Wireless fracture reduction robotic device and its operating system

Abstract

The present invention can provide a wireless fracture reduction robot device and an operation system thereof, which comprises a plurality of ring frames provided to wrap around a fractured part of a patient, and at least one or more thrusts provided between the plurality of ring frames to adjust a separation distance between the ring frames, a fracture reduction unit, a wireless drive pack connected to any one of the plurality of ring frames to provide power for adjusting the separation distance to the thrust, a sensor unit for measuring positions of the at least one or more thrusts, and a control unit for generating length information of the thrust based on the positions of the thrust measured by the sensor unit.

Description

Technical Field

[0007]

[0001] The present invention relates to a wireless fracture reduction robot device and an operation system thereof. More specifically, it relates to a wireless fracture reduction robot device that confirms and controls the operation of a fracture reduction robot from which wires that may interfere with the movement line of a surgeon during a fracture operation have been removed, and an operation system thereof.

Background Art

[0002] Minimally invasive fracture reduction surgery is a fracture reduction surgery that minimizes incisions on patients. In such a fracture reduction surgery, correction is performed to return the displaced bone to its original position using real-time X-ray imaging equipment such as a C-ARM, and the corrected bone fragments are fixed by inserting a metal nail into the intramedullary cavity in the corrected state.

[0003] In such a fracture reduction surgery process, a real-time X-ray image is obtained while the patient's fractured part is located between the X-ray source and the two-dimensional sensor of the C-ARM, and the doctor proceeds with the fracture reduction surgery while viewing such a real-time X-ray image.

[0004] In particular, since the fractured part of the bone is located deep inside from the skin, it is difficult to visually confirm the fracture state of the bone, the reduction process, and the alignment state accompanying the reduction. Therefore, it is normal to proceed with the fracture reduction surgery with the assistance of real-time X-ray imaging equipment such as a C-ARM.

[0005] However, X-ray imaging equipment such as a C-ARM may require continuous irradiation of X-rays to obtain a real-time image, so the radiation exposure to patients and the medical team is increasing compared to other X-ray equipment that obtains a static image.

[0006] In particular, for a medical team that repeatedly performs fracture reduction surgery, the risk of radiation exposure is a major problem.

[0007] <Furthermore, since various muscles are connected to the bones, a great deal of force is required to reduce a fractured bone, and therefore, it is common for multiple medical teams to cooperate to carry out the surgery.

[0008] One problem with fracture reduction surgery is that it requires a large medical team, which contributes to the high cost of the procedure.

[0009] Furthermore, after the displaced bones have been manually corrected by the medical team, it is by no means easy to maintain the corrected state until the corrected state is fixed by inserting a metal nail into the medullary cavity. For these and other reasons, there is a possibility that inaccurate fracture reduction may occur.

[0010] A conventional example of this technology is the "bone traction device and fracture reduction device equipped therewith," as described in Korean Patent Publication No. 10-1564717. [Overview of the Initiative] [Problems that the invention aims to solve]

[0011] To solve the above-mentioned problems, the present invention aims to provide a wireless fracture reduction robot device and its operating system that can improve the accuracy of fracture reduction surgery by measuring the length of thrust that varies the position of the ring frame through which the patient's arm or leg passes, sensing the shape of the fracture reduction area, and wirelessly manipulating the shape of the fracture reduction area via a control unit, thereby solving the problems of radiation exposure and manual labor. [Means for solving the problem]

[0012] A wireless fracture reduction robot apparatus according to an embodiment of the present invention for solving the above problems may include: a fracture reduction unit comprising: a plurality of ring frames provided to enclose the fractured area of ​​a patient; and at least one thrust provided between the plurality of ring frames to adjust the separation distance between the ring frames; a wireless drive pack connected to any one of the plurality of ring frames to provide power to the thrust to adjust the separation distance; a sensor unit for measuring the position of the at least one thrust; and a control unit that generates thrust length information based on the position of the thrust measured by the sensor unit.

[0013] Furthermore, the wireless drive pack may include a motor module that transmits power to the thrust, and the sensor unit may include a rotation speed measuring sensor that measures the rotation speed of the motor module to measure the position of the thrust.

[0014] Furthermore, the thrust may have a conductor formed along its length through which current flows.

