In-vivo bone moving system based on servo electric cylinder

Abstract

The utility model belongs to the technical field of medical instruments, and particularly discloses an in-vivo bone moving system based on a servo electric cylinder, which comprises an inner fixing component, the servo electric cylinder and a control system. The inner fixing assembly comprises two same cylindrical rods, the front portions and the rear portions of the two cylindrical rods are symmetrically sleeved with fixing clamping bases, and the cylindrical rods between the two fixing clamping bases are sleeved with moving bases. A clamping groove is formed in the fixing clamping base, located on the front side of the cylindrical rod, of the two fixing clamping bases, and a servo electric cylinder is installed on the fixing clamping base and connected with the moving base in a clamped mode. The control system comprises a sensor installed in the servo electric cylinder and a controller connected with the servo electric cylinder through an external wire. The device can be fixed on an in-vivo skeleton of a patient, and a free bone section is fixed with the moving seat, so that the free bone section can linearly move along with the moving seat, and the operation of a moving operation is facilitated; the servo electric cylinder is controlled by the controller to push the moving seat, and the free bone segment is moved more accurately by utilizing the high-precision characteristic of the servo electric cylinder and the monitoring of the sensor.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of medical apparatus and instruments, and particularly relates to an in-vivo bone moving system based on a servo electric cylinder. BACKGROUND

[0002] The bone moving technology is the most effective method for treating the difficult "fracture diseases" such as bone defect, bone nonunion, bone infection and knee joint stiffness in the clinic, and the bone moving makes the previous treatment process of the above-mentioned cases simple and easy. The bone moving can also treat the patients with bone defect, bone nonunion, bone infection, bone shortening and foot drop and other multiple complications.

[0003] The bone moving technology at the present stage cuts off the bone at the proximal end or distal end of the bone defect site, and gradually moves the cut-off free bone segment to the bone defect site by using a specially-made external fixation frame. New bone tissue is formed on the trace of the cut-off free bone segment, and the bone defect site is repaired.

[0004] However, the traditional bone moving method usually relies on external fixation or manual adjustment device, and these methods have the disadvantages of low precision, strong patient discomfort and complex operation mode, and require high professional level of the medical personnel performing the operation, and the operation process is very complicated, and the mental exhaustion of the patient is also large. UTILITY MODEL CONTENT

[0005] In order to solve the above problems, the utility model provides an in-vivo bone moving system based on a servo electric cylinder. The proximal end and the distal end of the bone defect site of the patient are fixed by using the fixed mode of the internal fixation assembly in the body, while the free bone segment is kept movable, and the servo electric cylinder installed on the fixed support is used to accurately linearly push the free bone segment that needs to be moved. The servo controller and the sensor are used to cooperate and control, so as to improve the stability and accuracy of the moved bone segment.

[0006] In order to realize the technical purpose in the above content, the utility model is realized by the following technical scheme: the in-vivo bone moving system based on a servo electric cylinder, which comprises an internal fixation assembly, a servo electric cylinder and a control system.

[0007] The internal fixation assembly comprises two identical cylindrical rods, the two cylindrical rods are symmetrically sleeved with fixed clamping seats in front and back, vertical through first fixing holes are formed in the fixed clamping seats, the first bone nail holes cooperate with the bone screws to fix the fixed clamping seats at the two ends of the bone defect of the patient, the cylindrical rods between the two fixed clamping seats are sleeved with a moving seat, vertical through second fixing holes are formed in the moving seat, and the second fixing holes cooperate with the bone screws to fix the moving seat and the free bone segment that needs to be moved.

[0008] The fixing clamp seat located on the front side of the cylindrical rod is provided with a clamping groove, a servo cylinder is installed in the clamping groove, and the piston rod of the servo cylinder moves in the rear direction and is parallel to the axis of the cylindrical rod.

[0009] The control system comprises a sensor installed in the servo cylinder, and a controller connected with the servo cylinder through external wires.

[0010] Further, the left and right sides of the fixing clamp seat are sleeved with the cylindrical rod through semicircular clamping edges, the top of the semicircular clamping edge is provided with a threaded hole, and a positioning screw is installed in the threaded hole, so that the tightness of the sleeve connection between the fixing clamp seat and the cylindrical rod can be controlled through the positioning screw, the fixing clamp seat can be adjusted, and the cylindrical rod and the fixing clamp seat can be fixed with each other to prevent loosening of the cylindrical rod during moving.

