force-gain hybrid pelvic fracture closed reduction robot of claim 1, wherein: The moving drive branch chain comprises a rotating support, a pin shaft, a locking nut, a connecting shaft, a first electric push rod sleeve, a first electric push rod inner rod and a spherical hinge seat; the rotating support is fixed with the fixed platform, one end of the connecting shaft is connected with the rotating support to form a rotating pair, the other end is connected with the ear of the tail end of the electric push rod sleeve through the pin shaft to form a rotating pair, the two rotating pair axes are perpendicular to form a hooke joint; the first electric push rod sleeve and the first electric push rod inner rod form a moving pair; the spherical hinge seat is fixed on the motor support and connected with the ball head of the tail end of the first electric push rod inner rod to form a spherical pair; the moving drive branch chain is composed of a hooke joint, a moving pair and a spherical pair to form a six-degree-of-freedom branch chain and is used for driving the three-dimensional translation movement of the movable platform.

5. The force-gain hybrid pelvic fracture closed reduction robot of claim 1, wherein: The rotating drive branch chain comprises a U-shaped frame, a U-shaped frame end cover, a second electric push rod sleeve, a second electric push rod inner rod and a composite spherical hinge; the U-shaped frame is connected with a branch chain support to form a rotating pair, a mounting shaft is arranged on the end boss of the second electric push rod sleeve and connected with the U-shaped frame to form a rotating pair, the axes of the two rotating pairs are perpendicular, and a Hooke pair is formed; the U-shaped frame end cover is connected with the U-shaped frame through a screw to fix the second electric push rod sleeve; one end of the composite spherical hinge is fixedly connected with the second electric push rod inner rod through a thread, and the other end is connected with a moving platform to form a spherical pair; the rotating drive branch chain comprises a Hooke pair, a moving pair and a spherical pair to form a six-degree-of-freedom branch chain, and is used for driving the rotating movement of the moving platform.

6. The force-gain hybrid pelvic fracture closed reduction robot of claim 1, wherein: The movable base comprises universal wheels, a box body, a handle, linear guide rail sliders, a clamp, and locking clamps; the universal wheels and the handle are fixed on the box body and are used for moving the force gain hybrid pelvic fracture closed reduction robot; the linear guide rail sliders and the clamp are fixed on both sides of the box body, the locking clamps are fixed on the linear guide rail sliders, the locking clamps are connected with bedside rails, the linear guide rail sliders are used for lifting the locking clamps to clamp the bedside rails; the locking clamps comprise clamping plates, locking bolts, locking wrenches, square clamping blocks and cylindrical clamping blocks; the locking bolts are connected with the clamping plates through threads, one end of each locking bolt is provided with a locking wrench, and the other end of each locking bolt is provided with a square clamping block and a cylindrical clamping block; two groups of locking bolts drive the lateral square clamping blocks and the bottom cylindrical clamping blocks respectively to form a bidirectional clamping mechanism and clamp and fix a surgical bed.

Images