Fracture reduction robot and fracture reduction robot system

Abstract

The invention relates to a fracture reduction robot and a fracture reduction robot system. The fracture reduction robot comprises a fixed ring, a movable ring and at least three power arms, the fixed ring and the movable ring are both used for being fixed to the bone of a patient through bone needles. The same ends of all the power arms are fixedly connected with the fixing ring; the other ends of all the power arms are connected with the movable ring in a relatively movable manner; at least one actuating structure is arranged in each power arm; the at least three power arms are used for driving the movable ring to rotate relative to the fixed ring and get close to or away from the fixed ring.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to fracture reduction robots and fracture reduction robot systems. Background Technology

[0002] With the increasing diversity of people's lives and leisure activities, fractures are becoming more and more common. To address the growing number of fracture reduction surgeries, fracture reduction robots are being used more and more extensively in the medical field. This has led to a rise in fracture reduction procedures performed by these robots.

[0003] Existing fracture reduction robots consist of a large fixed ring and a smaller movable ring, typically arranged in a two-thirds circular structure to better fit the patient's surgical area. The two rings are connected by three, four, or six legs. Each leg is connected to the fixed ring and the movable ring via universal joints and ball joints, respectively. An external power source provides power to the movable ring, enabling fracture reduction through controlled rotation relative to the fixed ring. However, the overall structure of existing fracture reduction robots is too large. Therefore, providing an integrated, small-sized fracture reduction robot remains a pressing problem. Summary of the Invention

[0004] To address the aforementioned problems, according to a first aspect of the embodiments of this application, a fracture reduction robot is provided, comprising: a fixation ring, a movable ring, and at least three power arms;

[0005] Both the fixed ring and the movable ring are used to fix the bone to the patient's bone via bone pins;

[0006] All the power arms are fixedly connected to the fixed ring at the same end; the other end of all the power arms is connected to the movable ring in a relatively movable manner; each power arm is provided with at least one actuating structure; at least three of the power arms are used to drive the movable ring to rotate relative to the fixed ring, and to move closer to or away from the fixed ring.

[0007] According to the above embodiments, by integrating the actuation structure into the power arm, it is possible to effectively avoid setting up an external actuation structure for driving in the range outside the fixed ring to the movable ring. As a result, the overall volume of the fracture reduction robot can be effectively reduced, its integration can be improved, and it can adapt to more complex fracture reduction surgeries with a smaller size. In addition, the difficulty of using the fracture reduction robot can be effectively reduced, and the breadth of fracture reduction surgeries it can adapt to can be increased.

[0008] According to a second aspect of the embodiments of this application, a fracture reduction robot system is provided, comprising: a surgical navigation system and a fracture reduction robot of any of the aforementioned types; the surgical navigation system is used to store preoperative planning schemes and to identify the status of the fracture reduction robot and the surgical status in real time during the operation.

[0009] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0010] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0011] Figure 1 This is a schematic diagram of a fracture reduction robot according to an embodiment of this application.

[0012] Figure 2 This is a schematic diagram of a multi-scale snap-fit ​​structure of a fixing ring according to an embodiment of this application.

[0013] Figure 3 This is a partial enlarged view of a multi-scale snap-fit ​​structure according to an embodiment of this application.

[0014] Figure 4 This is a schematic diagram of a bone needle clamping part according to an embodiment of this application. Detailed Implementation

[0015] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0016] To address the aforementioned problems, this application provides a fracture reduction robot 10. Figure 1 This is a schematic diagram of the fracture reduction robot 10. (As shown...) Figure 1 As shown, the fracture reduction robot 10 includes: a fixed ring 11, a movable ring 12, and at least three power arms 13.

[0017] Both the fixed ring 11 and the movable ring 12 are used to fix them to the patient's bone via bone pins 14. Specifically, the patient's bone passes through the circle of the fixed ring 11 and the movable ring 12, which surround the patient's bone. The bone pins 14, fixed to the fixed ring 11 and the movable ring 12, are inserted into the patient's bone to specifically achieve fixation of the fixed ring 11 and the movable ring 12 to the patient's bone.