[0015] In this case, the sensor unit may include a resistance measuring sensor that measures the position of the thrust by measuring the resistance using the magnitude of the current from the conductor.

[0016] Furthermore, the sensor unit may also include a winding device for winding up the wire connected to the thrust, a spring for rotating the winding device to unwind or rewind the wire, and a wire sensor that measures the length of the wire unwound as the winding device rotates to measure the position of the thrust.

[0017] Furthermore, the thrust may form a reflector in which the size of the reflective surface is variable as it moves along the length.

[0018] In this case, the sensor unit may include an optical measuring sensor that irradiates the reflector with light, receives the light reflected from the reflector, and measures the amount of reflected light to measure the position of the thrust.

[0019] Furthermore, the operating system of a wireless fracture reduction robot according to an embodiment of the present invention may include: a fracture reduction unit comprising a plurality of ring frames provided to enclose the fractured area of ​​a patient, and at least one thrust provided between the plurality of ring frames to adjust the distance between the ring frames; a wireless fracture reduction robot device comprising a sensor unit for measuring the position of the at least one thrust, and a control unit that generates thrust length information based on the thrust position measured by the sensor unit; and a user terminal that is linked to the wireless fracture reduction robot device to receive the length information and transmits operation information for adjusting the thrust length from the user to the wireless fracture reduction robot device. [Effects of the Invention]

[0020] The wireless fracture reduction robot apparatus and operating system according to the embodiment of the present invention described above can accurately sense the shape of the fracture reduction site without the user having to confirm it themselves by measuring the length of thrust that varies the position of the ring frame through which the patient's arm or leg passes.

[0021] Therefore, it is possible to accurately maintain the patient's bone correction state and prevent inaccurate fracture reduction.

[0022] Furthermore, the fracture reduction unit can be operated wirelessly via the control unit, allowing the user to request its operation. [Brief explanation of the drawing]

[0023] [Figure 1] This is a block diagram showing the configuration of the operating system of a wireless fracture reduction robot according to an embodiment of the present invention. [Figure 2]It is a perspective view showing a wireless fracture reduction robot device according to an embodiment of the present invention. [Figure 3] FIG. 2 is an exemplary view showing that it is attached to a human body. [Figure 4] It is a control block diagram of FIG. 2. [Figure 5] It is a perspective view showing that the motor module of the thrust and wireless drive pack in FIG. 2 is connected. [Figure 6] It is a front view of FIG. 5. [Figure 7] It is an exemplary view showing that a sensor part according to a first embodiment is formed on the thrust according to an embodiment of the present invention. [Figure 8] It is an exemplary view showing that a sensor part according to a second embodiment is formed on the thrust according to an embodiment of the present invention. [Figure 9] It is an exemplary view showing that a sensor part according to a third embodiment is formed on the thrust according to an embodiment of the present invention.

MODE FOR CARRYING OUT THE INVENTION

[0024] Since the present invention can be modified in various ways and can have various embodiments, specific embodiments are illustrated in the drawings and will be described in detail in the detailed description. However, this is not intended to limit the present invention to a specific disclosed form, and it should be understood to include all modifications, equivalents or alternatives included in the spirit and technical scope of the present invention.

[0025] The terms used in this application are used solely to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, terms such as “equipment,” “includes,” or “possess” merely indicate the existence of combinations of features, numbers, stages, actions, components, etc., described in the specification, and should be understood not to preclude the existence or addition of one or more other combinations of features, numbers, stages, actions, components, etc.

[0026] Furthermore, unless otherwise specifically noted or clearly inconsistent with the context, all terms used in this disclosure, including technical and scientific terms, have the same meaning as those commonly understood by a person of ordinary skill in the art to which the invention pertains. Generally used, dictionary-defined terms shall not be interpreted in their ideal or overly formal sense unless explicitly defined in this application.

[0027] Here, detailed descriptions of known functions and configurations that would be repeated, or that would be likely to obscure the essence of the present invention, are omitted. Embodiments of the present invention are provided to give a more complete explanation of the invention to a person of average skill in the art.

[0028] The embodiments of the present invention will be described in detail below with reference to Figures 1 to 9.

[0029] Figure 1 is a block diagram showing the configuration of the operating system of a wireless fracture reduction robot according to an embodiment of the present invention.