[0011] Further, the clamping groove is communicated with the first fixing hole, and a fixing screw is installed in the clamping groove, so that the servo cylinder can be fixed in the clamping groove through the fixing screw to prevent loosening of the servo cylinder.

[0012] Further, the left and right sides of the moving seat are provided with sleeve holes penetrating through the front and back, and the sleeve holes are sleeved with the cylindrical rod to enable the moving seat to slide freely on the cylindrical rod.

[0013] Further, the front end of the moving seat is provided with a clamping hole parallel to the axis of the cylindrical rod, and the inner diameter of the clamping hole is greater than the diameter of the piston rod of the servo cylinder.

[0014] Further, a vertical hole is provided above the clamping hole of the moving seat and a pin is installed in the vertical hole, and a connecting hole is provided at the end of the piston rod of the servo motor, so that the clamping hole of the moving seat and the connecting hole can be clamped and fixed through the pin, and the moving seat can be moved when the piston rod of the servo cylinder moves.

[0015] Further, the sensor comprises a distance sensor installed in the servo cylinder close to one end of the piston rod, and a pressure sensor at the end of the servo cylinder in contact with the clamping groove, so that the data of the servo cylinder when pushing the moving seat can be accurately obtained through the distance sensor and the pressure sensor, and fed back to the controller through external wires.

[0016] Further, the controller is responsible for receiving and processing data from the sensor, and automatically adjusting the servo cylinder according to the data fed back by the sensor, or adjusting the motion parameters of the servo cylinder according to the doctor's instruction.

[0017] Further, the servo cylinder is connected with an external power supply through external wires, so as to provide stable power supply for the whole system and ensure that the system can work for a long time.

[0018] Further, the two ends of the cylindrical rod are sleeved with anti-off sleeves through threads, preventing the fixed clamp seat and the moving seat from being separated from the cylindrical rod during adjustment, and facilitating surgical operation.

[0019] The utility model discloses the beneficial effect of:

[0020] 1. The utility model discloses a cooperation of internal fixation assembly and bone screw can fix the fixed clamp seat and cylindrical rod on the patient's body skeleton, and the free bone segment needing moving is fixed with moving seat, makes it can linear motion with moving seat on the cylindrical rod, convenient for the operation of moving operation;

[0021] 2. the controller is used to control servo cylinder to move the moving seat, makes the moving seat drive the free bone segment needing moving to move gradually, and according to the data of sensor feedback, servo cylinder is adjusted automatically, or according to the instruction of doctor, the movement parameter of servo cylinder is adjusted, utilizes the high accuracy characteristic of servo cylinder and the monitoring of sensor to make the free bone segment move more accurately, reduces artificial error, and improves treatment effect. DRAWINGS

[0022] In order to more clearly illustrate the technical scheme of the embodiment of the utility model, the following briefly introduces the drawing needed to be used in the embodiment.

[0023] Fig. 1 It is the whole schematic diagram of the utility model embodiment 1;

[0024] Fig. 2 It is the fixed clamp seat structure schematic diagram in the utility model embodiment 1;

[0025] Fig. 3 It is the servo cylinder structure schematic diagram in the utility model embodiment 1;

[0026] Fig. 4 It is the structure schematic diagram of moving seat in the utility model embodiment 1.

[0027] The structure name represented by each mark in the drawing is:

[0028] 1-cylindrical rod, 101-anti-off sleeve, 2-fixed clamp seat, 201-first fixed hole, 202-positioning screw, 203-semicircular clamping edge, 204-clamping groove, 3-moving seat, 301-second fixed hole, 302-sleeve hole, 303-clamping hole, 304-pintle, 4-fixed screw, 5-servo cylinder, 501-external lead, 502-piston rod, 503-connection hole, 6-controller. CONCRETE IMPLEMENTATION

[0029] The utility model will be in detail below combining with the drawings and specific embodiment, obviously, the described embodiment is only part of the utility model, is not all the embodiment.

