An automatic detection device for intramedullary nails

Abstract

This invention discloses an automatic intramedullary nail detection device, comprising a clamping mechanism and a holding mechanism. The clamping mechanism includes a pneumatic chuck and a second transmission assembly connected to each other. The pneumatic chuck is arranged along a first horizontal direction X. The holding mechanism includes a first transmission assembly and a jaw disk connected to each other, with the jaw disk arranged perpendicular to the first direction X. The pneumatic chuck is used to clamp the end of the intramedullary nail, and the jaw disk is used to clamp a fixture. The second transmission assembly is used to adjust the multiple radial holes on the opposite end of the intramedullary nail clamped by the pneumatic chuck to face vertically. The first transmission assembly can drive the jaw disk to grasp the intramedullary nail and switchably insert the proximal or distal end of the nail into the pneumatic chuck, and also drive the jaw disk to grasp a fixture and insert the fixture into the radial holes of the intramedullary nail. This achieves the purpose of automatically detecting the radial hole size of the intramedullary nail, improving the efficiency and accuracy of product testing.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to an automatic intramedullary nail detection device. Background Technology

[0002] The dimensions of the radial holes during surgery are crucial. Currently, the measurement of radial hole dimensions, length, and rod diameter in intramedullary nails is mostly done manually. The following problems often arise when using gauges for radial hole measurement: 1. Inspectors are prone to misselecting gauges, leading to misjudgments; 2. Intramedullary nail product specifications vary, but some mating dimensions are the same, easily leading to batch mixing during testing; 3. A wide variety of gauge models exist, making selection time-consuming and labor-intensive; 4. Due to the large number of testing items, some dimensions may be missed; 5. Uneven pressure applied by the operator when using the gauges can lead to inaccurate data. Utility Model Content

[0003] The purpose of this invention is to provide an automatic intramedullary nail detection device to at least partially solve the technical problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] An automated intramedullary nail detection device includes:

[0006] The clamping mechanism includes a pneumatic chuck and a second transmission assembly connected to each other. The pneumatic chuck is arranged along a first direction X in the horizontal direction and is used to clamp the end of the intramedullary nail. The second transmission assembly can drive the pneumatic chuck to move so that multiple radial holes on the opposite end of the intramedullary nail, which is clamped at one end, are respectively oriented toward the vertical direction.

[0007] The clamping mechanism includes a first transmission assembly and a jaw disk connected to each other. The jaw disk is arranged in a direction perpendicular to the first direction X. The first transmission assembly is capable of driving the jaw disk to grasp the intramedullary nail and switchably insert the proximal or distal end of the intramedullary nail into the pneumatic chuck, and driving the jaw disk to grasp a gauge and insert the gauge into the radial hole of the intramedullary nail.

[0008] The automatic intramedullary nail detection device of this utility model includes a pneumatic chuck for holding the end of the intramedullary nail, a jaw disc for holding a gauge or intramedullary nail, and a second transmission component for adjusting the multiple radial holes on the opposite end of the intramedullary nail held by the pneumatic chuck to face vertically. The first transmission component can drive the jaw disc to grasp the intramedullary nail and switchably insert the proximal or distal end of the intramedullary nail into the pneumatic chuck, and drive the jaw disc to grasp the gauge and insert the gauge into the radial hole of the intramedullary nail. This achieves the purpose of automatically detecting the radial hole size of the intramedullary nail, overcoming the shortcomings of current manual detection, such as false detection, missed detection, mixed batches, time and labor costs, and inconsistent detection standards, thus improving the efficiency and accuracy of product detection.

[0009] In some embodiments, an input / output mechanism is further included for inputting the intramedullary nail to be detected and outputting the detected intramedullary nail.

[0010] In some embodiments, a protective cover is also included, the front of which has an input port and an output port for the intramedullary nail to enter and exit.

[0011] In some embodiments, the input / output mechanism includes the input tray, the output tray, and two fourth moving components, which are respectively connected to the input tray and the output tray and are capable of driving the input tray and the output tray to move.

[0012] In some embodiments, the protective cover is further provided with a barcode reader, a third vision module, and a touch display screen.

[0013] In some embodiments, the second transmission component includes a first turntable assembly, which includes a first turntable and a second motor connected to each other. The first turntable is connected to the pneumatic chuck, and the second motor can drive the first turntable to rotate, thereby causing the pneumatic chuck to rotate about its central axis.

[0014] In some embodiments, the second transmission assembly further includes at least one set of second turntable assemblies, the at least one set of second turntable assemblies being arranged along a second direction Y in the horizontal direction, the second direction Y being perpendicular to the first direction X, the second turntable assembly being connected to the pneumatic chuck, and the rotation of the second turntable assembly being able to drive the pneumatic chuck to flip up and down.

[0015] In some embodiments, the first transmission component includes a first moving component, which is arranged vertically and connected to the chuck disk. The first moving component can drive the chuck disk to move up and down.

[0016] In some embodiments, the first moving component includes a first guide rail, a first slider, and a first motor. The chuck disk is connected to the first slider, the first slider is disposed on the first guide rail, the first guide rail is arranged in a vertical direction, and the chuck disk can slide along the first guide rail to adjust the vertical distance between the chuck disk and the intramedullary nail.

[0017] In some embodiments, the first transmission assembly further includes at least two sets of second moving components, with at least one set of second moving components arranged in both the first direction X and the second direction Y in the horizontal direction. The first direction X is perpendicular to the second direction Y. The second moving components are connected to the first moving components and are located above the first moving components. The second moving components can drive the chuck disk to move in the horizontal direction.

[0018] In some embodiments, the jaw disk includes at least two jaw assemblies located in a vertical plane. Each jaw assembly includes a connecting arm and a jaw connected to each other. Each jaw has two jaw pieces. A driving structure is provided in the connecting arm. The driving structure is capable of driving the jaw to rotate about its axis and driving the two jaw pieces to open and close.

[0019] In some embodiments, the first transmission assembly further includes a third turntable assembly connected to the chuck disk, the third turntable assembly being capable of driving the chuck disk to rotate in a horizontal direction so that at least two of the chuck assemblies can be switched to align with the intramedullary nail.