[0018] All the power arms 13 are fixedly connected at the same end to the fixed ring 11. The other end of all the power arms 13 is connected to the movable ring 12 in a relatively movable manner. Each power arm 13 is provided with at least one actuating structure 131. At least three of the power arms 13 are used to drive the movable ring 12 to rotate relative to the fixed ring 11, and to move it closer to or away from the fixed ring 11.

[0019] In this configuration, at least three power arms 13 are used to drive the movable ring 12 to rotate relative to the fixed ring 11. This can be done with three, four, five, six, or even seven power arms 13, but is not limited to these specific configurations. Preferably, three power arms 13 are used to drive the movable ring 12 to rotate relative to the fixed ring 11. This ensures effective rotation of the movable ring 12 relative to the fixed ring 11 in all directions while minimizing the number of power arms and reducing costs.

[0020] The fracture reduction robot 10 is fixed to the patient's bone via both the fixed ring 11 and the movable ring 12, which are secured to the bone by bone pins 14. Specifically, the fixed ring 11 and the movable ring 12 are fixed to the bone to be reduced and the bone that needs to connect with the bone to be reduced, respectively. The movement of at least three power arms 13 drives the movable ring 12 to move relative to the fixed ring 11 in various directions. Through the fixed connection of the bone pins 14, the bone to be reduced, which is fixedly connected to the movable ring 12, moves, ultimately achieving fracture reduction for the patient.

[0021] By integrating the actuation structure into the power arm 13, it is possible to effectively avoid setting up an external actuation structure for driving outside the range from the fixed ring 11 to the movable ring 12. This can effectively reduce the overall volume of the fracture reduction robot 10, improve its integration, and adapt to more complex fracture reduction surgeries with a smaller size. In turn, it can effectively reduce the difficulty of using the fracture reduction robot 10 and increase the breadth of fracture reduction surgeries it can adapt to.

[0022] In some embodiments, such as Figure 1 As shown, at least one of the fixed ring 11 and the movable ring 12 includes a component capable of adjusting the size of the ring.

[0023] Specifically, the size of at least one of the fixed ring 11 and the movable ring 12 can be adjustable. It can be that only the fixed ring 11 can be adjusted, or only the movable ring 12 can be adjusted, or both the fixed ring 11 and the movable ring 12 can be adjusted.

[0024] This configuration, through the adjustment of the fixed ring 11 and / or the movable ring 12, can accommodate the same affected area of ​​more patients with different sizes, or different affected areas of more different sizes of the same patient. This can effectively expand the coverage of the fracture reduction robot 10 for fracture reduction surgery needs of different populations and different affected areas, thereby effectively improving medical efficiency and reducing medical costs.

[0025] In some embodiments, such as Figure 1 As shown, the fixing ring 11 includes a fixing ring stabilizing part 111 and two fixing ring telescopic parts 112.

[0026] The fixed ring stabilizing part 111 includes a first fixed ring stabilizing part 1111 and a second fixed ring stabilizing part 1112. The first fixed ring stabilizing part 1111 is fixedly connected to the power arm 13. The second fixed ring stabilizing part 1112 is located at both ends of the first fixed ring stabilizing part 1111, forming an angle greater than 90 degrees and less than 180 degrees with the first fixed ring stabilizing part 1111, and extending towards the same side of the first fixed ring stabilizing part 1111.

[0027] The second fixing ring stabilizing part 1112 extends toward the same side as the first fixing ring stabilizing part 1111, that is... Figure 1 The second fixed ring stabilizing portions 1112 at both ends of the first fixed ring stabilizing portion 1111 shown in the figure are all facing the same side of the first fixed ring stabilizing portion 1111.

