Automatic control type shoulder joint traction frame with cooperative cooperation of mechanical arm and sliding table

Abstract

The utility model provides an automatic control type shoulder joint traction frame with a mechanical arm and a sliding table cooperatively matched. The traction frame is characterized by comprising a fixing support used for fixing the traction frame beside an operating bed, a rotating mechanism composed of a first servo motor and a first speed reducer is arranged at the upper end of the fixing support, a front-back moving sliding table is arranged above the rotating mechanism, and a lifting sliding table is arranged on a sliding table body of the front-back moving sliding table; a mechanical arm composed of three joint modules is arranged at the tail end of a guide rail of the lifting sliding table, and a hand support is arranged below the mechanical arm and used for supporting the arm of a patient. The shoulder joint traction frame is novel in that through cooperation of the rotating mechanism, the sliding table and the mechanical arm, traction stability of the traction frame is achieved, and the requirement that the shoulder joint can be adjusted at any angle in an operation is met; in the aspect of control, a path program is written through programming software and carried on control hardware, control is carried out through remote control or a PC terminal, accurate control over the position and the traction force is achieved, and flexible automatic adjustment is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a novel automatic control shoulder joint traction frame which integrates a rotating mechanism, a sliding platform and a mechanical arm in coordination. Background Art

[0002] The shoulder joint is the joint with the largest range of motion and the most flexible in the human body. It is mainly maintained stable by the surrounding muscles and ligaments and is the most unstable joint in the human body. Therefore, it is easy to be damaged when subjected to external forces. In addition, there are a large number of important nerves and blood vessels around the shoulder joint. If you are not careful during surgery, the possibility of damaging the patient's soft tissues and important blood vessels and nerves will increase.

[0003] Therefore, there are strict requirements for limb stability and surgical field exposure during surgery. Traditional treatment plans require doctor assistants to support the patient's arm to achieve the effect of limb stability and surgical field exposure, which easily causes a lot of manpower consumption, poor traction sustainability, and artificial swing traction that easily causes infection during surgery. In addition, there are blind spots in the human visual range. For areas with special angles and the position of the operating table, it is difficult for manpower to maintain long-term stable traction. At present, there are certain limitations in the adjustable direction and angle of the existing traction frame, and the traction frame uses mechanical traction force to perform traction work, lacks flexible adjustment, and the arm muscles are in a traction state for a long time, increasing the probability of muscle nerve damage. In addition, the area of ​​the traction frame that the hand contacts during adjustment is large, which may cause contamination to the traction frame and cannot guarantee the sterile environment of the operation.

[0004] Therefore, it is necessary to design a shoulder joint traction frame that is stable in traction, adjustable at any angle during surgery, simple to operate, and flexible and automatically adjustable to solve the above clinical problems. Utility Model Content

[0005] The technical problem solved by the utility model is to provide a shoulder joint traction frame which has the advantages of stable traction, adjustable angle at any time during surgery, simple operation and flexible automatic adjustment.

[0006] To solve the above technical problems, the utility model provides an automatic control shoulder joint traction frame in which a mechanical arm and a slide cooperate with each other, including: a fixed bracket; a support protective cover, the support protective cover is installed on the top of the fixed bracket; a first servo motor, the first servo motor is inside the support protective cover and is installed on the first reducer; a first reducer, the first reducer is installed below the top of the support protective cover; an ordinary flat key, the ordinary flat key is used to connect the first servo motor with the first reducer; a bracket connecting piece, the bracket connecting piece is installed on the top of the first reducer; a support platform, the support platform is installed on the top of the bracket connecting piece; a forward and backward moving slide, the forward and backward moving slide is installed on the top of the support platform; a lifting slide, the lifting slide is installed on the slide of the forward and backward moving slide; a first mechanical arm connecting piece, The first robotic arm connecting part is installed at the bottom of the guide rail of the lifting slide; the robotic arm protective cover, the robotic arm protective cover is installed at the bottom of the first robotic arm connecting part; the straight-cylindrical joint module, the straight-cylindrical joint module is installed at the bottom end of the inner part of the robotic arm protective cover; the second robotic arm connecting part, the second robotic arm connecting part is installed at the bottom of the straight-cylindrical joint module; the first T-type joint module, the first T-type joint module is installed at the bottom of the second robotic arm connecting part; the third robotic arm connecting part, the third robotic arm connecting part is installed on the left side of the first T-type joint module; the second T-type joint module, the second T-type joint module is installed on the left side of the third robotic arm connecting part; the fourth robotic arm connecting part, the fourth robotic arm connecting part is installed at the bottom of the second T-type joint module; the hand rest, the hand rest is installed at the bottom of the fourth robotic arm connecting part.