[0030] Referring to Figure 1, the operating system of the wireless fracture reduction robot according to an embodiment of the present invention may include a wireless fracture reduction robot device 1 and a user terminal 2.

[0031] The wireless fracture reduction robot device 1 is a device that reduces fractures in the affected area by comprising a fracture reduction unit 100 which includes a plurality of ring frames 110 arranged to enclose the fractured area of ​​the patient, and at least one thrust 120 provided between the plurality of ring frames 110 to adjust the distance between the ring frames 110, and a control unit 400 which measures the length of one or more thrusts 120 and generates length information.

[0032] In this case, the ring frame 110 can be broadly classified into a distal ring frame 111 and a proximal ring frame 112, depending on its position.

[0033] This wireless fracture reduction robot device 1 will be described in detail below.

[0034] The user terminal 2 is linked with the wireless fracture reduction robot device 1 to receive length information or the relative position / orientation between the distal ring frame 111 and the proximal ring frame 112, and can receive operation information from the user to adjust the length of the thrust 120 and transmit it to the wireless fracture reduction robot device 1.

[0035] Here, user terminal 2 may be any device used by the user, such as a personal computer (PC), mobile device, tablet PC, or PDA (Personal Digital Assistant).

[0036] Furthermore, the operational information may also be relative position / orientation information between the distal ring frame 111 and the proximal ring frame 112, or length information of the thrust 120.

[0037] Furthermore, the user terminal 2 may be linked with the wireless fracture reduction robot device 1 by utilizing a pairing method using a direct contact method such as NFC (Near Field Communication) and long-range wireless communication using the 2.4GHz ISM general-purpose frequency.

[0038] Furthermore, the user terminal 2 can store length information received from the wireless fracture reduction robot device 1, and infer the overall shape of the wireless fracture reduction robot device 1 based on each piece of length information, and store it as shape information.

[0039] In other words, the wireless fracture reduction robot device 1 can transmit relative position / orthographic information between the distal ring frame 111 and the proximal ring frame 112, or thrust length information 120, which has been changed based on the operation information transferred from the user terminal 2, to the user terminal 2.

[0040] As a result, user terminal 2 can provide users with big data related to bone reduction tailored to patient characteristics by accumulating data for optimal bone reduction using length information.

[0041] Figure 2 is a perspective view showing a wireless fracture reduction robot device according to an embodiment of the present invention; Figure 3 is an illustrative diagram showing Figure 2 being worn on a human body; Figure 4 is a control block diagram of Figure 2; Figure 5 is a perspective view showing the motor modules of the thrust and wireless drive pack of Figure 2 connected together; and Figure 6 is a front view of Figure 5.

[0042] The wireless fracture reduction robot device 1 according to an embodiment of the present invention has a battery, motor module 210, etc. built inside so that no wires are exposed to the outside, and wirelessly connects to the patient's fracture reduction robot device, which may include a fracture reduction unit 100, a wireless drive pack 200, and a control unit 400, as shown in Figures 2 to 4.

[0043] The fracture reduction portion 100 may be the part through which the patient's arm or leg penetrates and is directly fixed to the affected area. The fracture reduction portion 100 can fix and traction the affected area in order to reduce the bone.

[0044] In this context, reduction refers to the procedure of returning displaced bone fragments or a dislocated femoral head—that is, the bone itself—to its original position in the event of a fracture or dislocation.

[0045] As shown in Figure 2, the fracture reduction section 100 may include a ring frame 110 and a thrust 120.

[0046] The ring frame 110 is formed in the shape of a ring through which the patient's arm or leg passes, and may then be fixed in place to match the location of the affected area.

[0047] Furthermore, multiple ring frames 110 may be deployed, and the multiple ring frames 110 may be positioned at regular intervals and fixed along the length of the fractured area.

[0048] Preferably, as shown in Figure 3, the ring frame 110 is fixed to the distal bone fragment DB and the proximal bone fragment PB, respectively, and can be broadly classified into a distal ring frame 111 and a proximal ring frame 112 depending on their position.

[0049] The thrust 120 may be provided so as to connect the distal ring frame 111 and the proximal ring frame 112.

[0050] One or more such thrusts 120 are provided and are configured to have a variable length, such as an actuator or cylinder, to adjust the angle and separation distance between the distal ring frame 111 and the proximal ring frame 112.