[0028] Each of the aforementioned fixed ring telescopic portions 112 includes a first fixed ring telescopic portion 1121 and a second fixed ring telescopic portion 1122. The first fixed ring telescopic portion 1121 is fixedly connected to the power arm 13. The first fixed ring telescopic portion 1121 and the second fixed ring telescopic portion 1122 form an angle greater than 90 degrees and less than 180 degrees.

[0029] The included angle between the first fixing ring stabilizing part 1111 and the first fixing ring telescopic part 1121 is less than 90 degrees and greater than 0 degrees. Furthermore, the opposing portions between the second fixing ring stabilizing part 1112 and the second fixing ring telescopic part 1122 are provided with a multi-scale snap-fit ​​structure 15.

[0030] The angle between the first fixed ring stabilizing part 1111 and the first fixed ring telescopic part 1121 is less than 90 degrees and greater than 0 degrees, meaning that the fixed ring stabilizing part 111 and the two fixed ring telescopic parts 112 together form a concave semicircular ring. The component that can adjust the size of the ring is the fixed ring telescopic part 112. It should be noted that the semicircular ring here is not a strictly semicircular ring, but rather a ring in a state between a semicircular ring and a full circular ring.

[0031] By using the multi-scale snap-fit ​​structure 15, the relative position between the second fixed ring stabilizing part 1112 and the second fixed ring telescopic part 1122 can be effectively adjusted by snapping the structure 15 at different lengths, thereby adjusting the size of the fixed ring 11. This allows for a more comprehensive adjustment of the size of the fixed ring 11, effectively expanding the coverage of the fracture reduction robot 10 for fracture reduction surgeries of different populations and different affected areas. Consequently, it can effectively improve medical efficiency and reduce medical costs.

[0032] In some embodiments, such as Figure 1 As shown, the movable ring 12 includes a movable ring stabilizing part 121 and two movable ring telescopic parts 122.

[0033] The movable ring stabilizing part 121 includes a first movable ring stabilizing part 1211 and a second movable ring stabilizing part 1212. The first movable ring stabilizing part 1211 is movably connected to the power arm 13. The second movable ring stabilizing part 1212 is located at both ends of the first movable ring stabilizing part 1211, forming an angle greater than 90 degrees and less than 180 degrees with the first movable ring stabilizing part 1211, and extending towards the same side of the first movable ring stabilizing part 1211.

[0034] The second movable ring stabilizing part 1212 extends toward the same side as the first movable ring stabilizing part 1211, that is... Figure 1 The second movable ring stabilizing portions 1212 at both ends of the first movable ring stabilizing portion 1211 shown in the figure are all facing the same side of the first movable ring stabilizing portion 1211.

[0035] Each of the aforementioned movable ring telescopic portions 122 includes a first movable ring telescopic portion 1221 and a second movable ring telescopic portion 1222. The first movable ring telescopic portion 1221 is movably connected to the power arm 13. The first movable ring telescopic portion 1221 and the second movable ring telescopic portion 1222 form an angle greater than 90 degrees and less than 180 degrees.

[0036] The included angle between the first movable ring stabilizing part 1211 and the first movable ring telescopic part 1221 is less than 90 degrees and greater than 0 degrees. Furthermore, the opposing portions between the second movable ring stabilizing part 1212 and the second movable ring telescopic part 1222 are provided with a multi-scale snap-fit ​​structure 15.

[0037] The angle between the first movable ring stabilizing part 1211 and the first movable ring telescopic part 1221 is less than 90 degrees and greater than 0 degrees, meaning that the movable ring stabilizing part 121 and the two movable ring telescopic parts 122 together form a concave semicircular ring. The component that can adjust the size of the ring is the movable ring telescopic part 122. It should also be noted that the semicircular ring here is not a strictly semicircular ring, but rather a ring in a state between a semicircular ring and a full circular ring.

