Adjustable automatic bone holding and resetting device for orthopedics

Abstract

The application discloses a kind of orthopedics of trauma adjustable automatic bone holding reset device, including support mechanism, controller and adjusting mechanism, adjusting mechanism top connects support mechanism, end connects reset mechanism.Support mechanism is equipped with universal wheel and hydraulic outrigger, it is convenient to move and fix.Adjusting mechanism is by multiple drive motors and multiple connecting arms constitute multi-axis linkage system, can realize the spatial adjustment of multiple degrees of freedom of reset mechanism.Reset mechanism is driven gear-gear arm transmission by servo motor, drives first bone holding claw and second bone holding claw open and close, completes the automatic clamping and reset of fracture end;Bone holding claw clamping surface is embedded with force sensing module, real-time detection clamping force and feedback to controller, realize the quantitative control and automatic pressure limiting protection of clamping force.The application degree of automation is high, can accurately control clamping force, avoid damaging bone tissue, and multi-degree-of-freedom adjustment adaptability is strong, effectively shorten operation time, reduce the labor intensity of doctor.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically an adjustable automatic bone-holding and repositioning device for trauma orthopedics. Background Technology

[0002] In fracture surgery, bone reduction and temporary fixation are crucial steps, typically taking the longest time, especially for comminuted fractures, and are among the most challenging aspects. Achieving ideal reduction as quickly as possible significantly shortens surgery time and leads to more satisfactory outcomes.

[0003] Traditional bone-holding forceps consist of two handles connected by gill screws, with forceps heads fixed to the ends of the handles. During use, the surgeon must apply force with both hands to hold the fractured bone ends, relying on manual strength to maintain the reduction. Its drawbacks are:

[0004] 1. The clamping force depends entirely on the operator's hand strength, which can easily lead to fatigue and poor clamping stability over a long period of time;

[0005] 2. The clamping force cannot be quantified and controlled; if it is too small, the fixation will not be secure, and if it is too large, it may damage the periosteum or cause iatrogenic fracture.

[0006] 3. After resetting, it needs to be continuously maintained by an assistant, which consumes manpower.

[0007] To address these issues, the present invention provides an adjustable automatic bone-holding and repositioning device for trauma orthopedics. Summary of the Invention

[0008] To address the shortcomings of existing technologies, this invention provides an adjustable automatic bone-holding and repositioning device for trauma orthopedics, which solves the aforementioned problems.

[0009] To achieve the above objectives, the present invention provides the following technical solution: an adjustable automatic bone-holding and repositioning device for trauma orthopedics, comprising a support mechanism, a controller, and an adjustment mechanism. The top of the support mechanism is connected to the adjustment mechanism, and the end of the adjustment mechanism is connected to the repositioning mechanism. The support mechanism includes a support frame, with casters and hydraulic outriggers at the bottom and a mounting plate at the top. The adjustment mechanism includes a base, a connector, a motor support, a first drive motor, a top plate, a movable slot plate, a second drive motor, a first connecting arm, a third drive motor, a fourth drive motor, and a fifth drive motor. The machine consists of five parts: a support arm and a connecting arm three; the base is fixedly mounted on the mounting plate via a connector, and the inner bottom surface of the base is connected to the motor support; the first drive motor is vertically mounted inside the motor support, and its output shaft is fixedly connected to the top plate; a movable slot plate is fixedly connected above the top plate, and a second drive motor is mounted on the outer wall of the movable slot plate, with the output shaft of the second drive motor fixedly connected to one end of the first connecting arm; the other end of the first connecting arm is hinged to one end of the second connecting arm via a third drive motor, and the other end of the second connecting arm is hinged to one end of the support arm via a fourth drive motor, and the other end of the support arm is connected to the first connecting arm via a fourth drive motor. The fifth mechanism is hinged to one end of the connecting arm three; the reset mechanism includes a first bone-holding claw, a servo motor, a connecting plate, a gear, a gear arm one, a gear arm two, a connecting rod one, a connecting rod two, a second bone-holding claw, a force sensing module, a connecting rod three, a connecting piece two, and a connecting rod four; the end of the support arm is connected to the connecting piece two, and the connecting piece two is located on the side of the connecting plate. A servo motor is fixedly mounted on the connecting plate, and the output shaft of the servo motor is connected to a gear; the upper and lower sides of the gear are respectively meshed with gear arm one and gear arm two. Gear arm one is hinged to one end of the second bone-holding claw via connecting rod four, and gear arm one is connected to the connecting rod four via connecting rod four. The shaft is connected to the connecting rod four. The gear arm two is hinged to one end of the first bone-holding claw via the connecting rod three, and the gear arm two is connected to the connecting rod three via the connecting shaft. The upper and lower sides of the middle part of the second bone-holding claw are hinged to the connecting plate via two connecting rods one. The upper and lower sides of the middle part of the first bone-holding claw are hinged to the connecting plate via two connecting rods two. A force sensing module is provided on the clamping surface of the first and second bone-holding claws. The force sensing module is electrically connected to the controller. The controller is electrically connected to drive motor one, drive motor two, drive motor three, drive motor four, drive motor five, servo motor and force sensing module respectively.