[0007] Preferably, the fixed bracket has 12 threaded holes at the bottom end for installing the traction frame on the side of the operating bed, and has a small through hole at the lower end for the power cord and control circuit to enter the interface between the first servo motor and the first reducer, thereby simplifying the circuit.

[0008] Preferably, the support protective cover has a plurality of small through holes on the side for heat dissipation of the first servo motor, and a slightly larger hole on the side is used for the power line and the control line to enter the interface between the forward and backward moving slide and the lifting slide.

[0009] Preferably, the first servo motor and the first reducer are connected via the common flat key.

[0010] Preferably, the forward and backward moving slide is a gear rack slide, including a left and right moving gear rack, a second servo motor, a second reducer, and a first travel switch, which can achieve precise control of left and right movement.

[0011] Preferably, the lifting slide is a gear rack slide, including an ascending gear rack, a third servo motor, a third reducer, and a second travel switch. The guide rail is not closed on the side of the third servo motor to achieve the engagement of the ascending gear rack, thereby achieving precise control of the up and down movement.

[0012] Preferably, the straight-cylindrical joint module, the first T-shaped joint module, and the second T-shaped joint module are equipped with a communication port, a brake, a torque sensor, a high-precision multi-turn absolute encoder, and are hollow inside, so that the circuits are not exposed, thereby ensuring the simplicity of the circuits and avoiding interference with surgical operations due to exposed circuits.

[0013] Preferably, the hand rest is made of rubber material, which can reduce the weight of the distal end and has flexibility to adapt to arms of different sizes.

[0014] Compared with the related art, the utility model provides a shoulder joint traction frame with stable traction, adjustable angles during surgery, simple operation and flexible automatic adjustment. It has the following beneficial effects:

[0015] The utility model provides an automatic control shoulder joint traction frame in which a mechanical arm and a slide cooperate with each other:

[0016] 1. By controlling the first servo motor to adjust the first reducer, the traction frame can be rotated left and right; the slide table can be moved forward and backward to realize the horizontal movement of the hand rest; the slide table can be lifted to realize the up and down movement of the hand rest; the first three movements cooperate with the mechanical arm to realize the range of motion of the normal shoulder joint, including abduction, flexion-extension, internal rotation-external rotation, flexion-extension in the horizontal direction, etc., which meets the range of motion of the shoulder joint required by the operation; by using the coordinated traction of the mechanical arm, the slide table and the rotating mechanism, the traction is stable and can be adjusted to any angle during the operation, which solves the problem that the adjustment direction and angle of the existing traction frame have certain limitations and reduces the workload of medical staff.

[0017] 2. The first servo motor, the servo motors of the forward and backward moving slide and the lifting slide, and the joint module used by the robotic arm can all be controlled by pulses. The path program is written through programming software, mounted on the control hardware, and the position and traction force are controlled by remote control or PC. When the hand rest reaches the required position, the state is locked; it realizes precise control of any angle and traction force, and achieves flexible automatic adjustment to prevent the arm muscles from being in a traction state for a long time, which increases the probability of muscle nerve damage. In addition, it avoids the situation where the hand contacts a large area of ​​the traction frame during adjustment, which may cause contamination to the traction frame and fail to ensure the sterile environment for the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1The utility model provides an automatic control shoulder joint traction frame with a mechanical arm and a slide table in cooperation with each other

[0019] Structural diagram;

[0020] Figure 2 for Figure 1 An enlarged structural diagram of part A shown in FIG.

[0021] Figure 3 for Figure 1 An enlarged schematic diagram of the structure of part B shown in FIG.