[0020] In some embodiments, the claw assembly is provided with a first vision module for scanning and identifying the radial holes of the intramedullary nail.

[0021] In some embodiments, the jaws include a first jaw and a second jaw. The inner sides of the two jaws of the first jaw are flat and are used to grip the instrument. The inner sides of the two jaws of the second jaw are V-shaped and are used to clamp the intramedullary nail.

[0022] In some embodiments, the device further includes a third moving component and a second vision module disposed on the third moving component. The third moving component is arranged along the first direction X, and the second vision module is arranged in a second direction Y in a horizontal direction, the second direction Y being perpendicular to the first direction X. The second vision module is capable of scanning and identifying the length or bending angle of the clamped intramedullary nail.

[0023] In some embodiments, the system further includes a fixture compartment for storing a plurality of fixtures, wherein the plurality of fixtures are arranged in layers.

[0024] In some embodiments, a fourth turntable assembly is also included, which is connected to the second vision module. The rotation of the fourth turntable assembly can cause the second vision module to flip up and down. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a cross-sectional view of the intramedullary nail to be tested according to an embodiment of the present invention;

[0027] Figure 2 This is an overall schematic diagram of the automatic intramedullary nail detection device according to an embodiment of the present invention;

[0028] Figure 3 This is a schematic diagram of the protective cover according to an embodiment of the present utility model;

[0029] Figure 4 This is a schematic diagram illustrating the cooperation between the pneumatic chuck and the second transmission assembly in an embodiment of this utility model.

[0030] Figure 5 This is a schematic diagram illustrating the cooperation between the chuck disc and the first transmission component in an embodiment of the present invention.

[0031] Figure 6 This is a schematic diagram of the chuck disk according to an embodiment of the present utility model;

[0032] Figure 7 This is a schematic diagram of the inspection tool according to an embodiment of the present utility model;

[0033] Figure 8 This is a schematic diagram of the input / output mechanism of an embodiment of the present utility model.

[0034] in:

[0035] 1. Pneumatic chuck;

[0036] 2. U-shaped bracket;

[0037] 3. Fixture;

[0038] 4. First turntable assembly; 41. First turntable; 42. Second motor;

[0039] 5. Second turntable assembly;

[0040] 6. Third moving component;

[0041] 7. Second visual module;

[0042] 9. Claw plate; 91. Claw assembly; 911. Connecting arm; 912. Claw; 913. First vision module; 914. Claw piece; 915. V-shaped bracket;

[0043] 10. Third turntable assembly;

[0044] 11. First moving component; 111. First guide rail; 112. First slider; 113. First motor;

[0045] 12. Second moving component;

[0046] 13. Inspection tool storage compartment;

[0047] 14. Inspection tools; 141. Type I inspection tool; 142. Type II inspection tool; 143. Type III inspection tool;

[0048] 15. Fourth turntable assembly;

[0049] 23. Protective cover; 231. Barcode reader; 232. Third vision module; 233. Touch screen; 234. Input port; 235. Output port;

[0050] 24. Input tray;

[0051] 25. Output tray;

[0052] 26. Fourth moving component;

[0053] 100. Intramedullary nail; 1001. Radial hole. Detailed Implementation

[0054] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0055] The following is for reference. Figures 1-8 This invention describes an automatic intramedullary nail detection device according to an embodiment of the present invention.

[0056] The automatic intramedullary nail detection device of this utility model includes a clamping mechanism and a holding mechanism, used to detect whether the dimensions of the radial holes 1001 at the proximal and distal ends of the intramedullary nail 100 are qualified, and to detect the length of the intramedullary nail 100.

[0057] The clamping mechanism includes a pneumatic chuck 1 and a second transmission assembly connected to each other. The pneumatic chuck is arranged along a first direction X in the horizontal direction and is used to clamp the end of the intramedullary nail 100. The second transmission assembly can drive the pneumatic chuck 1 to move so that the multiple radial holes 1001 on the opposite end of the intramedullary nail 100 are respectively oriented toward the vertical direction.

[0058] The clamping mechanism includes a first transmission assembly and a jaw disk 9 connected to each other. The jaw disk 9 is arranged in a direction perpendicular to the first direction X. The first transmission assembly can drive the jaw disk 9 to grasp the intramedullary nail 100 and switchably insert the proximal or distal end of the intramedullary nail 100 into the pneumatic chuck 1, and drive the jaw disk 9 to grasp the gauge 14 and insert the gauge 14 into the radial hole 1001 of the intramedullary nail 100.

[0059] The pneumatic chuck 1 is used to clamp the end of the intramedullary nail 100, and the jaw disc 9 is used to clamp the fixture 14. The second transmission assembly is used to adjust the multiple radial holes 1001 on the opposite end of the intramedullary nail 100 clamped by the pneumatic chuck 1 to face the vertical direction. The first transmission assembly can drive the jaw disc 9 to grasp the intramedullary nail 100 and switchably insert the proximal or distal end of the intramedullary nail 100 into the pneumatic chuck 1, and drive the jaw disc 9 to grasp the fixture 14 and insert the fixture 14 into the radial holes 1001 of the intramedullary nail 100. This achieves the purpose of automatically detecting the size of the radial holes 1001 of the intramedullary nail 100, overcoming the shortcomings of current manual detection, such as false detection, missed detection, mixed batches, time and labor costs, and inconsistent detection standards, and improving the efficiency and accuracy of product detection.

[0060] The automatic intramedullary nail detection device of this utility model includes a control system, which is electrically connected to each component of the automatic intramedullary nail detection device to control the automated operation of the device. The composition and control principle of the control system are existing technologies and will not be described further here.

[0061] The automatic intramedullary nail detection device of this utility model embodiment, such as Figure 2 and Figure 4 As shown, the first transmission assembly includes a first moving assembly 11, which is arranged vertically and connected to the chuck disk 9. The first moving assembly can drive the chuck disk 9 to move up and down. This facilitates the vertical movement of the chuck disk 9 in gripping the gauge 14, bringing the gauge 14 close to the intramedullary nail 100 in the vertical direction, and allowing the gauge 14 to be inserted into the radial hole 1001 of the intramedullary nail 100.