[0010] Preferably, the casters are equipped with a locking mechanism, and the hydraulic outriggers are equipped with independent hydraulic control valves.

[0011] Preferably, the clamping surfaces of the first and second bone-holding claws are arc-shaped, and an anti-slip pad layer is provided on the inner side of the arc-shaped structure.

[0012] Preferably, the force sensing module is a thin-film pressure sensor, which is embedded in the clamping surfaces of the first and second bone-holding claws, and its signal output terminal is electrically connected to the signal input terminal of the controller.

[0013] Preferably, the controller is equipped with a display screen and an operation panel. The display screen is used to display the clamping force value and the operating status of each drive motor in real time, and the operation panel is used to set the clamping force threshold and control the movement of each drive motor.

[0014] Preferably, the support frame is provided with a push-pull handle, which is fixedly installed on one side of the support frame.

[0015] Preferably, the controller is used to receive feedback signals from the force sensing module and control the start, stop, and forward / reverse rotation of the servo motor according to a preset clamping force threshold.

[0016] Beneficial effects

[0017] This invention provides an adjustable automatic bone-holding and reduction device for trauma orthopedics. Compared with the prior art, it has the following advantages:

[0018] (1) The adjustable automatic bone-holding and repositioning device for trauma orthopedics is equipped with a support mechanism, an adjustment mechanism and a repositioning mechanism. The support mechanism enables the device to be stably supported and moved flexibly. The adjustment mechanism enables the repositioning mechanism to be adjusted in multiple degrees of freedom. The repositioning mechanism is driven by a servo motor to drive the gear arm to automatically open and close the bone-holding claws. This allows the device to automatically complete the clamping and repositioning of the fracture ends without the need for manual maintenance by the surgeon, freeing up the surgeon's hands and improving surgical efficiency.

[0019] (2) This adjustable automatic bone-holding and repositioning device for trauma orthopedics achieves real-time monitoring and quantitative control of the clamping force by setting force sensing modules on the clamping surfaces of the first and second bone-holding claws and electrically connecting the force sensing modules to the controller. When the clamping force reaches a preset threshold, the controller automatically controls the servo motor to stop, avoiding damage to the periosteum or iatrogenic fracture caused by excessive clamping force, and also avoiding the problem of insecure fixation caused by insufficient clamping force.

[0020] (3) The adjustable automatic bone-holding reduction device for trauma orthopedics, through the multi-axis adjustment mechanism composed of multiple drive motors and multiple connecting arms, realizes the flexible adjustment of the reduction mechanism in multiple degrees of freedom, which can adapt to the reduction needs of different fracture sites, different angles and different body positions. Furthermore, by setting universal wheels and hydraulic outriggers, it not only ensures the convenient mobility of the device, but also ensures the stable support of the device during operation, avoiding the risk of reduction failure due to device displacement during surgery. Attached Figure Description

[0021] Figure 1This is a three-dimensional view of the overall structure of the present invention;

[0022] Figure 2 This is a perspective view of the support mechanism of the present invention;

[0023] Figure 3 This is a perspective view of the adjustment mechanism of the present invention;

[0024] Figure 4 This is a perspective view of the reset mechanism of the present invention.