[0038] By using the multi-scale snap-fit ​​structure 15, the relative position between the second movable ring stabilizing part 1212 and the second movable ring telescopic part 1222 can be effectively adjusted by snapping the structure 15 at different lengths, thereby adjusting the size of the movable ring 12. This allows for a more comprehensive adjustment of the size of the movable ring 12, effectively expanding the coverage of the fracture reduction robot 10 for fracture reduction surgeries of different populations and different affected areas. Consequently, it can effectively improve medical efficiency and reduce medical costs.

[0039] In some embodiments, such as Figure 1 As shown, both the fixed ring 11 and the movable ring 12 are provided with at least two bone pin mounting holes 16 for mounting the bone pins. The component capable of adjusting the size of the ring body is provided with at least one of the bone pin mounting holes 16.

[0040] Both the fixed ring 11 and the movable ring 12 are provided with at least two bone pin mounting holes 16 for mounting the bone pins. These holes can be provided in various configurations, such as two holes for each ring, three holes for each ring, four holes for each ring, five holes for each ring, two holes for each ring, and three holes for each ring. The number of bone pin mounting holes 16 provided in each ring can be set to any number, more than two, as needed.

[0041] The component capable of adjusting the size of the ring body is provided with at least one of the aforementioned bone pin mounting holes 16. When the fixed ring 11 is capable of adjusting the size of the ring body, the fixed ring telescopic part 112 is provided with at least one bone pin mounting hole 16. It is possible that the fixed ring telescopic part 112 is provided with at least one bone pin mounting hole 16, or that the fixed ring telescopic part 112 is provided with at least two bone pin mounting holes 16, or that the fixed ring telescopic part 112 is provided with at least three bone pin mounting holes 16, but it is not limited to these.

[0042] Similarly, when the movable ring 12 can adjust the size of the ring body, the movable ring telescopic part 122 is provided with at least one bone pin mounting hole 16. The movable ring telescopic part 122 may be provided with at least one bone pin mounting hole 16, or the movable ring telescopic part 122 may be provided with at least two bone pin mounting holes 16, or the movable ring telescopic part 122 may be provided with at least three bone pin mounting holes 16, but is not limited to these.

[0043] With this configuration, the bone pin mounting holes 16 located in the fixed ring telescopic part 112 and the movable ring telescopic part 122 allow the fixed ring 11 and / or the movable ring 12 to be fixed to the bone after adjusting their size. This ensures that the fixed ring 11 and / or the movable ring 12 are fixed to the patient's bone after adjusting their size. Consequently, the fracture reduction robot 10 can effectively cover the fracture reduction surgery needs of different populations and different lesions, thereby improving medical efficiency and reducing medical costs.

[0044] In some embodiments, Figure 2 The diagram shows a schematic of the multi-scale locking structure 15 of the fixed ring 11. It is conceivable that the schematic diagram of the multi-scale locking structure 15 of the movable ring 12 can be similarly presented. Figure 2 As shown. Figure 1 and Figure 2 As shown, the multi-scale snap-fit ​​structure 15 includes a plurality of mating holes 151 and a plurality of threaded fixing holes 152 spaced apart on an opposite part, and at least two locating pins 153 and at least one threaded hole 154 on the opposite other part.

[0045] in, Figure 2The illustration shows the case where the mating hole 151 and the threaded fixing hole 152 are located in the telescopic portion 1122 of the second fixed ring, while the locating pin 153 and the threaded hole 154 are located in the stabilizing portion 1112 of the second fixed ring. However, it is conceivable that in other embodiments, the locating pin 153 and the threaded hole 154 may be located in the telescopic portion 1122 of the second fixed ring, while the mating hole 151 and the threaded fixing hole 152 may be located in the stabilizing portion 1112 of the second fixed ring. Similarly, the case for the movable ring 12 is the same and will not be described further here.