[0062] The control system is electrically connected to the first moving component 11. The control system can control the operation of the first moving component 11, and thus control the chuck disk 9 to move up and down.

[0063] Specifically, the first moving assembly 11 includes a first guide rail 111, a first slider 112, and a first motor 113. The chuck disk 9 is connected to the first slider 112, which is mounted on the first guide rail 111, which is arranged vertically. The control system is electrically connected to the first motor 113 and can start or stop the first motor 113, thereby controlling the chuck disk 9 to slide along the first guide rail 111, which in turn drives the chuck disk 9 to move up and down, allowing the instrument 14 to be inserted into the radial hole 1001 of the intramedullary nail 100.

[0064] Furthermore, the first guide rail 111 is provided with an active member and a driven member connected to each other. The output shaft of the first motor 113 is connected to the active member, and the first slider 112 is connected to the driven member. The first motor 113 can drive the active member to rotate, thereby driving the driven member to move in the vertical direction.

[0065] In this embodiment of the invention, the driving component is a gear, and the driven component is a rack. The gear is fixedly connected to the output shaft of the first motor 113, and the external teeth of the gear mesh with the rack. The first motor 113 drives the gear to rotate, which in turn drives the rack to move vertically, thereby driving the first slider 112 and the chuck disk 9 connected to the rack to move vertically. To avoid interference between the gear and the first slider 112, the gear and the first slider 112 are respectively located on both sides of the rack. Thus, the meshing transmission of the gear and rack ensures a smooth transmission process, guarantees stable operation of the chuck disk 9 along the first guide rail 111, reduces noise during operation, and extends the service life of the first guide rail 111.

[0066] In other embodiments, the driven member may also be a chain; or, the driving member may be a pulley and the driven member may be a belt; or, the driving member may be a worm gear and the driven member may be a worm.

[0067] The automatic intramedullary nail detection device of this utility model embodiment, such as Figure 2 and Figure 4 As shown, the first transmission assembly also includes at least two sets of second moving assemblies 12. At least one set of second moving assemblies 12 is arranged in both the first direction X and the horizontal second direction Y. The first direction X is perpendicular to the second direction Y. The second moving assemblies 12 are connected to and located above the first moving assemblies 11. The second moving assemblies 12 can drive the jaw disk 9 to move horizontally. This facilitates the horizontal movement of the jaws 912 to grip the gauge 14, allowing the gauge 14 to move directly above the radial hole 1001 of the intramedullary nail 100.

[0068] Specifically, the control system is electrically connected to the second moving component 12, and the control system can control the operation of the second moving component 12, thereby controlling the movement of the chuck disk 9 in the horizontal direction. In this embodiment, the structure and function of the second moving component 12 are the same as those of the first moving component 11, including a guide rail, a slider, and a motor, which will not be described in detail here.

[0069] Furthermore, the second moving component 12 can be arranged in various ways in the horizontal plane. In this embodiment, three sets of second moving components 12 are included. The first and second sets of second moving components 12 are located in the same horizontal plane, and both sets of second moving components 12 are arranged along the first direction X and do not overlap with each other. The third set of second moving components 12 is arranged along the second direction Y. The first moving component 11 is slidably connected to the third set of second moving components 12 through the first slider 112. The two ends of the third set of second moving components 12 are slidably connected to the first and second sets of second moving components 12 through sliders, ensuring that the third set of second moving components 12 and the first moving component 11 can slide smoothly on the first and second sets of second moving components 12.

[0070] In other embodiments, two sets of second moving components 12 may be arranged along the second direction Y and do not overlap with each other, and one set of second moving components 12 may be arranged along the first direction X.

[0071] In actual operation, the control system first controls the second moving component 12 to move, which in turn drives the chuck disk 9 to move horizontally, so that the specimen 14 moves directly above the radial hole 1001 of the intramedullary nail 100; then, the control system controls the first moving component 11 to move, which drives the chuck disk 9 to move up and down, so that the specimen 14 approaches the intramedullary nail 100 in the vertical direction and is inserted into the radial hole 1001 of the intramedullary nail 100 for testing.

[0072] The intramedullary nail 100 to be tested belongs to the category of orthopedic internal fixation devices in medical devices. It needs to be implanted into the medullary cavity for use. As is well known, the human medullary cavity has varying degrees of curvature, and the shape of the intramedullary nail 100 generally mimics the shape of the medullary cavity. Therefore, the intramedullary nail 100 also has a bending angle. At the same time, due to the unique human biomimetic design of the intramedullary nail 100 and considerations for postoperative stable fixation, the radial holes 1001 at the proximal or distal end of the intramedullary nail 100 have specific and different angles with the central axis of the intramedullary nail 100, such as... Figure 1 As shown. Therefore, after one end of the intramedullary nail 100 is inserted into the pneumatic chuck 1, the axis of the radial hole 1001 at the other end of the intramedullary nail 100 cannot be vertical at the same time. During the test, the intramedullary nail 100 needs to be rotated or flipped at a certain angle so that all the radial holes 1001 at the proximal or distal end of the intramedullary nail 100 face the fixture 14 respectively, so that the fixture 14 can be inserted into the radial hole 1001 of the intramedullary nail 100 for testing.

[0073] The automatic intramedullary nail detection device of this utility model embodiment, such as Figure 2 and Figure 5 As shown, the second transmission assembly includes a first turntable assembly 4, which includes a first turntable 41 and a second motor 42 connected to each other. The first turntable 41 is connected to the pneumatic chuck 1, and the second motor 42 can drive the first turntable 41 to rotate, thereby causing the pneumatic chuck 1 to rotate around its central axis. Thus, the first turntable assembly 4 drives the pneumatic chuck 1 to rotate, thereby adjusting the proximal or distal radial hole 1001 of the intramedullary nail 100 to face the vertical direction, so that the instrument 14 is aligned with the radial hole 1001 of the intramedullary nail 100.