[0025] In the diagram: 1. Support mechanism; 11. Support frame; 12. Casters; 13. Hydraulic outriggers; 14. Mounting plate; 2. Controller; 3. Adjustment mechanism; 31. Base; 32. Connector; 33. Motor support; 34. Drive motor one; 35. Top plate; 36. Movable slot plate; 37. Drive motor two; 38. Connecting arm one; 39. Drive motor three; 310. Connecting arm two; 311. Drive motor four; 312. Drive motor five; 313. Support arm; 314. Connecting arm three; 4. Reset mechanism; 41. First bone-holding claw; 42. Servo motor; 43. Connecting plate; 44. Gear; 45. Gear arm one; 46. Gear arm two; 47. Link one; 48. Link two; 49. Second bone-holding claw; 410. Force sensing module; 411. Link three; 412. Connector two; 413. Link four. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] Example:

[0028] Please see Figure 1-4 An adjustable automatic bone-holding and repositioning device for trauma orthopedics includes a support mechanism 1, a controller 2, and an adjustment mechanism 3. The top of the support mechanism 1 is connected to the adjustment mechanism 3, and the end of the adjustment mechanism 3 is connected to the repositioning mechanism 4.

[0029] Please see Figure 1-2An adjustable automatic bone-holding and repositioning device for trauma orthopedics is disclosed. The support mechanism 1 includes a support frame 11, with casters 12 and hydraulic outriggers 13 at the bottom and a mounting plate 14 at the top. The casters 12 are equipped with locking mechanisms, and the hydraulic outriggers 13 have independent hydraulic control valves. A push-pull handle is fixedly mounted on one side of the support frame 11. When the device moves, the hydraulic outriggers 13 are retracted, and the casters 12 are in contact with the ground. Medical personnel can push the device to the operating table using the push-pull handle. After the device is in place, the hydraulic control valves are operated to extend the hydraulic outriggers 13 and support them on the ground, simultaneously locking the casters 12 and securing the device. The mounting plate 14 provides a flat mounting base for the adjustment mechanism 3.

[0030] Please see Figure 3 An adjustable automatic bone-holding and repositioning device for trauma orthopedics includes an adjustment mechanism 3 comprising a base 31, a connector 32, a motor support 33, a first drive motor 34, a top plate 35, a movable slot plate 36, a second drive motor 37, a first connecting arm 38, a third drive motor 39, a second connecting arm 310, a fourth drive motor 311, a fifth drive motor 312, a support arm 313, and a third connecting arm 314. The base 31 is fixedly mounted on a mounting plate 14 via the connector 32, and the inner bottom surface of the base 31 is connected to the motor support 33. The first drive motor 34 is vertically arranged inside the motor support 33, and its output shaft is fixedly connected to the top plate 35. A movable slot plate 36 is fixedly connected above the top plate 35. A second drive motor 37 is provided on the outer wall of the moving slot plate 36. The output shaft of the second drive motor 37 is fixedly connected to one end of the first connecting arm 38. The other end of the first connecting arm 38 is hinged to one end of the second connecting arm 310 through the third drive motor 39. The other end of the second connecting arm 310 is hinged to one end of the support arm 313 through the fourth drive motor 311. The other end of the support arm 313 is hinged to one end of the third connecting arm 314 through the fifth drive motor 312. When the first drive motor 34 is started, its output shaft drives the top plate 35 to rotate in the horizontal plane. The movable slot plate 36 fixedly connected above the top plate 35 and the subsequent connecting arm rotate as a whole, realizing the angle adjustment of the reset mechanism 4 in the horizontal direction.

