Fracture reduction robot with wireless drive unit

Abstract

The present invention relates to a fracture reduction robot equipped with a wireless drive unit, which includes a fracture reduction unit including a plurality of ring frames arranged to enclose the fractured part of a patient, and at least one thrust provided between the plurality of ring frames to adjust the distance between the ring frames, and a wireless drive unit connected to any one of the plurality of ring frames to provide power to the thrust to adjust the distance, thereby achieving the effect of being less hindered by electric wires during fracture reduction surgery.

Description

Technical Field

[0001] The present invention relates to a fracture reduction robot formed with a wireless drive unit. More specifically, the present invention relates to a fracture reduction robot formed with a wireless drive unit in which wires that interfere with fracture surgery are removed by using a drive unit equipped with an interface including an internal power supply unit and a wireless communication unit.

Background Art

[0002] During the joint surgery of a patient with a fractured femur or tibia, in some cases, after fixing a surgical aid such as an external fixation device to the bone, repeated X-ray imaging is performed to align the bone little by little for the joint of the fractured site.

[0003] In such a process, the medical team approaches the C-ARM X-ray equipment for surgery, so they are at risk of being overly exposed to radiation.

[0004] In addition, after pulling the fractured site of the patient, the traction position must be maintained for a long time, which is a task that imposes a great physical burden on the surgeon. Due to the fact that it only requires physical labor, a large number of surgeons are involved in an inefficient form of manpower utilization that remains haphazardly.​​​​​​​Furthermore, attempts have been made to solve the above problems using surgical navigation systems and industrial serial arm-type robots. However, in this case, the payload capacity required of the robot is very large, and in order to meet this payload capacity, the robot becomes bulky, resulting in a problem in that it cannot meet the design requirements of the operating room.

[0007] Therefore, the "External Fixation Device with Detachable Actuator" in Korean Registered Patent Publication No. 10-1735481 allows for easy attachment of the detachable actuator to the variable leg, making it easy to grasp the previous state of the variable leg and enabling successful correction of fractured or deformed bones. However, the increased number of components that traction and reduce the bone necessitates an increase in the number of drive members that change the length of each variable leg and the wires that supply electricity to the detachable actuator when fixing the external fixation device to the bone. As a result, the problem of these wires potentially coming into contact with the surgical site remains.

[0008] Therefore, there is a strong demand for the development of a fracture reduction robot that uses a drive unit without electrical wires, so that the wires do not come into contact with the surgical site and thus do not interfere with fracture reduction surgery. [Overview of the Initiative] [Problems that the invention aims to solve]

[0009] To solve the above-mentioned problems, the present invention aims to provide a fracture reduction robot in which a battery and motor are inserted into the drive unit, the drive unit is made wireless, and a wireless drive unit is formed in which electrical wires that interfere with surgery are eliminated. [Means for solving the problem]

[0010] To solve the above problems, a fracture reduction robot having a wireless drive unit formed 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, and a drive unit connected to any one of the plurality of ring frames to provide power to the thrust to adjust the distance between the ring frames.

[0011] Furthermore, the fracture reduction unit may further include an upper connector connected to one end of the thrust and a lower connector connecting the drive unit to the other end of the thrust.

[0012] Furthermore, the thrust may include a thrust body formed to be of variable length, a sight gauge on which the interior is projected along the length and a scale is formed, and a measuring ruler that moves inside the sight gauge as the length of the thrust is varied to indicate the length of the thrust; a through hole formed at one end of the thrust body and connected to the upper end connector; and a power transmission unit at the other end of the thrust body connected to the lower end connector to transmit power to vary the length of the thrust body.

[0013] Furthermore, the upper connector may also include a fixing pin that penetrates the other end of the thrust body and fixes the thrust to the upper connector, a retaining member coupled to the fixing pin to prevent the thrust fixed to the upper connector from coming loose, and a rotating pin formed to penetrate one side around the fixing pin from the outside of the upper connector and to adjust the angle of the fixing pin, so that the angle of the thrust is variable with respect to the rotating pin of the upper connector.

[0014] Furthermore, the drive unit may also include a drive unit housing formed so that a patient's arm or leg passes through it; a control unit formed inside the drive unit housing to provide power to the thrust; and a driver coupler formed on one surface of the drive unit housing, which is connected to the power transmission unit via the lower end connector to transmit power and adjust the length of the thrust body.

[0015] Furthermore, the lower end connector may also include a first connecting hole formed to face the thrust and corresponding to the diameter of the power transmission unit, and a second connecting hole formed to face the driver coupler and corresponding to the diameter of the driver coupler, thereby connecting the power transmission unit and the driver coupler.

[0016] Furthermore, the power transmission unit may also include a tubular screw connecting the thrust and the lower end connector, a keyway formed to engage with the driver coupler, and a ball joint having a through-pin formed to penetrate from the outside and rotating around the through-pin as a pivot axis.