[0074] Specifically, the control system is electrically connected to the second motor 42. The control system can start or stop the second motor 42. When the second motor 42 is started, it can drive the first turntable 41 to rotate, thereby causing the pneumatic chuck 1 to rotate.

[0075] Furthermore, the pneumatic chuck 1 is connected to the U-shaped bracket 2 via the first turntable assembly 4, and the second motor 42 is fixed on the middle arm of the U-shaped bracket 2. The arrangement of the U-shaped bracket 2 will not interfere with the rotation of the first turntable 41 or the self-rotation of the pneumatic chuck 1.

[0076] In this embodiment of the invention, the output shaft of the second motor 42 is fixedly connected to the driving gear, and the driven gear is located inside and connected to the first turntable 41. The driving gear and the driven gear are meshed together. The second motor 42 drives the driving gear to rotate, and the driving gear drives the driven gear to rotate. The driving gear is a small gear, and the driven gear is a large gear. This converts the high-speed rotation of the second motor 42 into a relatively low-speed rotation of the first turntable 41, thereby driving the pneumatic chuck 1 to rotate stably. Thus, by using a gear meshing transmission method, the required speed and torque ratio can be achieved, ensuring the stable rotation of the first turntable 41 and the pneumatic chuck 1.

[0077] In other embodiments, the first turntable assembly 4 may also employ worm gear drive or belt drive.

[0078] The automatic intramedullary nail detection device of this utility model embodiment, such as Figure 2 and Figure 5As shown, the second transmission assembly includes at least one set of second turntable assemblies 5. These assemblies 5 are arranged along a second direction Y in the horizontal direction, which is perpendicular to the first direction X. The second turntable assembly 5 is connected to the pneumatic chuck 1. Rotation of the second turntable assembly 5 causes the pneumatic chuck 1 to flip up and down, adjusting the proximal or distal radial hole 1001 of the intramedullary nail 100 to face the vertical direction, so that the instrument 14 is aligned with the radial hole 1001 of the intramedullary nail 100. Specifically, the second turntable assembly 5 is fixed on the fixing base 3. The second turntable assembly 5 is arranged along the second direction Y, and the pneumatic chuck 1 is arranged along the first direction X. The second direction Y is perpendicular to the first direction X. Therefore, when the second turntable assembly 5 rotates around the second direction Y, it will cause the connected pneumatic chuck 1 to flip up and down.

[0079] Furthermore, the pneumatic chuck 1 is connected to the fixed base 3 in sequence through the first turntable assembly 4, the U-shaped bracket 2, and the second turntable assembly 5.

[0080] In this embodiment, the structure and function of the second turntable assembly 5 are the same as those of the first turntable assembly 4, including a turntable and a motor connected to each other, which will not be described in detail here. Specifically, the control system is electrically connected to the motor, and the control system can start or stop the motor. The turntable is connected to the pneumatic chuck 1, and the turntable is arranged along the second direction Y, so that the rotation axis of the turntable is parallel to the second direction Y and perpendicular to the axial direction of the pneumatic chuck 1. Thus, when the motor drives the turntable to rotate, the turntable will drive the pneumatic chuck 1 to rotate up and down.

[0081] In this embodiment of the automatic intramedullary nail detection device, the first turntable assembly 4 can drive the pneumatic chuck 1 to rotate, and the second turntable assembly 5 can drive the pneumatic chuck 1 to flip up and down. The first turntable assembly 4 and the second turntable assembly 5 cooperate to adjust the orientation of the radial hole 1001 at the proximal or distal end of the intramedullary nail 100, so that the axial direction of the radial hole 1001 at the proximal or distal end of the intramedullary nail 100 is parallel to the vertical direction and coincides with the axial direction of the specimen 14 gripped by the chuck disk 9, so that the specimen 14 can be inserted into the radial hole 1001 of the intramedullary nail 100, thereby improving the accuracy of detection.

[0082] Preferably, such as Figure 2 and Figure 5 As shown, the second turntable assembly 5 is configured in two sets, with each set positioned on either side of the pneumatic chuck 1 along the second direction Y. Both sets of the second turntable assembly 5 are electrically connected to the control system. The control system can control the two sets of second turntable assemblies 5 to move synchronously. The two turntables on either side of the pneumatic chuck 1 act simultaneously on the pneumatic chuck 1, controlling the pneumatic chuck 1 to rise or fall by a certain angle, ensuring the smoothness of the movement of the pneumatic chuck 1. Specifically, the turntables of the second turntable assembly 5 are fixedly connected to the two arms of the U-shaped bracket 2. The rotation of the second turntable assembly 5 drives the movement of the U-shaped bracket 2, thereby causing the pneumatic chuck 1 to rotate by a certain angle along with the U-shaped bracket 2.

[0083] The automatic intramedullary nail detection device of this utility model includes a pneumatic chuck 1 comprising a sleeve and a driving component. The driving component can drive the sleeve to open or close to loosen or clamp the end of the intramedullary nail 100.

[0084] Preferably, the driving component can adopt a structure such as a solenoid valve in the prior art. The specific control principle and control method are all prior art and will not be described in detail here. The driving component and the control system are electrically connected, and the control system can control the opening or closing of the jacket through the driving component.

[0085] Preferably, the clip is replaceable to accommodate intramedullary nails of different diameters. The clamping force of the clip is adjustable, which can ensure clamping stability while avoiding damage to the product surface, and the clamping accuracy can reach 0.03mm.

[0086] The automatic intramedullary nail detection device of this utility model embodiment, such as Figure 2 As shown, it also includes a third moving component 6 and a second vision module 7 disposed on the third moving component 6. The third moving component 6 is arranged along a first direction X, and the second vision module 7 is arranged in a second direction Y in a horizontal direction, which is perpendicular to the first direction X. The second vision module 7 can scan and identify the bending angle of the clamped intramedullary nail 100. Specifically, both the second vision module 7 and the third moving component 6 are electrically connected to the control system. The second vision module 7 can feed back the information obtained from scanning the intramedullary nail 100 to the control system. The control system controls the movement of the second transmission component, which in turn controls the movement of the pneumatic chuck 1 to adjust the proximal or distal radial hole 1001 of the intramedullary nail 100 to face the vertical direction for easy detection.