[0031] A second drive motor 37 is installed on the outer wall of the movable slot plate 36. The output shaft of the second drive motor 37 is fixedly connected to one end of the first connecting arm 38. When the second drive motor 37 starts, it drives the first connecting arm 38 to swing in a vertical plane around the output shaft of the second drive motor 37. The other end of the first connecting arm 38 is hinged to one end of the second connecting arm 310 via a third drive motor 39. When the third drive motor 39 starts, it drives the second connecting arm 310 to swing in a vertical plane relative to the first connecting arm 38. The other end of the second connecting arm 310 is hinged to one end of the support arm 313 via a fourth drive motor 311. When the fourth drive motor 311 starts, it drives the support arm 313 to swing in a vertical plane relative to the second connecting arm 310. The other end of the support arm 313 is hinged to one end of the third connecting arm 314 via a fifth drive motor 312. When the fifth drive motor 312 starts, it drives the third connecting arm 314 to swing in a vertical plane relative to the support arm 313. The end of the connecting arm 314 is connected to the connecting piece 412 of the repositioning mechanism 4. Through the coordinated movement of the five drive motors, the repositioning mechanism 4 can achieve multiple degrees of freedom in position and posture adjustment in space, and accurately move the bone-holding claw to the clamping position and angle required for the fracture end.

[0032] Please see Figure 4An adjustable automatic bone-holding and repositioning device for trauma orthopedics includes a repositioning mechanism 4 comprising a first bone-holding claw 41, a servo motor 42, a connecting plate 43, a gear 44, a gear arm 45, a gear arm 46, a connecting rod 47, a connecting rod 48, a second bone-holding claw 49, a force-sensing module 410, a connecting rod 411, a connecting piece 412, and a connecting rod 413. The end of the arm 313 is connected to the connecting piece 412, and the connecting piece 412 is located on the connecting plate. On the side of plate 43, a servo motor 42 is fixedly mounted on the connecting plate 43. The output shaft of the servo motor 42 is connected to a gear 44. Gear arm 45 and gear arm 46 are respectively meshed on the upper and lower sides of gear 44. Gear arm 45 is hinged to one end of the second bone-holding claw 49 via a connecting rod 413, and gear arm 45 is connected to the connecting rod 413 via a connecting shaft. Gear arm 46 is hinged to one end of the first bone-holding claw 41 via a connecting rod 411. Gear arm 2 46 is connected to connecting rod 3 411 via connecting shaft. The upper and lower sides of the middle part of the second bone-holding claw 49 are hinged to the connecting plate 43 via two connecting rods 1 47. The upper and lower sides of the middle part of the first bone-holding claw 41 are hinged to the connecting plate 43 via two connecting rods 2 48. Force sensing module 410 is provided on the clamping surface of the first bone-holding claw 41 and the second bone-holding claw 49. Force sensing module 410 is electrically connected to controller 2. The clamping surface of the first bone-holding claw 41 and the second bone-holding claw 49 is an arc-shaped structure. An anti-slip pad is provided on the inner side of the arc-shaped structure. Force sensing module 410 is a thin film pressure sensor. The thin film pressure sensor is embedded in the clamping surface of the first bone-holding claw 41 and the second bone-holding claw 49. Its signal output terminal is electrically connected to the signal input terminal of controller 2. When the servo motor 42 drives the gear 44 to rotate clockwise, the gear 44 drives the upper gear arm 1 45 to move to the left and the lower gear arm 2 46 to move to the right. Gear arm 45 pushes the upper end of the second bone-holding claw 49 to the right via connecting rod 413. Since the middle part of the second bone-holding claw 49 is hinged to the connecting plate 43 via connecting rod 47, the lower clamping end of the second bone-holding claw 49 swings to the left. At the same time, gear arm 46 pushes the upper end of the first bone-holding claw 41 to the left via connecting rod 411. Since the middle part of the first bone-holding claw 41 is hinged to the connecting plate 43 via connecting rod 48, the lower end (clamping end) of the first bone-holding claw 41 swings to the right. Thus, the clamping ends of the first bone-holding claw 41 and the second bone-holding claw 49 move closer to each other to clamp the bone. Conversely, when the servo motor 42 drives the gear 44 to rotate counterclockwise, the clamping ends of the first bone-holding claw 41 and the second bone-holding claw 49 move further apart to release the bone. The clamping surfaces of the first bone-holding claw 41 and the second bone-holding claw 49 are arc-shaped, and the inner side of the arc-shaped structure is provided with an anti-slip pad layer, which can better fit the bone surface of different shapes and sizes and prevent the bone from slipping during the clamping process.A force sensing module 410 is embedded on the clamping surface. The force sensing module 410 is a thin-film pressure sensor. Its signal output terminal is electrically connected to the signal input terminal of the controller 2, which detects the clamping force in real time and transmits the signal to the controller 2.