[0022] Figure 4 for Figure 1 An enlarged schematic diagram of the structure of part C shown in FIG.

[0023] Figure 5 This is a schematic diagram of the realization of the general traction angle of the shoulder joint by the traction frame, as well as the flexion and extension, internal rotation and external rotation, and horizontal flexion and extension of the shoulder joint.

[0024] Numbers in the figure: 1. Fixed bracket; 2. Support protective cover; 3. First servo motor; 4. Ordinary flat key; 5. First reducer; 6. Bracket connector; 7. Support platform; 8. Forward and backward moving slide; 81. Left and right moving gear rack; 82. Second servo motor; 83. Second reducer; 84. First travel switch; 9. Lifting slide; 91. Rising gear rack; 92. Third servo motor; 93. Third reducer; 94. Second travel switch; 10. First robot arm connector; 11. Robot arm protective cover; 12. Straight-tube joint module; 13. Second robot arm connector; 14. First T-type joint module; 15. Third robot arm connector; 16. Second T-type joint module; 17. Fourth robot arm connector; 18. Hand rest. DETAILED DESCRIPTION

[0025] The utility model is further described below in conjunction with the accompanying drawings and implementation modes.

[0026] Please refer to Figure 1-5 ,in, Figure 1 A schematic diagram of the structure of an automatic control shoulder joint traction frame in which a mechanical arm and a slide cooperate with each other provided by the utility model; Figure 2 for Figure 1 The enlarged structural diagram of part A shown in FIG. 1 is mainly a rotating mechanism composed of a first servo motor 3 and a first reducer 5; Figure 3 for Figure 1 The enlarged structural diagram of part B shown in FIG. 1 mainly shows that the forward and backward moving slide 8 is installed on the supporting platform 7 using screws; Figure 4 for Figure 1 The enlarged structural diagram of part C shown in FIG. 1 is mainly a robotic arm composed of three joint modules; Figure 5 The schematic diagram is for realizing the general traction angle of the shoulder joint by the traction frame, as well as the flexion-extension, internal rotation and external rotation, and horizontal flexion-extension of the shoulder joint. The automatic control shoulder joint traction frame in which the mechanical arm cooperates with the slide comprises: a fixed bracket 1; a support shield 2, the support shield 2 is fixedly mounted on the top of the fixed bracket 1; a first servo motor 3, the first servo motor 3 is inside the support shield 2 and mounted on the first reducer 5; a first reducer 5, the first reducer 5 is mounted below the top of the support shield 2; an ordinary flat key 4, the ordinary flat key 4 is used for connecting the first servo motor 3 with the first reducer 5; a bracket connector 6, the bracket connector 6 is mounted on the top of the first reducer 5; a support platform 7, the support platform 7 is mounted on the top of the bracket connector 6; a forward and backward moving slide 8, the forward and backward moving slide 8 is mounted on the top of the support platform 7; a lifting slide 9, the lifting slide 9 is mounted on the slide of the forward and backward moving slide 8; a first mechanical arm connector 10, the first mechanical arm connector 10 is mounted on the lifting slide The bottom of the guide rail of the slide 9; a robot arm protective cover 11, the robot arm protective cover 11 is installed at the bottom of the first robot arm connecting piece 10; a straight-cylindrical joint module 12, the straight-cylindrical joint module 12 is installed at the bottom end of the inside of the robot arm protective cover 11; a second robot arm connecting piece 13, the second robot arm connecting piece 13 is installed at the bottom of the straight-cylindrical joint module 12; a first T-shaped joint module 14, the first T-shaped joint module 14 is installed at the bottom of the second robot arm connecting piece 13; a third robot arm connecting piece 15, the third robot arm connecting piece 15 is installed on the left side of the first T-shaped joint module 14; a second T-shaped joint module 16, the second T-shaped joint module 16 is installed on the left side of the third robot arm connecting piece 15; a fourth robot arm connecting piece 17, the fourth robot arm connecting piece 17 is installed at the bottom of the second T-shaped joint module 16; a hand rest 18, the hand rest 18 is installed at the bottom of the fourth robot arm connecting piece 17.