[0087] In addition, the second vision module 7 can also scan and identify the length of the clamped intramedullary nail 100 to detect whether the length of the intramedullary nail 100 is qualified. Along the first horizontal direction X, the control system controls the second vision module 7 to move from one end of the intramedullary nail 100 to the other end, and the displacement of the second vision module 7 in the first direction X is the length of the intramedullary nail 100.

[0088] The second vision module 7 can also scan and identify the end of the clamped intramedullary nail 100, and identify whether the other end opposite to one end of the clamped intramedullary nail 100 is the proximal or distal end of the intramedullary nail 100. Then, the control system drives the chuck disk 9 to grab the corresponding gauge 14 to detect the radial hole 1001 of the proximal or distal end of the intramedullary nail 100 according to the system settings.

[0089] Specifically, the second vision module 7 can be a camera or a webcam. The specific working principle is already known and will not be described in detail here.

[0090] In other embodiments, the automatic intramedullary nail detection device may also include two sets of pneumatic clamps 1, which are arranged at intervals along a first direction X, and are used to clamp the proximal and distal ends of the intramedullary nail 100, respectively. Thus, after the detection of the radial hole 1001 at the proximal or distal end of the intramedullary nail 100 is completed, when it is necessary to detect the radial hole 1001 at the other end of the intramedullary nail 100, the claw assembly 91 grasps the intramedullary nail 100 and translates it along the first direction X, clamping the other end of the intramedullary nail 100 in another pneumatic clamp 1.

[0091] The automatic intramedullary nail detection device of this utility model embodiment, such as Figure 2 As shown, the system includes a fourth turntable assembly 16, which is connected to the second vision module 7. Rotation of the fourth turntable assembly 15 causes the second vision module 7 to flip up and down. Specifically, the fourth turntable assembly 15 is also connected to the third moving assembly 6, thus allowing the fourth turntable assembly 15 and the second vision module 7 to move simultaneously along the first direction X. Therefore, the third moving assembly 6 and the fourth turntable assembly 15 can work together to more conveniently and accurately scan the bending angle and overall appearance of the intramedullary nail 100.

[0092] The structure and function of the fourth turntable assembly 15 in this embodiment are the same as those of the first turntable assembly 4. It includes a turntable and a motor connected to each other. The control system is electrically connected to the motor and can start or stop the motor, which will not be described in detail here.

[0093] The automatic intramedullary nail detection device of this embodiment includes a chuck disc 9 with at least two chuck assemblies 91 located in a vertical plane for gripping the rod of the instrument 14 or the intramedullary nail 100. Each chuck assembly 91 includes a connecting arm 911 and chucks 912 connected to each other. Each chuck 912 has two chuck pieces 914. A driving structure is provided within the connecting arm 911, which drives the chuck 912 to rotate along its axis and to open and close the two chuck pieces 914. Thus, the chuck pieces 914 can open and close to facilitate the gripping of the instrument 14 or the rod of the intramedullary nail 100 by the chuck 912, and the chuck 912 can rotate to facilitate the insertion of the instrument 14 into the radial hole 1001 of the intramedullary nail 100 and to rotate and adjust the intramedullary nail 100.

[0094] Preferably, such as Figure 2 , Figure 4 and Figure 6 As shown, the chuck disc 9 includes two chuck assemblies 91, which are distributed at opposite ends of the chuck disc 9. The two chuck assemblies 91 can simultaneously grasp two different specimens 14, or one chuck assembly 91 can grasp the specimen 14 while the other chuck assembly 91 grasps the rod of the intramedullary nail 100.

[0095] In other embodiments, the number of claw assemblies 91 may be three, four, five, six, etc., and the multiple claw assemblies 91 are evenly distributed along the circumference of the claw disk 9.

[0096] In this embodiment, the drive structure and the control system are electrically connected. The composition and control principle of the drive structure are existing technologies and will not be described in detail here.

[0097] Furthermore, the chuck 912 includes a first chuck and a second chuck. The inner sides of the two chuck pieces 914 of the first chuck are flat and are used to grasp the instrument 14. The inner sides of the two chuck pieces 914 of the second chuck are V-shaped and are used to clamp the intramedullary nail 100.

[0098] Specifically, the two jaws 914 of the second clamping claw have a V-shape on their opposing inner sides, used to clamp the rod portion of the intramedullary nail 100, preventing the intramedullary nail 100 from tilting, thus ensuring that the clamped end of the intramedullary nail 100 is in the horizontal first direction X. Therefore, the displacement of the second vision module 7 from one end of the intramedullary nail 100 to the opposite end in the first direction X is the length L of the intramedullary nail 100. In this embodiment, as shown... Figure 4 and Figure 6 As shown, the two jaw pieces 914 of the second jaw carry a V-shaped bracket 915. When the two jaw pieces 914 open and close, the V-shaped bracket 915 opens and closes accordingly, clamping the rod portion of the intramedullary nail 100. Compared to other embodiments where V-shaped grooves are directly formed on the inner sides of the two jaw pieces 914, the V-shaped bracket 915 can achieve stable clamping and is suitable for clamping intramedullary nails 100 with a larger diameter range.

[0099] In addition, the first jaw can also be used to clamp the intramedullary nail 100. The inner sides of the two jaw pieces 914 of the first jaw are flat. When the first jaw clamps the intramedullary nail 100, the displacement of the two jaw pieces 914 when opening and closing is the diameter of one end of the rod of the intramedullary nail 100.

[0100] Furthermore, the claw assembly 91 is provided with a first vision module 913, which is located above the connecting arm 911 and is used to scan and identify the radial holes 1001 of the intramedullary nail 100. In this embodiment of the present invention, the structure and function of the first vision module 913 are the same as those of the second vision module 7, and will not be described again here.