[0017] Furthermore, the control unit may also include a main controller that controls the drive of the fracture reduction unit, a drive motor provided to correspond to the thrust and which varies the length and direction of each thrust according to the control of the main controller, and a battery-type power supply unit that supplies power to the main controller and the drive motor.

[0018] Furthermore, the driver coupler may also include a clutch tooth that engages with the keyway and an elastic member that pushes the clutch tooth toward the keyway, wherein the clutch tooth may engage with the keyway in accordance with the drive of the control unit.

[0019] In the fracture reduction robot with a wireless drive unit according to another embodiment of the present invention, the drive unit includes a cooler for reducing the heat generation amount of the control unit, and a mesh net provided on the side surface of the drive unit at the position where the drive motor is disposed so that the heat of the drive motor is released to the outside. Cold air may be directly or indirectly transmitted to the drive motor by the mesh net.

[0020] In the fracture reduction robot with a wireless drive unit according to still another embodiment of the present invention, the fracture reduction unit may further include an auxiliary connection part formed to wrap the ring frame and the drive unit and fixing the drive unit to the ring frame.

Effects of the Invention

[0021] The fracture reduction robot with a wireless drive unit according to an embodiment of the present invention has an effect that it is possible to reduce the interference of electric wires during a fracture operation by providing the drive unit in which a battery and a drive motor are inserted in a wireless type.

Brief Description of the Drawings

[0022] [Figure 1] It is a perspective view of a fracture reduction robot with a wireless drive unit according to an embodiment of the present invention. [Figure 2a] It is an exploded view showing a state where the fracture reduction part and the drive part in FIG. 1 are disassembled. [Figure 2b] It is an exemplary view showing a state where the fracture reduction part and the drive part in FIG. 1 are coupled. [Figure 3] It is a side exemplary view showing a state where the fracture reduction robot in FIG. 1 is fixed to an affected part. [Figure 4] It is a perspective view showing the state of the fracture reduction part in FIG. 2. [Figure 5] It is an exemplary view showing a state where the upper end connector in FIG. 4 is connected to the ring frame. [Figure 6] It is an exploded view showing the upper end connector and the thrust in FIG. 4 disassembled. [Figure 7] It is a perspective view showing the state of the lower connector in FIG. 4. [Figure 8] It is an exemplary view showing the disassembled state of the lower connector to which the ring frame in FIG. 4 is connected, the thrust, and the drive unit. [Figure 9] It is a plan projection view of the lower connector in FIG. 7. [Figure 10] It is a perspective view showing the state of the thrust in FIG. 4. [Figure 11] It is a cross-sectional exemplary view showing the state in which the thrust and the lower connector in FIG. 10 are connected. [Figure 12] It is a perspective view showing the state of the drive unit in FIG. 2. [Figure 13] It is an exploded view showing the state of the control unit by rotating the drive unit in FIG. 12. [Figure 14] It is an exemplary view showing the state of the power transmission part of the driver coupler and the thrust in FIG. 2. [Figure 15] It is a rotating perspective view showing the state of the clutch teeth of the driver coupler in FIG. 14. [Figure 16a] It is an exemplary view showing the state in which the power transmission part of the driver coupler and the thrust in FIG. 14 are connected. [Figure 16b] It is an exemplary view showing the state in which the power transmission part of the driver coupler and the thrust in FIG. 14 are connected. [Figure 16c] It is an exemplary view showing the state in which the power transmission part of the driver coupler and the thrust in FIG. 14 are connected. [Figure 17] It is a perspective view of a fracture reduction robot in which a wireless drive unit according to another embodiment of the present invention is formed. [Figure 18] It is an exploded view showing the disassembled state of the drive unit and the cooler in FIG. 17. [Figure 19] It is a perspective view of a fracture reduction robot in which a wireless drive unit according to still another embodiment of the present invention is formed. [Figure 20] It is a perspective view of the auxiliary connection part in FIG. 19. [Figure 21] It is an exemplary view showing the state in which the auxiliary connection part in FIG. 20 is opened. [Figure 22a] Figure 19 is an example diagram illustrating how the auxiliary connecting part is connected to the ring frame and the drive unit. [Figure 22b] Figure 19 is an example diagram illustrating how the auxiliary connecting part is connected to the ring frame and the drive unit. [Figure 22c] Figure 19 is an example diagram illustrating how the auxiliary connecting part is connected to the ring frame and the drive unit. [Figure 22d] Figure 19 is an example diagram illustrating how the auxiliary connecting part is connected to the ring frame and the drive unit. [Modes for carrying out the invention]

[0023] The description of the present invention, as described below with reference to the drawings, is not limited in any way to any particular embodiment, and various modifications can be made, resulting in a variety of embodiments. Furthermore, the content described below should be understood to include any modifications, equivalents, or substitutions that fall within the concept and technical scope of the present invention.