[0027] The fixing bracket 1 has 12 threaded holes at the bottom end for installing the traction frame on the side of the operating bed. The threaded holes connected to the ground can be covered with a cover flush with the ground, which can be opened and bolted in when the traction frame is needed. The fixing bracket 1 has a small through hole at the lower end for the power cord and the control circuit to enter the interface between the first servo motor 3 and the first reducer 5, thereby simplifying the circuit.

[0028] The supporting protective cover 2 has a plurality of small through holes on the side for heat dissipation of the first servo motor 3, and a slightly larger hole on the side is used for the power line and the control line to enter the interface between the forward and backward moving slide 8 and the lifting slide 9.

[0029] The first servo motor 3 and the reducer 5 are connected via a common flat key 4 .

[0030] The forward and backward moving slide 8 is a gear rack slide, including a left and right moving gear rack 81, a second servo motor 82, a second reducer 83, and a first travel switch 84; precise control of left and right movement can be achieved.

[0031] The lifting slide 9 is a gear rack slide, including an ascending gear rack 91, a third servo motor 92, a third reducer 93, and a second travel switch 94; the guide rail is not closed on the servo motor 92 side to achieve the meshing of the gear rack, thereby achieving precise control of the up and down movement.

[0032] The straight-cylindrical joint module 12, the first T-shaped joint module 14, and the second T-shaped joint module 16 all have high precision, and are internally equipped with communication ports, brakes, torque sensors, and high-precision multi-turn absolute encoders. The interior is hollow, so the circuits are not exposed, ensuring the simplicity of the circuits and avoiding interference with surgical operations due to exposed circuits.

[0033] The hand rest 18 is made of rubber material, which can reduce the weight of the distal end and is flexible enough to adapt to arms of different sizes.

[0034] The working principle of the automatic control shoulder joint traction frame with coordinated cooperation of the mechanical arm and the slide provided by the utility model is as follows:

[0035] When in use, 2-3 people install the traction frame on the side of the operating table with screw holes; the first servo motor 3 used by the traction frame, the motors of the front and rear moving slide 8 and the lifting slide 9, and the straight-tube joint module 12, the first T-shaped joint module 14, and the second T-shaped joint module 16 used by the robot arm can all be controlled by pulses, and their path programs are pre-programmed through programming software, which is mounted on the control hardware. The rotating mechanism composed of the first servo motor 3 and the first reducer 5 and the front and rear moving slide 9 are controlled by remote control or PC to achieve the left and right movement of the end hand support 18; the front and rear moving slide 8 is controlled separately to achieve the end hand The hand support 18 can be moved forward and backward; in addition, the lifting slide 9 can be controlled separately to realize the up and down movement of the end hand support 18; the coordination of the three movements can realize the movement of the hand support 18 in three-dimensional space, and the mechanical arm composed of the straight-tube joint module 12, the first T-type joint module 14, and the second T-type joint module 16 can more accurately control the position; when the hand support 18 is controlled to reach the required position, the state is locked; then the patient's arm and the hand support 18 are tied together with gauze to achieve support; if fine-tuning is required during the operation, remote control or PC can be used for fine-tuning, so as to achieve any adjustable angle during the operation. In addition, the torque feedback from the torque sensor in the straight-tube joint module 12, the first T-type joint module 14, and the second T-type joint module 16 in the mechanical arm can realize accurate control of the traction force and achieve flexible automatic adjustment.

[0036] Compared with the related art, the shoulder joint traction frame provided by the utility model has the following beneficial effects:

[0037] The range of motion of the shoulder joint is achieved by the rotation of the traction frame as a whole, the horizontal movement of the forward and backward moving slide 8, the up and down movement of the lifting slide 9 and the mechanical arm composed of three modules. Figure 5 , including general surgical support angles, external flexion-extension, internal rotation-external rotation, horizontal flexion-extension and other movements, which meet the shoulder joint range of motion required by the operation; by using the coordinated traction of the robotic arm, slide and rotating mechanism, the traction is stable and meets the adjustment range of the shoulder joint in any operation, solving the problem of certain limitations in the adjustment direction and angle of the existing traction frame and reducing the workload of medical staff.