[0101] The automatic intramedullary nail detection device of this utility model embodiment, such as Figure 2 and Figure 4 As shown, the first transmission assembly also includes a third turntable assembly 10, which is connected to the chuck disk 9. The third turntable assembly 10 is arranged in a horizontal direction and can drive the chuck disk 9 to rotate in the horizontal direction so that at least two chuck assemblies 91 can be switched to align with the radial holes 1001 of the intramedullary nail 100.

[0102] Specifically, the chuck disk 9 is connected to the first moving component 11 via the third turntable assembly 10.

[0103] In this embodiment, the third turntable assembly 10 functions the same as the first turntable assembly 4, including an interconnected turntable and a motor. The turntable and motor are relatively compact in structure, and the motor can drive the turntable to rotate, which will not be described in detail here. Specifically, the control system is electrically connected to the motor, and the control system can start or stop the motor. The turntable is connected to the chuck disk 9, and the rotation axes of the turntable and the chuck disk 9 are collinear. Therefore, when the motor drives the turntable to rotate, the turntable will drive the chuck disk 9 to rotate on its own.

[0104] The automatic intramedullary nail detection device in this embodiment also includes an input / output mechanism for inputting the intramedullary nail 100 to be detected and outputting the detected intramedullary nail 100.

[0105] Specifically, such as Figure 8 As shown, the input / output mechanism includes an input tray 24, an output tray 25, and two fourth moving components 26. The two fourth moving components 26 are connected to the input tray 24 and the output tray 25 respectively, and can drive the input tray 24 and the output tray 25 to move. Thus, the intramedullary nail 100 to be tested is placed in the input tray 24. Driven by the fourth moving components 26, the input tray 24 is transported into the device. The chuck disk 9 grasps the intramedullary nail 100 in the input tray 24 for subsequent testing. After the testing is completed, the chuck disk 9 places the tested intramedullary nail 100 into the output tray 25. Driven by the fourth moving components 26, the output tray 25 transports the intramedullary nail 100 out of the device, thus achieving the purpose of automated input and output of the intramedullary nail 100.

[0106] Specifically, the control system is electrically connected to the fourth moving component 26. The control system can control the operation of the fourth moving component 26, thereby controlling the input tray 24 to transport the intramedullary nail 100 into the device, and controlling the output tray 25 to transport the intramedullary nail 100 out of the device. In this embodiment, the structure and function of the fourth moving component 26 are the same as those of the first moving component 11, including guide rails, sliders, and motors, which will not be described in detail here.

[0107] The automatic intramedullary nail detection device of this embodiment also includes a protective cover 23, such as Figure 3 As shown, the front of the protective cover 23 has an input port 234 and an output port 235 for the input tray 24 and the output tray 25 to enter and exit respectively. Thus, the protective cover 23 can effectively isolate the detection range, avoid the negative impact of the external environment on the detection, and prevent personnel from entering the detection range and being accidentally injured.

[0108] Further, the protective cover 23 is further provided with a barcode recognizer 231, a third vision module 232 and a touch display screen 233. Wherein, the barcode recognizer 231 can scan and recognize the operation batch number of the intramedullary nail 100 product, and the third vision module 232 can perform facial scanning on the operator, so as to realize traceability of the operation.

[0109] Specifically, the barcode recognizer 231, the third vision module 232 and the touch display screen 233 are all electrically connected to the control system. The barcode recognizer 231 can feed back the information obtained from scanning the operation sheet to the control system, and the control system controls the clamping mechanism and the second clamping mechanism to grab the corresponding inspection tool 14 for convenient detection. The third vision module 232 can recognize the identity information of the operator by scanning the operator's face and feed the information back to the control system. The touch display screen 233 can display an operation interface for the operator to operate conveniently, and the touch display screen 233 can also display the detection results of each step of the intramedullary nail 100 in real time. After face recognition is performed by the third vision module 232 and work order scanning is performed by the barcode recognizer 231, the system will open the door of the input port 234 after recognizing the work order, the input tray 24 extends out, the operator places the intramedullary nail 100 to be detected into the input tray 24, and clicks the "start detection" option on the touch display screen 233, the control system controls the fourth moving assembly 26 to move the input tray 24, and sends the input tray 24 and the intramedullary nail 100 to be detected into the main body of the detection device for detection.

[0110] In the embodiment of the present utility model, the structure and function of the third vision module 232 are the same as those of the second vision module 7, and will not be repeated here. The structural composition and working principle of the barcode recognizer 231 and the touch display screen 233 are all in the prior art, and will not be repeated here.

[0111] The radial hole 1001 at the proximal end or distal end of the intramedullary nail 100 has a plurality of hole types, including but not limited to smooth holes, threaded holes and oblong holes, see Figure 1 , therefore, the inspection tools 14 for detection include but are not limited to type I inspection tools 141, type II inspection tools 142, and type III inspection tools 143 of different models, such as Figure 7 shown.

[0112] Wherein, the type I inspection tool 141 includes go / no-go gauge combinations of different models, and the shank of the go / no-go gauge is smooth and used for detecting smooth holes. Detecting one size of smooth hole requires a set of type I inspection tools 141, that is, a set of go / no-go gauge combination. Except for the different diameters of the shanks of the go gauge and the no-go gauge, the other parts of the go gauge and the no-go gauge are all the same. The diameter of the shank of the go gauge is the minimum diameter of the smooth hole, and the diameter of the shank of the no-go gauge is the maximum diameter of the smooth hole. In a set of go / no-go gauge combination, only when the go gauge can be inserted into the smooth hole and the no-go gauge cannot be inserted into the smooth hole, the size of the smooth hole is qualified.

[0113] Type II gauge 142 includes different models of thread go gauges / thread no-go gauge combinations. The shank of the thread go gauge / thread no-go gauge is threaded and used to inspect threaded holes. Similarly, if the thread go gauge can be inserted into the threaded hole, but the thread no-go gauge cannot be inserted into the threaded hole, the threaded hole size is qualified.