[0051] Specifically, referring to Figure 5, the thrust 120 may include a cylinder 121, a rod 122, a lower end connector 123, and an upper end connector 124.

[0052] The cylinder 121 may have one end open and the other end formed with a ring-shaped connector 121a, which may be rotatably connected to a single ring frame 110.

[0053] Furthermore, the cylinder 121 may be equipped with a sight gauge 121b that allows the user to see through to the inside along its length so that the position of the rod 122 can be determined.

[0054] Furthermore, referring to Figure 6, a measurement scale may be formed along the length of 121b.

[0055] Therefore, the user can determine the length of each thrust 120 via the site gauge 121b, and furthermore, they can also determine the shape of the fracture reduction part 100 fixed to the affected area according to the length of the thrust 120.

[0056] The rod 122 may be positioned inside the cylinder 121 so as to move along the longitudinal direction of the cylinder 121 toward one end.

[0057] Alternatively, one end of the rod 122 may be connected to the ring frame 110 by a lower end connector 124 (described later) and connected to the wireless drive pack 200, allowing it to reciprocate inside the cylinder 121.

[0058] The lower end connector 123 may be formed so as to have a clamp (not shown) formed around it to make it tightly adhere to the periphery of the ring frame 110.

[0059] Furthermore, the lower end connector 123 can connect the rod 122 to the wireless drive pack 200 and transmit driving force so that the rod 122 can reciprocate inside the cylinder 121.

[0060] The upper connector 124 is connected so that the connecting body 121a can rotate, and in accordance with the movement of the rod 122, i.e., the variation in the length of the thrust 120, the ring frame 110 can be given six degrees of freedom, allowing for pitch, yaw, and roll rotation.

[0061] Therefore, the position and orientation between the distal ring frame 111 and the proximal ring frame 112 can be adjusted in accordance with the change in the length of the thrust 120.

[0062] The wireless drive pack 200 may include a drive unit 210 connected to the ring frame 110 that transmits power to the thrust 120 for length variation.

[0063] Specifically, the drive unit 210 has a motor module 211 built inside, and a driver coupler 212 that transmits power from the motor module 211 protrudes in the direction of the thrust 120 and is connected to the lower end connector 123, thereby enabling power to be transmitted to the thrust 120.

[0064] Such a wireless drive pack 200 may be formed in a wireless manner, with communication lines, power lines, and other wires connected to the robot not exposed on the outside but arranged internally.

[0065] Furthermore, the wireless drive pack 200 is formed in a ring shape so that the patient's arm or leg passes through it, but it can have an inner diameter that is longer than the outer diameter of the ring frame 110.

[0066] In other words, the wireless drive pack 200 is shaped to be larger than the ring frame 110 so as not to obstruct the movement of the ring frame 110 when the patient's arm or leg passes through it.

[0067] The sensor unit 300 can measure the position of at least one thrust 120.

[0068] In this case, the sensor unit 300 may be placed in the thrust 120 of the fracture reduction unit 100, inside the wireless drive pack 200, or elsewhere, depending on the user's request.

[0069] This sensor unit 300 will be explained in more detail below.

[0070] The control unit 400 is located inside the wireless drive pack 200 and can generate length information of the thrust 120 based on the position of the thrust 120 measured by the sensor unit 300.

[0071] Here, the control unit 400 can generate length information for each of the at least one thrust 120 that make up the fracture reduction section 100.

[0072] Furthermore, the control unit 400 can receive operation information from the user via the user terminal 2 to the wireless drive pack 200 to adjust the length of the thrust 120.

[0073] Here, the control unit 400 communicates with the user terminal 2 using a pairing method that uses a direct contact method such as NFC (Near Field Communication) and long-range wireless communication using the 2.4GHz ISM general-purpose frequency, and can also communicate with other terminals in addition to the user terminal 2.

[0074] Furthermore, the control unit 400 can provide the user terminal 2 with information on the length of the thrust 120 so that the user can confirm it, and can receive operation information for adjusting the length of the thrust 120 from the user terminal 2 and pass it on to the wireless drive pack 200.

[0075] Therefore, the user can adjust the length of the thrust 120 based on length information to manipulate the shape of the fracture reduction section 100 to suit the patient's characteristics.