[0033] Please see Figure 1-4 An adjustable automatic bone-holding and reduction device for trauma orthopedics is disclosed. The controller 2 is electrically connected to drive motor 34, drive motor 37, drive motor 39, drive motor 311, drive motor 312, servo motor 42, and force sensing module 410. The controller 2 is equipped with a display screen and an operation panel. The display screen shows the clamping force value and the operating status of each drive motor in real time. The operation panel is used to set the clamping force threshold and control the movement of each drive motor. The controller 2 receives feedback signals from the force sensing module 410 and controls the start, stop, and forward / reverse rotation of the servo motor 42 according to the preset clamping force threshold. The controller 2 is electrically connected to drive motor 34, drive motor 37, drive motor 39, drive motor 311, drive motor 312, servo motor 42, and force sensing module 410. The controller 2 is equipped with a display screen and an operation panel. The display screen shows the clamping force value and the operating status of each drive motor in real time. The operation panel is used to set the clamping force threshold and control the movement of each drive motor.

[0034] During the surgical procedure, the surgeon first sets the required clamping force threshold using the control panel. Then, by controlling the movement of drive motors 34 to 312 via the control panel, the reduction mechanism 4 is moved to the target position at the fracture site. Next, servo motor 42 is activated, causing the first and second bone-holding claws 41 and 49 to gradually close and clamp the bone. During clamping, the force sensing module 410 detects the clamping force in real time and feeds the signal back to the controller 2. When the clamping force reaches the preset threshold, the controller 2 automatically stops the servo motor 42, maintaining the clamping force within the set safe range and preventing excessive clamping force from damaging bone tissue. The surgeon can observe the changes in the clamping force value in real time on the display screen to ensure the safety and controllability of the clamping process. After completing the fracture reduction and internal fixation, the surgeon controls the servo motor 42 to rotate in the opposite direction via the control panel, causing the bone-holding claws to open and release the clamp on the bone.