[0046] The device may have at least two locating pins 153 and at least one threaded hole 154, or it may have three locating pins 153 and two threaded holes 154, or it may have two locating pins 153 and two threaded holes 154, but is not limited to these.

[0047] Figure 3 The image shown is a magnified view of a portion of the multi-scale snap-fit ​​structure at point 15. (See image below.) Figure 3 As shown, the positioning pin 153 is used to cooperate with the mating hole 151, and the threaded hole 154 is used to be fixedly connected to the threaded fixing hole 12 through the threaded fixing structure 155.

[0048] The threaded fixing structure 155 can be a screw or bolt, but is not limited to this.

[0049] By engaging at least two positioning pins 153 with at least two of the multiple mating holes 151, rapid positioning and engagement between the second fixed ring stabilizing part 1112 and the second fixed ring telescopic part 1122 can be achieved. Stable fixation is achieved by threading the threaded fixing hole 152 and the threaded hole 154 with the threaded fixing structure 155. Thus, the size of the fixed ring 11 and / or the movable ring 12 can be quickly adjusted, thereby further improving medical efficiency.

[0050] It should be noted that the multi-scale snap-fit ​​structure 16 of the movable ring 12 can achieve the same effect as described above.

[0051] In some embodiments, the side of one end of the opposite portion having a plurality of mating holes 151 and a plurality of threaded fixing holes 152 may also be provided with a scale. This allows for more precise adjustment when adjusting the size of the fixed ring 11 and / or the movable ring 12.

[0052] In some embodiments, Figure 4 This is a schematic diagram of the bone needle clamping part 17. (See diagram below.) Figure 1 and Figure 4 As shown, a bone needle clamping part 17 is also provided. The bone needle clamping part 17 is used to clamp the bone needle 14.

[0053] An adjustment engagement tooth 161 is provided around the bone pin mounting hole 16. The bone pin clamping part 17 is provided with a bone pin engagement tooth 171 corresponding to the adjustment engagement tooth 161. The bone pin engagement tooth 171 engages with the adjustment engagement tooth 161 and is fixed to the bone pin mounting hole 161 by the bone pin fixing structure 172.

[0054] Specifically, the bone pin clamping part 17 may include a clamping groove 175 formed by the mutual engagement of the first clamping part 173 and the second clamping part 174 to clamp the bone pin 14. A preliminary engagement and fixation is achieved by the bone pin clamping pin 176 passing through the first clamping part 173 and the second clamping part 174. Finally, the bone pin fixing structure 172 passes through the bone pin clamping holes 177 of the first clamping part 173 and the second clamping part 174 and is fixed to the bone pin mounting hole 161.

[0055] By engaging the bone needle engagement teeth 171 and the adjustment engagement teeth 161, the relative rotation of the bone needle 14 under force can be effectively restricted. By adjusting the engagement of the bone needle engagement teeth 171 and the adjustment engagement teeth 161, the bone needle engagement teeth 171 can rotate relative to the adjustment engagement teeth 161 and then engage again, thereby achieving rapid and accurate adjustment of the angle of the bone needle 14, which can further improve medical efficiency.

[0056] In some embodiments, such as Figure 1 As shown, the power arm 13 includes three rotational degrees of freedom and one linear degree of freedom. The rotational axes of the three rotational degrees of freedom are perpendicular to each other.

[0057] This configuration effectively enables the movable ring 12 to move relative to the fixed ring 11 via the power arm 13, thereby reducing the overall size of the fracture reduction robot 10, increasing its integration, and adapting to more complex fracture reduction surgeries with a smaller size. In turn, it effectively reduces the difficulty of using the fracture reduction robot 10 and expands the range of fracture reduction surgeries it can be adapted to.

[0058] In some embodiments, such as Figure 1 As shown, the power arm 13 includes a first actuation structure 131 and a second actuation structure 132. The first actuation structure 131 is fixed to the fixed ring 11 and includes a rotation shaft 1311. The rotation shaft 1311 extends along a first rotation axis X1, and the first rotation axis X1 extends in a direction toward the center of the fixed ring 11.