[0076] Such a control unit 400 can measure the length of one or more thrusts 120 that make up the fracture reduction section 100, adjust the angle of each thrust 120 according to the change in length, and provide information that allows for the estimation of the overall shape of the fracture reduction section 100.

[0077] Furthermore, the user can build big data related to bone reduction tailored to patient characteristics by estimating data for suitable bone reduction using the length information generated in the control unit 400.

[0078] The sensor unit 300 according to one embodiment of the present invention may include a rotation speed measuring sensor (not shown).

[0079] The rotation speed measurement sensor can measure the rotation speed of the motor module 211 and generate sensor information.

[0080] Here, the sensor information is the thrust position measured by the rotation speed measurement sensor using the rotation speed of the motor module 211.

[0081] Specifically, the rotation speed measurement sensor is connected to the rotating shaft of the motor module 211 or the rotating shaft of the driver coupler 212, and can measure the rotation speed by generating an electrical signal with one pulse per revolution in the direction of rotation of the rotating shaft.

[0082] Furthermore, the rotation speed measurement sensor can also divide one rotation by 360 to further subdivide the rotation speed and measure it as a rotation angle, which can be configured according to the user's request.

[0083] At this time, the control unit 400 can generate length information by receiving sensor information generated as the motor module 211 rotates from the rotation speed measurement sensor and determining the total length of the thrust 120.

[0084] Specifically, the control unit 400 can generate thrust length information for the thrust 120 based on the sensor information measured by the resistance measuring sensor 310, that is, the absolute value of the degree to which the rod 122 moved inside the cylinder 121 as the motor module 211 rotates.

[0085] On the other hand, the sensor unit 400 may be deployed on the thrust 120. Various embodiments of the sensor unit 400 deployed on the thrust 120 will be described below.

[0086] Figure 7 is an illustrative diagram showing that a sensor portion according to the first embodiment is formed on a thrust according to an embodiment of the present invention.

[0087] Referring to Figure 7, the sensor unit 300 of the wireless fracture reduction robot device 1 according to an embodiment of the present invention can be replaced with the embodiment according to the first embodiment.

[0088] In this case, a conductor 125 through which current flows along the length direction may be formed on the thrust 120.

[0089] The conductor 125 is formed along the length of the rod 122, but may be formed so as to be exposed via the sight gauge 121b.

[0090] As the conductor 125 moves away from the part to which the current is applied, the number of collisions between electrons and atoms increases as they pass through the conductor 125, which hinders the flow of current and thus increases the magnitude of its resistance.

[0091] The sensor unit 300 according to the first embodiment of the present invention may include a resistance measuring sensor 310.

[0092] The resistance measuring sensor 310 can measure resistance through the magnitude of the current from the conductor 125 and generate sensor information.

[0093] Here, the sensor information is the thrust position measured using the magnitude of the resistance of the surface in contact with the conductor 125 by the resistance measuring sensor 310.

[0094] Specifically, the resistance measuring sensor 310 is positioned adjacent to the site gauge 121b of the cylinder 121, but is shaped to face the direction of the site gauge 121b so that it can sense the current in the conductor 125.

[0095] Such a resistance measuring sensor 310 senses the current flowing through the conductor 125, measures the resistance in response to changes in the strength of the current, and can generate sensor information using the said resistance value.

[0096] In other words, the position of the resistance measuring sensor 310 is fixed, and as the rod 122 moves, the position in which it contacts the conductor 125 changes, resulting in different measured resistance values.

[0097] At this time, the control unit 400 can generate length information by receiving sensor information, which is a resistance value that varies according to the change in position accompanying the movement of the rod 122, and determining the total length of the thrust 120.

[0098] Specifically, the control unit 400 can generate length information for the thrust 120 by matching the sensor information measured by the resistance measuring sensor 310, that is, the resistance value measured in a manner that differs depending on the degree to which the rod 122 moves inside the cylinder 121, with the total length of the thrust 120 at that time.

[0099] Figure 8 is an illustrative diagram showing that a sensor portion according to a second embodiment is formed on a thrust according to an embodiment of the present invention.

[0100] Referring to Figure 8, the sensor unit 300 of the wireless fracture reduction robot device 1 according to an embodiment of the present invention can be replaced with the embodiment according to the second embodiment.

[0101] At this time, the sensor unit 300 is mounted on the lower end connector 123, but one side facing the other end of the rod 122 is open, allowing the wire 321 to be unwound or wound in as the rod 122 moves.