[0030] Embodiment 1

[0031] Referring to Figs. 1 to 4 As shown in the figure, and according to the content of the present specification, the in-vivo bone moving system based on servo cylinder 5 is proposed, including internal fixation assembly, servo cylinder 5, control system:

[0032] The internal fixation assembly includes two identical cylindrical rods 1, and the two cylindrical rods 1 are symmetrically sleeved with fixed clamping seats 2 in front and back, the fixed clamping seats 2 are each provided with a vertical first fixing hole 201, and the left and right sides of the fixed clamping seat 2 are sleeved with the cylindrical rod 1 through a semicircular clamping edge 203, a threaded hole is formed in the top of the semicircular clamping edge 203 and a positioning screw 202 is installed in the threaded hole, and the tightness of the sleeve connection of the fixed clamping seat 2 and the cylindrical rod 1 can be controlled through the positioning screw 202, so as to facilitate the adjustment of the fixed clamping seat 2 and the mutual fixation of the cylindrical rod 1 and the fixed clamping seat 2, and prevent the cylindrical rod 1 from loosening during the moving process. Threaded sleeves 101 are sleeved on the two ends of the cylindrical rod 1, so as to prevent the fixed clamping seat 2 and the moving seat 3 from being separated from the cylindrical rod 1 during adjustment, and facilitate surgical operation.

[0033] The cylindrical rod 1 between the two fixed clamping seats 2 is sleeved with a moving seat 3, the left and right sides of the moving seat 3 are provided with front and back through holes 302, and the sleeve connection of the moving seat 3 and the cylindrical rod 1 can make the moving seat 3 freely slide on the cylindrical rod 1, and the moving seat 3 is provided with a vertical second fixing hole 301; a clamping groove 204 is formed in the fixed clamping seat 2 located at the front side of the cylindrical rod 1, a servo cylinder 5 is installed in the clamping groove 204, the clamping groove 204 is communicated with the first fixing hole 201, and a fixed screw 4 is installed in the clamping groove 204, the servo cylinder 5 can be fixed in the clamping groove 204 through the fixed screw 4 to prevent the servo cylinder 5 from loosening, and the piston rod 502 of the servo cylinder 5 is movable in the rear direction and parallel to the axis of the cylindrical rod 1, a clamping hole 303 parallel to the axis of the cylindrical rod 1 is formed in the front end of the moving seat 3, the inner diameter of the clamping hole 303 is greater than the diameter of the piston rod 502 of the servo cylinder 5, a vertical hole is formed above the clamping hole 303 of the moving seat 3 and a pin 304 is installed, and a connecting hole 503 is formed at the end of the piston rod 502 of the servo motor, the clamping hole 303 of the moving seat 3 and the connecting hole 503 can be clamped and fixed with each other through the pin 304, and when the piston rod of the servo cylinder 5 moves, the moving seat 3 can be driven to move at the same time. The servo cylinder 5 is connected with the external power supply through the external lead 501, so as to provide stable power supply for the whole system and ensure that the system can work for a long time.

[0034] The control system comprises a sensor installed inside the servo cylinder 5, and a controller 6 connected with the servo cylinder 5 through an external wire 501. The sensor used in the embodiment comprises a distance sensor installed inside the servo cylinder 5 close to one end of the piston rod 502, and a pressure sensor at the end of the servo cylinder 5 in contact with the clamping groove 204. The data of the servo cylinder 5 when pushing the moving seat 3 can be accurately obtained through the distance sensor and the pressure sensor, and fed back to the controller 6 through the external wire 501. The controller 6 used in the embodiment is an advanced servo controller 6 with PID control function, responsible for receiving and processing the data from the sensor, and can automatically adjust the motion parameters of the servo cylinder according to the data fed back by the sensor, or adjust the motion parameters of the servo cylinder 5 according to the doctor's instruction, to ensure the stability and safety of the bone segment movement.