[0038] The first servo motor 3 used by the traction frame, the motors of the forward and backward moving slide 8 and the lifting slide 9, and the joint module used by the robotic arm can all be controlled by pulses. The path program is written through programming software, which is mounted on the control hardware. The position and traction force are controlled by remote control or PC to achieve precise control of any angle. The torque sensor in the robotic arm can intuitively see the size of the traction force, achieve flexible automatic adjustment, prevent the arm muscles from being in a traction state for a long time, and increase the probability of muscle nerve damage. In addition, it avoids the situation where the hand contacts a large area of ​​the traction frame during adjustment, which may cause contamination to the traction frame and fail to ensure a sterile environment for surgery.

[0039] What needs to be explained in this design is that the structure of the traction frame and the main drawings of the utility model describe the principles of the utility model, among which the principles and specific models of the front and rear moving slide 8, the lifting slide 9, and the joint module of the robotic arm are not clearly described; in addition, the design of the control system is not described in detail; and technical personnel in related fields can clearly understand the corresponding relevant principle descriptions on the premise of understanding the principles of the above-mentioned utility model.

[0040] The above description is only a preferred embodiment of the present utility model application, and does not limit the patent scope of the present utility model. Therefore, all equivalent structures, principles or equivalent process changes made using the contents of the present utility model specification and drawings should be covered within the protection scope of the present application.

Claims

1. The automatic control shoulder joint traction frame with coordinated cooperation between the mechanical arm and the slide table is characterized by: It includes a fixed bracket, a support protective cover, a first servo motor, a first reducer, a common flat key, a bracket connector, a support platform, a forward and backward moving slide, a lifting slide, a first mechanical arm connector, a mechanical arm protective cover, a straight-cylinder joint module, a second mechanical arm connector, a first T-shaped joint module, a third mechanical arm connector, a second T-shaped joint module, a fourth mechanical arm connector, and a hand rest. The support protective cover is fixedly installed on the top of the fixed bracket, the first servo motor is located inside the support protective cover and is installed on the first reducer, the first reducer is installed below the top of the support protective cover, the common flat key is used for connecting the first servo motor with the first reducer, the bracket connector is installed on the top of the first reducer, and the support platform is installed on the top of the bracket connector The forward and backward movable slide is installed on the top of the supporting platform, the lifting slide is installed on the slide of the forward and backward movable slide, the first mechanical arm connecting part is installed at the bottom of the guide rail of the lifting slide, the mechanical arm protective cover is installed at the bottom of the first mechanical arm connecting part, the straight-cylindrical joint module is installed at the bottom end inside the mechanical arm protective cover, the second mechanical arm connecting part is installed at the bottom of the straight-cylindrical joint module, the first T-shaped joint module is installed at the bottom of the second mechanical arm connecting part, the third mechanical arm connecting part is installed on the left side of the first T-shaped joint module, the second T-shaped joint module is installed on the left side of the third mechanical arm connecting part, the fourth mechanical arm connecting part is installed at the bottom of the second T-shaped joint module, and the hand rest is installed at the bottom of the fourth mechanical arm connecting part.

2. The automatic control shoulder joint traction frame with coordinated cooperation between the mechanical arm and the slide according to claim 1 is characterized in that: The bottom end of the fixed bracket has 12 threaded holes for mounting the traction frame on the side of the operating bed, and the lower end has a small through hole for the power cord and the control line to enter the interface between the first servo motor and the first reducer.

3. The automatic control shoulder joint traction frame with coordinated cooperation between the mechanical arm and the slide according to claim 1 is characterized in that: The side of the support shield is provided with a plurality of small through holes for heat dissipation of the first servo motor, and a slightly larger hole on the side is used for the power line and the control line to enter the interface between the forward and backward moving slide and the lifting slide.

4. The automatic control shoulder joint traction frame with coordinated cooperation between the mechanical arm and the slide according to claim 1 is characterized in that: The first servo motor and the first reducer form the rotating mechanism of the traction frame, the front and rear moving slide is the left and right moving mechanism of the traction frame, and the lifting slide is the up and down moving mechanism of the traction frame. The first three mechanisms cooperate with the robotic arm to move in coordination.

Images