[0102] The sensor unit 300 according to the second embodiment of the present invention may include a winder 320, a wire 321, a spring (not shown), and a wire sensor 322.

[0103] The winding device 320 can wind up the wire 321 connected to the thrust 120.

[0104] At this time, the wire 321 is connected to a wire fixing projection extending from the other end of the rod 122 in the direction of the sight gauge 121b, and can be wound onto the winding device 320 or unwound from the winding device 320 as the rod 122 moves.

[0105] The mainspring can extend or retract the wire 321 by rotating the winding mechanism 320.

[0106] Specifically, the mainspring can be configured such that when tension is applied to the wire 321 connected to the rod 122 as the rod 122 is pulled out, the winding device 320 rotates in the direction of the tension, causing the wire 321 to be unwound.

[0107] Furthermore, the spring is formed in a shape in which an elastic body is wound, and a force acts at its center. As the tension on the wire 321 weakens as the rod 122 is pulled in, the winder 320 can be rotated in the opposite direction to the tension acting on the wire 321, thereby winding it up and returning it to its original position.

[0108] In addition, the mainspring can be made flexible so that the wire 321 does not become loose when it is wound up or unwound.

[0109] The wire sensor 323 can generate sensor information by measuring the length of wire 321 that has been unwound as the winding device 320 rotates.

[0110] Specifically, the wire sensor 322 is equipped with a potentiometer that generates a variable voltage or variable current as the winding device 320 rotates. Sensor information can be generated by measuring the rotation speed based on the resistance value corresponding to the variable voltage or variable current and determining the length of the wire 321.

[0111] Furthermore, the wire sensor 322 can recognize the rotation direction of the winding unit 320 and determine whether the wire 321 is being wound up or unwound, even if the same resistance value is measured.

[0112] At this time, the control unit 400 receives sensor information, which is the length of the wire 321 as the rod 122 moves, and can determine the total length of the thrust 120 and generate length information.

[0113] Specifically, the control unit 400 can generate thrust length information for the thrust 120 by matching sensor information measured by the wire sensor 322, that is, the length of the wire 321 which is measured differently depending on the degree to which the rod 122 moves inside the cylinder 121, with the total length of the thrust 120 at that time.

[0114] Figure 9 is an illustrative diagram showing a sensor portion according to a third embodiment formed on a thrust according to an embodiment of the present invention.

[0115] Referring to Figure 9, the sensor unit 300 of the wireless fracture reduction robot device 1 according to an embodiment of the present invention can be replaced with the embodiment according to the third embodiment.

[0116] In this case, the thrust 120 may have a reflector 126 formed on it, the size of which of the reflective surface is variable as it moves along the length direction.

[0117] The reflector 126 is formed to increase in size along the length of the rod 122, but may also be formed to be exposed via the sight gauge 121b.

[0118] Such a reflector 126 allows the area of ​​reflected light to increase along its length when light is incident on it.

[0119] The sensor unit 300 according to the third embodiment of the present invention may include an optical measuring sensor 330.

[0120] The light measuring sensor 330 can generate sensor information by irradiating light onto the reflector 126, receiving the light reflected from the reflector 126, and measuring the amount of reflected light.

[0121] Specifically, the light measuring sensor 330 is positioned adjacent to the site gauge 121b of the cylinder 121, but is shaped to face the direction of the site gauge 121b, irradiating light onto the reflector 126, and receiving the reflected light to measure the amount of reflected light and generate sensor information.

[0122] At this time, the control unit 400 can generate length information by receiving sensor information regarding the amount of light reflected, which varies depending on the change in position accompanying the movement of the rod 122, and determining the total length of the thrust 120.

[0123] Specifically, the control unit 400 can generate length information for the thrust 120 by matching sensor information measured by the optical measuring sensor 330, that is, the amount of light reflected, which is measured differently depending on the degree to which the rod 122 moves inside the cylinder 121, with the total length of the thrust 120 at that time.

[0124] On the other hand, the basic form of the sensor unit 300 described first and the components constituting the sensor unit 300 according to the first to third embodiments may be configured such that each component can be replaced or mixed with others in response to user requests, within the limits of not interfering with each other.