[0035] When the in-vivo bone moving system based on the servo cylinder 5 is used to perform a bone moving operation on a patient, the moving seat 3 in the internal fixation assembly is first sleeved with the two cylindrical rods 1 through the sleeve holes 302, the two fixed clamp seats 2 are sleeved on the front and rear cylindrical rods 1 of the moving seat 3 respectively, the servo cylinder 5 is installed on the fixed clamp seat 2 with the clamping groove 204, the servo cylinder is fixed by adjusting the fixing screw 4, then the distance between the two fixed clamp seats 2 is adjusted, the positioning screw 202 is tightened so that the fixed clamp seat 2 cannot slide on the cylindrical rod 1, and the moving seat 3 is clamped with the piston rod 502 of the servo cylinder 5 and can be correspondingly arranged above the bone segment to be moved. At this time, the bone screw can be used to fix the fixed clamp seat 2 and the patient's bone, and the bone screw can be used to fix the moving seat 3 and the bone segment to be moved. When the internal fixation assembly and the servo cylinder 5 are installed, the servo cylinder 5 can be started by the controller 6 to move the bone segment at a preset speed. The distance sensor and the pressure sensor monitor the displacement and stress of the bone segment during the whole moving process, and feed the data back to the servo controller 6. The servo controller 6 automatically adjusts the working parameters of the servo cylinder 5 according to the data, to ensure the smooth movement of the bone moving process. When the free bone segment completes the preset moving distance, the servo cylinder 5 stops working, and new bone tissue is formed on the trace of the free bone segment, to gradually repair the bone defect.

[0036] The above disclosed embodiments of the utility model are only used to help explain the utility model. The preferred embodiments do not describe all the details, and the utility model is not limited to the specific embodiments described. Obviously, based on the content of the specification, those skilled in the art can understand that the embodiments can be modified and changed in various ways without departing from the principles and spirits of the utility model.

Claims

1. An in-vivo bone mobilization system based on a servo cylinder, characterized in that, It comprises an internal fixing assembly, a servo electric cylinder (5) and a control system. The internal fixing assembly comprises two identical cylindrical rods (1), two fixed clamping seats (2) symmetrically sleeved on the front and back of the two cylindrical rods (1), a moving seat (3) sleeved on the cylindrical rod (1) between the two fixed clamping seats (2), and a first fixing hole (201) vertically penetrating through the fixed clamping seat (2). A clamping groove (204) is formed on the fixed clamping seat (2) located on the front side of the cylindrical rod (1), a servo electric cylinder (5) is installed in the clamping groove (204), the piston rod (502) of the servo electric cylinder (5) is movable in the rear direction and parallel to the axis of the cylindrical rod (1), and the servo electric cylinder (5) is clamped with the moving seat (3). The control system comprises a sensor installed in the servo electric cylinder (5) and a controller (6) connected with the servo electric cylinder (5) through an external lead (501).

2. The servo-hydraulic based in-vivo bone mobilization system of claim 1, wherein: The left and right sides of the fixed clamping seat (2) are sleeved with the cylindrical rod (1) through semicircular clamping edges (203), a threaded hole is formed at the top of the semicircular clamping edge (203), and a positioning screw (202) is installed in the threaded hole.

3. The servo-hydraulic based in-vivo bone mobilization system of claim 2, wherein: The clamping groove (204) is communicated with the first fixing hole (201), and a fixing screw (4) is installed in the clamping groove (204).

4. The servo-hydraulic based in-vivo bone mobilization system of claim 3, wherein: The moving seat (3) is provided with a sleeve hole (302) penetrating through the front and back thereof on the left and right sides.

5. The servo-hydraulic based in-vivo bone mobilization system of claim 4, wherein: The front end of the moving seat (3) is provided with a clamping hole (303) parallel to the axis of the cylindrical rod (1), and the inner diameter of the clamping hole (303) is greater than the diameter of the piston rod (502) of the servo electric cylinder (5).

6. The servo-hydraulic based in-vivo bone mobilization system of claim 5, wherein: A vertical hole is formed above the clamping hole (303) of the moving seat (3) and a pin (304) is installed in the vertical hole, and a connecting hole (503) with the same diameter as the pin (304) is formed at the end of the piston rod (502) of the servo motor.

7. The servo-hydraulic based in-vivo bone mobilization system of claim 6, wherein: The sensor comprises a distance sensor installed in the servo electric cylinder (5) close to one end of the piston rod (502) and a pressure sensor at the end of the servo electric cylinder (5) in contact with the clamping groove (204).

8. The servo-hydraulic based in-vivo bone mobilization system of claim 7, wherein: The cylindrical rod (1) is sleeved with an anti-disengagement sleeve (101) at both ends.

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