[0114] Type III gauge 143 includes different models of oblong hole conforming go gauge / oblong hole conforming no-go gauge combinations, used to inspect oblong holes. Similarly, if the oblong hole conforming go gauge can be inserted into the oblong hole, and the oblong hole conforming no-go gauge cannot be inserted into the oblong hole, the oblong hole size is qualified.

[0115] Furthermore, the end cap of the fixture 14 adopts a hexagonal design, and the inner sides of the two opposing jaws of the gripper 912 used to grasp the fixture 14 are flat planes 613, which facilitates the grasping of the fixture 14. The hexagonal design of the end cap of the fixture 14 is superior to the cylindrical design because the inner sides of the two opposing jaws of the gripper 912 are flat planes 613. Radial grasping of a cylindrical fixture 14 is prone to the phenomenon of the fixture 14 swinging left and right, which affects the inspection. The hexagonal design of the end cap of the fixture 14 is also superior to the quadrilateral design because the hexagon increases the grasping positions and they are closer together. The gripper 912 only needs to rotate a very small angle to grasp the fixture 14.

[0116] The automatic intramedullary nail detection device of this utility model embodiment also includes a tool compartment 13, which is used to place multiple tools 14. The multiple tools 14 are arranged in layers to facilitate accurate gripping by the gripper 912.

[0117] The operation process of the automatic intramedullary nail detection device according to this embodiment of the utility model is as follows:

[0118] 1) Inspection of the radial hole 1001 at one end of the intramedullary nail 100 and the diameter of the rod.

[0119] 1. The third vision module 232 scans the operator's face, and the barcode reader 231 scans the batch number of the intramedullary nail 100 work order. Then, the control system controls the fourth moving component 26 to extend the input tray 24. The operator places the intramedullary nail 100 to be tested into the input tray 24 and clicks the "Start Detection" option on the touch screen 233. The fourth moving component 26 then sends the input tray 24 and the intramedullary nail 100 to be tested into the main body of the detection device.

[0120] 2. The control system controls the movement of the first moving component 11 and the second moving component 12, so that the first claw approaches the intramedullary nail 100 in the input tray 24. After the first vision module 913 scans the intramedullary nail 100, the first claw grabs the intramedullary nail 100.

[0121] 3. The control system controls the movement of the first moving component 11 and the second moving component 12 to bring the end of the grasped intramedullary nail 100 close to the pneumatic clamp 1. The control system controls the clamp to open or close to clamp the intramedullary nail 100.

[0122] 4. The control system controls the movement of the third moving component 6 and the fourth turntable component 16, and in turn controls the movement of the second vision module 7 to scan and identify the end (proximal or distal) and bending angle of the clamped intramedullary nail 100, and feeds back the information obtained from scanning the intramedullary nail 100 to the control system.

[0123] 5. The information obtained by the second vision module 7 scanning the intramedullary nail 100 is fed back to the control system. The control system controls the movement of the first turntable assembly 4 and / or the second turntable assembly 5, and then coordinates the movement of the pneumatic chuck 1 to adjust the axial direction of the radial hole 1001 at the free end of the intramedullary nail 100 to the vertical direction.

[0124] 6. The control system controls the movement of the first moving component 11 and the second moving component 12, so that the first claw approaches the tool holder 13 and grasps the required tool 14. The control system controls the movement of the first moving component 11 until the first vision module 913 scans the radial hole 1001 of the intramedullary nail 100, so that the grasped tool 14 is aligned with the radial hole 1001 of the intramedullary nail 100. The control system controls the movement of the second moving component 12 to insert the tool 14 into the radial hole 1001 for detection. The detection result is displayed on the touch screen 233.

[0125] 7. The control system controls the movement of the first moving component 11 and the second moving component 12 to pick up a new inspection tool 14 from the inspection tool bin 13, or the control system controls the movement of the third turntable component 10 to switch to a new inspection tool 14;

[0126] 8. Repeat the above steps 5. The control system controls the movement of the first turntable assembly 4 and the second turntable assembly 5, and then coordinates the movement of the pneumatic chuck 1 to adjust the axial direction of the other radial hole 1001 at one end of the intramedullary nail 100 to the vertical direction.

[0127] 9. Repeat the operation in step 6 above. The control system controls the first moving component 11 and the second moving component 12 to move so that the new specimen 14 grasped by the first claw is aligned with the other radial hole 1001 at one end of the intramedullary nail 100 and inserted into the radial hole 1001 for testing.

[0128] 10. Repeat steps 4, 5, and 6 above to sequentially complete the detection of all radial holes 1001 at one end of the intramedullary nail 100. The detection results will be displayed on the device's touch screen 233.

[0129] 11. The control system controls the first chuck's chuck piece 914 to clamp the rod at the free end of the intramedullary nail 100. The displacement of the two chuck pieces 914 when they open and close is the diameter of the rod at one end of the intramedullary nail 100.

[0130] (ii) Inspection of the radial hole 1001 at the other end of the intramedullary nail 100 and the diameter of the rod.

[0131] 1. The control system controls the movement of the first moving component 11 and the second moving component 12 to bring the clasp 912 closer to the intramedullary nail 100, and controls the clasp 912 to open and close to clamp the intramedullary nail 100;

[0132] 2. The control system controls the chuck 912 to rotate, so that the detected end of the intramedullary nail 100 approaches and is inserted into the pneumatic chuck 1, or the control system controls the first moving component 11 and the second moving component 12 to move, so that the detected end of the intramedullary nail 100 approaches and is inserted into another pneumatic chuck 1 in the first direction X.

[0133] 3. The control system controls the opening and closing of the pneumatic chuck 1 to clamp the end of the intramedullary nail 100;

[0134] 4. Following the steps 4-11 above in the detection of the radial holes 1001 and rod diameter at one end of the intramedullary nail 100, the detection of all radial holes 1001 and rod diameter at the other end of the intramedullary nail 100 will be performed. This will not be repeated here.

[0135] (iii) Detection and repositioning of the 100mm length of the intramedullary nail.