[0035] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0036] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0037] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An adjustable automatic bone-holding and repositioning device for trauma orthopedics, characterized in that, include: The system comprises a support mechanism (1), a controller (2), and an adjustment mechanism (3). The top of the support mechanism (1) is connected to the adjustment mechanism (3), and the end of the adjustment mechanism (3) is connected to a reset mechanism (4). The support mechanism (1) includes a support frame (11), with casters (12) and hydraulic outriggers (13) at the bottom and a mounting plate (14) at the top. The adjustment mechanism (3) includes a base (31), a connector (32), a motor support (33), a drive motor (34), a top plate (35), and a movable slot plate (36). Drive motor 2 (37), connecting arm 1 (38), drive motor 3 (39), connecting arm 2 (310), drive motor 4 (311), drive motor 5 (312), support arm (313) and connecting arm 3 (314); the base (31) is fixedly installed on the mounting plate (14) by the connector (32), and the inner bottom surface of the base (31) is connected to the motor support (33); the drive motor 1 (34) is vertically set in the motor support (33), and its output shaft is fixedly connected to the top plate (35); a movable slot plate (36) is fixedly connected above the top plate (35), so The outer wall of the movable slot plate (36) is provided with a second drive motor (37), the output shaft of the second drive motor (37) is fixedly connected to one end of the first connecting arm (38); the other end of the first connecting arm (38) is hinged to one end of the second connecting arm (310) through a third drive motor (39), the other end of the second connecting arm (310) is hinged to one end of the support arm (313) through a fourth drive motor (311), and the other end of the support arm (313) is hinged to one end of the third connecting arm (314) through a fifth drive motor (312); the reset mechanism (4) includes a first bone-holding claw (41), a servo... Motor (42), connecting plate (43), gear (44), gear arm one (45), gear arm two (46), connecting rod one (47), connecting rod two (48), second bone-holding claw (49), force sensing module (410), connecting rod three (411), connecting piece two (412) and connecting rod four (413); the end of the arm (313) is connected to the connecting piece two (412), and the connecting piece two (412) is located on the side of the connecting plate (43). A servo motor (42) is fixedly installed on the connecting plate (43), and the output shaft of the servo motor (42) is connected to the gear (44).The gear (44) has gear arm 1 (45) and gear arm 2 (46) meshing on its upper and lower sides, respectively. Gear arm 1 (45) is hinged to one end of the second bone-holding claw (49) via connecting rod 4 (413), and gear arm 1 (45) is connected to connecting rod 4 (413) via a connecting shaft. Gear arm 2 (46) is hinged to one end of the first bone-holding claw (41) via connecting rod 3 (411), and gear arm 2 (46) is connected to connecting rod 3 (411) via a connecting shaft. The middle part of the second bone-holding claw (49) is connected to the connecting plate (41) on both the upper and lower sides via two connecting rods 1 (47). 43) Hinged: The upper and lower sides of the middle part of the first bone-holding claw (41) are hinged to the connecting plate (43) through two connecting rods (48). A force sensing module (410) is provided on the clamping surface of the first bone-holding claw (41) and the second bone-holding claw (49). The force sensing module (410) is electrically connected to the controller (2). The controller (2) is electrically connected to the first drive motor (34), the second drive motor (37), the third drive motor (39), the fourth drive motor (311), the fifth drive motor (312), the servo motor (42), and the force sensing module (410).

2. The adjustable automatic bone-holding and repositioning device for trauma orthopedics according to claim 1, characterized in that, The caster wheel (12) is equipped with a locking mechanism, and the hydraulic outrigger (13) is equipped with an independent hydraulic control valve.

3. The adjustable automatic bone-holding and repositioning device for trauma orthopedics according to claim 1, characterized in that, The clamping surfaces of the first bone-holding claw (41) and the second bone-holding claw (49) are arc-shaped structures, and an anti-slip pad layer is provided on the inner side of the arc-shaped structure.

4. The adjustable automatic bone-holding and repositioning device for trauma orthopedics according to claim 1, characterized in that, The force sensing module (410) is a thin-film pressure sensor. The thin-film pressure sensor is embedded in the clamping surfaces of the first bone-holding claw (41) and the second bone-holding claw (49). Its signal output terminal is electrically connected to the signal input terminal of the controller (2).

5. The adjustable automatic bone-holding and reduction device for trauma orthopedics according to claim 1, characterized in that, The controller (2) is equipped with a display screen and an operation panel. The display screen is used to display the clamping force value and the operating status of each drive motor in real time. The operation panel is used to set the clamping force threshold and control the movement of each drive motor.

6. The adjustable automatic bone-holding and repositioning device for trauma orthopedics according to claim 1, characterized in that, The support frame (11) is provided with a push-pull handle, which is fixedly installed on one side of the support frame (11).

7. The adjustable automatic bone-holding and repositioning device for trauma orthopedics according to claim 1, characterized in that, The controller (2) is used to receive feedback signals from the force sensing module (410) and control the start, stop and forward / reverse rotation of the servo motor (42) according to the preset clamping force threshold.

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