[0059] The first actuation structure 131 and the second actuation structure 132 may include electric motors, but are not limited thereto.

[0060] A rotary table 133 is provided at one end of the rotating shaft 1311 facing the center of the fixed ring and connected to the rotating shaft 1311. The second rotation axis X2 of the rotary table 133 is perpendicular to the first rotation axis X1. The second actuating structure 132 is located on the rotary table 133. The second actuating structure 132 is used to drive the linear motion structure 134, which moves along the linear degree of freedom extending from the fixed ring 11 toward the movable ring 12.

[0061] The linear motion structure 134 is connected to the movable ring 12, and the mover 1341 of the linear motion structure is rotatably connected to the movable ring 12. The third rotation axis X3 of the mover 1341 extends along the fixed ring 11 toward the movable ring 12.

[0062] This configuration allows for the implementation of three rotational degrees of freedom and one linear degree of freedom. Specifically, the movable ring 12 is driven by the power arm 13 to move relative to the fixed ring 11. This effectively reduces the overall size of the fracture reduction robot 10, improves its integration, and allows it to adapt to more complex fracture reduction surgeries with a smaller size. Furthermore, it effectively reduces the difficulty of using the fracture reduction robot 10 and expands the range of fracture reduction surgeries it can be adapted to.

[0063] This application also provides a fracture reduction robot system. It includes a surgical navigation system and the fracture reduction robot 10 described in any of the preceding claims. The surgical navigation system is used to store preoperative planning schemes and to identify the status of the fracture reduction robot 10 and the surgical status in real time during the operation.

[0064] This fracture reduction robot system can be used to perform a complete visual fracture reduction surgery.

[0065] The above embodiments of this application can complement each other without causing conflict.

[0066] It should be noted that the dimensions of layers and regions may be exaggerated in the accompanying drawings for clarity. Furthermore, it is understood that when an element or layer is referred to as being "on" another element or layer, it can be directly on the other element, or there may be intermediate layers. Additionally, it is understood that when an element or layer is referred to as being "below" another element or layer, it can be directly below the other element, or there may be more than one intermediate layer or element. Furthermore, it is also understood that when a layer or element is referred to as being "between" two layers or two elements, it can be the only layer between the two layers or two elements, or there may be more than one intermediate layer or element. Similar reference numerals throughout indicate similar elements.

[0067] The term “multiple” means two or more, unless otherwise expressly defined.

[0068] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0069] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A fracture reduction robot, characterized in that, include: A fixed ring, a movable ring, and at least three power arms; Both the fixed ring and the movable ring are used to fix the bone to the patient's bone via bone pins; All the power arms are fixedly connected to the fixed ring at the same end; the other end of all the power arms is connected to the movable ring in a relatively movable manner; each power arm is provided with at least one actuating structure; at least three of the power arms are used to drive the movable ring to rotate relative to the fixed ring, and to move closer to or away from the fixed ring.

2. The fracture reduction robot according to claim 1, characterized in that, At least one of the fixed ring and the movable ring includes a component capable of adjusting the size of the ring.

3. The fracture reduction robot according to claim 2, characterized in that, The fixed ring includes a fixed ring stabilizing part and two fixed ring telescopic parts; The fixed ring stabilizing part includes a first fixed ring stabilizing part and a second fixed ring stabilizing part; the first fixed ring stabilizing part is fixedly connected to the power arm; the second fixed ring stabilizing part is located at both ends of the first fixed ring stabilizing part, forming an angle greater than 90 degrees and less than 180 degrees with the first fixed ring stabilizing part, and extending toward the same side of the first fixed ring stabilizing part; Each of the aforementioned fixed ring telescopic portions includes a first fixed ring telescopic portion and a second fixed ring telescopic portion; the first fixed ring telescopic portion is fixedly connected to the power arm; the first fixed ring telescopic portion and the second fixed ring telescopic portion form an angle greater than 90 degrees and less than 180 degrees; The included angle between the first fixed ring stabilizing part and the first fixed ring telescopic part is less than 90 degrees and greater than 0 degrees; and the opposite parts between the second fixed ring stabilizing part and the second fixed ring telescopic part are provided with a multi-scale snap-fit ​​structure.