[0125] Furthermore, the basic form of the sensor unit 300 described first and the individual components constituting the sensor unit 300 according to the first to third embodiments can exhibit the same effects.

[0126] The embodiments of the present invention described above are not limited to systems and / or methods, but can also be realized through systems for realizing functions corresponding to the configurations of the embodiments of the present invention, configurations used in such systems, and such realization can be easily achieved by experts in the technical field to which the present invention belongs, based on the above-described embodiments.

[0127] Furthermore, although embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements by those skilled in the art using the basic concepts of the present invention as defined in the attached claims also fall within the scope of the present invention. [Explanation of Symbols]

[0128] 1. Operating System of Wireless Fracture Reduction Robot 100 Fracture Reduction Department 110 Ring Frame 111 Distal ring frame 112 Proximal ring frame 120 thrust 121 Cylinder 121a Concatenation 121b Sight Gauge 122 Rods 123 Lower connector 124 Upper connector 125 Conductor 126 Reflector 200 Wireless Power Pack 210 Drive unit 211 Motor Module 212 Driver Coupler 300 Sensor section 310 Resistance Measuring Sensor 320 Winding mechanism 321 Wire 322 Wire Sensor 330 Light Measurement Sensor DB distal bone fragment PB proximal bone fragment

Claims

1. A wireless fracture reduction robot device comprising: a fracture reduction unit comprising: a plurality of ring frames provided to enclose the fractured area of ​​a patient; at least one thrust provided between the plurality of ring frames to adjust the distance between the ring frames; a wireless drive pack connected to any one of the plurality of ring frames to provide power to the thrust for adjusting the distance between the ring frames; a sensor unit for measuring the position of at least one thrust; and a control unit that generates length information of the thrust based on the position of the thrust measured by the sensor unit, wherein the sensor unit and the control unit are provided inside the wireless drive pack, the wireless drive pack is provided inside a battery and a motor module for transmitting power to the thrust, and is wirelessly driven with wiring housed inside so as not to be exposed to the outside, and the wireless drive pack has an inner diameter longer than the length of the outer diameter of the ring frame, is formed in a ring shape so as to be able to penetrate the patient's arm or leg, and has a partially cut "C" shape.

2. The wireless fracture reduction robot device according to claim 1, wherein the sensor unit comprises a rotation speed measuring sensor that measures the rotation speed of the motor module and measures the position of the thrust.

3. The wireless fracture reduction robot device according to claim 1, wherein the thrust has a conductor formed along its length through which an electric current flows, and the sensor unit includes a resistance measuring sensor that measures the position of the thrust by measuring the resistance using the magnitude of the current from the conductor.

4. The wireless fracture reduction robot device according to claim 1, wherein the sensor unit comprises: a winding device for winding up a wire connected to the thrust; a spring for rotating the winding device to unwind and rewind the wire; and a wire sensor for measuring the length of the wire unwound as the winding device rotates to measure the position of the thrust.

5. The wireless fracture reduction robot device according to claim 1, wherein the thrust has a reflector formed on which the size of the reflective surface is variable as it moves along the length direction, and the sensor unit includes an optical measuring sensor that irradiates light onto the reflector, receives the light reflected from the reflector, and measures the amount of reflected light to measure the position of the thrust.

6. A wireless fracture reduction robot device comprising: a fracture reduction unit comprising: a plurality of ring frames provided to enclose the fractured area of ​​a patient; at least one thrust provided between the plurality of ring frames to adjust the distance between the ring frames; a wireless drive pack connected to any one of the plurality of ring frames to provide power to the thrust to adjust the distance; a sensor unit for measuring the position of at least one thrust; and a control unit that generates length information of the thrust based on the position of the thrust measured by the sensor unit; and a unit that is linked to the wireless fracture reduction robot device. The operating system of a wireless fracture reduction robot device comprises a user terminal that receives the length information and inputs operation information from the user to adjust the length of the thrust, the sensor unit and control unit are provided inside the wireless drive pack, the wireless drive pack is equipped with a battery and a motor module that transmits power to the thrust, and is housed inside so that the wiring is not exposed to the outside and is capable of wireless operation, the wireless drive pack has an inner diameter longer than the length of the outer diameter of the ring frame, is formed in a ring shape so that it can penetrate the arm or leg of a patient, and has a partially cut "C" shape.

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