[0136] 1. The control system controls the movement of the third turntable assembly 10, so that the second clasp of the clasp disc 9 approaches the intramedullary nail 100;

[0137] 2. The control system controls the two jaw pieces 914 of the second jaw to open and horizontally clamp the rod of the intramedullary nail 100;

[0138] 3. The control system controls the opening of the pneumatic chuck to release the end of the intramedullary nail 100;

[0139] 4. The control system controls the movement of the third moving component 6 and the fourth turntable component 16, so that the second vision module 7 scans from one end of the intramedullary nail 100 to the other end. The displacement of the second vision module 7 in the first direction X is the length of the intramedullary nail 100.

[0140] 5. The control system controls the movement of the first moving component 11 and the second moving component 12 to place the tested intramedullary nail 100 into the output tray 25, and the control system's fourth moving component 26 sends the output tray 25 and the tested intramedullary nail 100 out of the main body of the testing device.

[0141] 6. The operator removes the intramedullary nail 100 from the output tray 25, clicks the "End Detection" option on the touch screen 233, and the fourth moving component 26 moves to retract the output tray 25 into the main body of the detection device, thus ending the entire detection process.

[0142] In the description of this utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the system or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0143] Furthermore, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first," "second," "third," or "fourth" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0144] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0145] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0146] Finally, it should be noted that the above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An automatic intramedullary nail detection device, characterized in that, include: The clamping mechanism includes a pneumatic chuck and a second transmission assembly connected to each other. The pneumatic chuck is arranged along a first direction X in the horizontal direction and is used to clamp the end of the intramedullary nail. The second transmission assembly can drive the pneumatic chuck to move so that multiple radial holes on the opposite end of the intramedullary nail, which is clamped at one end, are respectively oriented toward the vertical direction. The clamping mechanism includes a first transmission assembly and a jaw disk connected to each other. The jaw disk is arranged in a direction perpendicular to the first direction X. The first transmission assembly is capable of driving the jaw disk to grasp the intramedullary nail and switchably insert the proximal or distal end of the intramedullary nail into the pneumatic chuck, and driving the jaw disk to grasp a gauge and insert the gauge into the radial hole of the intramedullary nail.

2. The automatic intramedullary nail detection device according to claim 1, characterized in that, It also includes an input / output mechanism for inputting the intramedullary nail to be tested and outputting the tested intramedullary nail; And / or, it also includes a protective cover, the front of which has an input port and an output port for the intramedullary nail to enter and exit.

3. The automatic intramedullary nail detection device according to claim 2, characterized in that, The input / output mechanism includes an input tray, an output tray, and two fourth moving components. The two fourth moving components are respectively connected to the input tray and the output tray and are capable of driving the input tray and the output tray to move. And / or, the front of the protective cover is also provided with a barcode reader, a third vision module and a touch display screen.

4. The automatic intramedullary nail detection device according to claim 1, characterized in that, The second transmission assembly includes a first turntable assembly, which includes a first turntable and a second motor connected to each other. The first turntable is connected to the pneumatic chuck, and the second motor can drive the first turntable to rotate, thereby causing the pneumatic chuck to rotate around its central axis. And / or, the second transmission assembly further includes at least one set of second turntable assemblies, the at least one set of second turntable assemblies being arranged along a second direction Y in the horizontal direction, the second direction Y being perpendicular to the first direction X, the second turntable assembly being connected to the pneumatic chuck, and the rotation of the second turntable assembly being able to drive the pneumatic chuck to flip up and down.

5. The automatic intramedullary nail detection device according to claim 1, characterized in that, The first transmission component includes a first moving component, which is arranged vertically and connected to the chuck disk. The first moving component can drive the chuck disk to move up and down.

6. The automatic intramedullary nail detection device according to claim 5, characterized in that, The first moving component includes a first guide rail, a first slider, and a first motor. The chuck disk is connected to the first slider, and the first slider is disposed on the first guide rail. The first guide rail is arranged in a vertical direction, and the chuck disk can slide along the first guide rail to adjust the vertical distance between the chuck disk and the intramedullary nail. And / or, the first transmission assembly further includes at least two sets of second moving assemblies, with at least one set of second moving assemblies arranged in both the first direction X and the second direction Y in the horizontal direction. The first direction X is perpendicular to the second direction Y. The second moving assemblies are connected to the first moving assemblies and are located above the first moving assemblies. The second moving assemblies are capable of driving the chuck disk to move in the horizontal direction.

7. The automatic intramedullary nail detection device according to claim 1, characterized in that, The chuck disk includes at least two chuck assemblies, which are located in a vertical plane. Each chuck assembly includes a connecting arm and a chuck connected to each other. Each chuck has two chuck pieces. The connecting arm has a driving structure that can drive the chuck to rotate around its axis and drive the two chuck pieces to open and close.

8. The automatic intramedullary nail detection device according to claim 7, characterized in that, The first transmission assembly further includes a third turntable assembly, which is connected to the jaw disk. The third turntable assembly is capable of driving the jaw disk to rotate in a horizontal direction so that at least two of the jaw assemblies can be switched to align with the intramedullary nail. And / or, the claw assembly is provided with a first vision module for scanning and identifying the radial holes of the intramedullary nail; And / or, the jaws include a first jaw and a second jaw, wherein the inner sides of the two jaw pieces of the first jaw are flat and are used to grasp the instrument, and the inner sides of the two jaw pieces of the second jaw are V-shaped and are used to clamp the intramedullary nail.

9. The automatic intramedullary nail detection device according to claim 1, characterized in that, It also includes a third moving component and a second vision module disposed on the third moving component. The third moving component is arranged along the first direction X, and the second vision module is arranged in a second direction Y in the horizontal direction. The second direction Y is perpendicular to the first direction X. The second vision module is capable of scanning and identifying the length, end or bending angle of the clamped intramedullary nail. And / or, it also includes a fixture compartment for placing multiple fixtures, the multiple fixtures being arranged in layers.

10. The automatic intramedullary nail detection device according to claim 9, characterized in that, It also includes a fourth turntable assembly, which is connected to the second vision module. The rotation of the fourth turntable assembly can cause the second vision module to flip up and down.

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