4. The fracture reduction robot according to claim 2, characterized in that, The movable ring includes a movable ring stabilizing part and two movable ring telescopic parts; The movable ring stabilizing part includes a first movable ring stabilizing part and a second movable ring stabilizing part; the first movable ring stabilizing part is movably connected to the power arm; the second movable ring stabilizing part is located at both ends of the first movable ring stabilizing part, forming an angle greater than 90 degrees and less than 180 degrees with the first movable ring stabilizing part, and extending toward the same side of the first movable ring stabilizing part; Each of the aforementioned movable ring telescopic parts includes a first movable ring telescopic part and a second movable ring telescopic part; the first movable ring telescopic part is movably connected to the power arm; the first movable ring telescopic part and the second movable ring telescopic part form an angle greater than 90 degrees and less than 180 degrees; The included angle between the first movable ring stabilizing part and the first movable ring telescopic part is less than 90 degrees and greater than 0 degrees; and the opposite parts between the second movable ring stabilizing part and the second movable ring telescopic part are provided with a multi-scale snap-fit ​​structure.

5. The fracture reduction robot according to claim 2, characterized in that, Both the fixed ring and the movable ring are provided with at least two bone pin mounting holes for mounting the bone pins; the component capable of adjusting the size of the ring body is provided with at least one bone pin mounting hole.

6. The fracture reduction robot according to claim 5, characterized in that, It also includes a bone needle clamping part; the bone needle clamping part is used to clamp the bone needle; An adjustment engagement tooth is provided around the bone pin mounting hole; the bone pin clamping part is provided with a bone pin engagement tooth corresponding to the adjustment engagement tooth; the bone pin engagement tooth engages with the adjustment engagement tooth and is fixed to the bone pin mounting hole by a bone pin fixing structure.

7. The fracture reduction robot according to claim 3 or 4, characterized in that, The multi-scale snap-fit ​​structure includes a plurality of mating holes and a plurality of threaded fixing holes spaced apart on an opposite part, and at least two locating pins and at least one threaded hole on the opposite other part. The locating pin is used to mate with the mating hole, and the threaded hole is used to fix the threaded hole to the threaded fixing structure.

8. The fracture reduction robot according to claim 1, characterized in that, The power arm includes three rotational degrees of freedom and one linear degree of freedom; the rotational axes of the three rotational degrees of freedom are perpendicular to each other.

9. The fracture reduction robot according to claim 8, characterized in that, The power arm includes a first actuation structure and a second actuation structure; the first actuation structure is fixed to the fixed ring and includes a rotation shaft; the rotation shaft extends along a first rotation axis, and the first rotation axis extends in a direction toward the center of the fixed ring; A rotating platform connected to the rotating shaft is provided at one end of the rotating shaft facing the center of the fixed ring; the second rotation axis of the rotating platform is perpendicular to the first rotation axis. The second actuating structure is located on the rotary table; the second actuating structure is used to drive a linear motion structure, the linear motion structure moving along the linear degree of freedom extending from the fixed ring toward the movable ring; The linear motion structure is connected to the movable ring, the mover of the linear motion structure is rotatably connected to the movable ring, and the third rotation axis of the mover extends along the fixed ring toward the movable ring.

10. A fracture reduction robot system, characterized in that, include: The surgical navigation system is the same as the fracture reduction robot according to any one of claims 1 to 9; the surgical navigation system is used to store preoperative planning schemes and also to identify the status of the fracture reduction robot and the surgical status in real time during the operation.

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