[0024] In the following explanation, phrases such as "the first," "the second," etc., can be used to describe various components, but these components are not limited in any way by such phrases. Phrases such as "the first," "the second," etc., can only be used to distinguish one component from another.

[0025] The same reference numerals used throughout this specification refer to the same component.

[0026] In this invention, singular expressions include plural phrases unless the context clearly indicates otherwise. Furthermore, terms such as "includes," "equip," or "possess" as described below merely specify the existence of features, figures, for which they exist, actions, components, parts, or combinations thereof, as described in the specification, and should be understood not to preclude the existence or addition of one or more other features, figures, actions, components, parts, or combinations thereof.

[0027] Hereinafter, a fracture reduction robot equipped with a wireless drive unit according to an embodiment of the present invention will be specifically described based on Figures 1 to 22.

[0028] Figure 1 is a perspective view of a fracture reduction robot with a wireless drive unit formed according to an embodiment of the present invention; Figure 2a is an exploded view showing the fracture reduction unit and drive unit of Figure 1 disassembled; Figure 2b is an illustrative diagram showing how the fracture reduction unit and drive unit are connected; Figure 3 is an illustrative side view showing the fracture reduction robot of Figure 1 fixed to the affected area; and Figure 4 is a perspective view showing the fracture reduction unit of Figure 2.

[0029] Referring to Figure 1, a fracture reduction robot with a wireless drive unit formed according to an embodiment of the present invention may include a fracture reduction unit 10 and a drive unit 20.

[0030] First, the fracture reduction portion 10 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 10 can fix and traction the affected area in order to reduce the bone.

[0031] Referring to Figure 2a, the fracture reduction section 10 may include a ring frame 11 and a thrust 12.

[0032] The ring frame 11 may be penetrated by the patient's arm or leg. After the patient's arm or leg has been penetrated, the ring frame 11 may be fixed to the affected area in accordance with its position.

[0033] The ring frame 11 can be formed as a ring or as a "C" shape with one side open, but is not limited thereto.

[0034] In this case, the ring frame 11 may be provided with connecting holes 110 that penetrate the ring frame at regular intervals along the circumference. Here, a bone fixation frame (not shown) used in fracture repair surgery may be connected to the connecting holes 110.

[0035] Specifically, the bone fixation frame (not shown) typically consists of a steel plate that contacts the bone and a ring frame 11 that is arranged on the ring frame 11. It can be constructed from a rod formed in the shape of "TIFF0007894188000001.tif87" and bolts for joining the iron plate and the rod, but is not limited thereto.

[0036] Furthermore, multiple ring frames 11 may be deployed, and the multiple ring frames 11 can be positioned at a certain distance from each other. Such ring frames 11 may be fixed along the length of the fractured area.

[0037] Preferably, two ring frames 11 are fixed to the distal bone fragment DB or the proximal bone fragment PB, and one or more thrusts 12 may be connected between the ring frames 11.

[0038] Here, distal bone fragment DB refers to the bone fragment furthest from the heart when the affected area is opened, while proximal bone fragment PB sometimes refers to the bone fragment closer to the heart.

[0039] For example, as shown in Figure 3, if the affected area is the calf bone, the distal bone fragment DB may refer to the bone fragment closer to the foot, and the proximal bone fragment PB may refer to the bone fragment closer to the inner thigh.

[0040] For this purpose, the ring frame 11 may be connected to the thrust 12 via an upper end connector 111 and a lower end connector 112, as shown in Figure 4.

[0041] Here, the upper connector 111 can be formed on a ring frame 11 connected to the proximal bone fragment PB, and the lower connector 112 can be formed on a ring frame 11 connected to the distal bone fragment DB. However, the position where the ring frame 11 is fixed can also change depending on the direction in which the fracture reduction portion 10 is positioned on the affected area, so it is not limited to this.

[0042] The ring frame 11, fixed to each proximal bone fragment PB or distal bone fragment DB, can reduce the bone fragment in accordance with the drive of the thrust 12. Details of the drive of the thrust 12 will be described later.

[0043] The lower end connector 112 and upper end connector 111, which are deployed to fix the ring frame 11 and thrust 12 as described above, will be explained in detail below based on Figures 5 to 9.

[0044] First, Figure 5 is an illustrative diagram showing how the upper connector in Figure 4 is connected to the ring frame, and Figure 6 is an exploded view of the upper connector and thrust in Figure 3.

[0045] Referring to Figure 4, the upper connector 111 can connect one end of the thrust 12 to the ring frame 11.

[0046] Specifically, the upper connector 111 may be equipped with a clamp. The clamp can be formed to fit tightly to the periphery of the ring frame 11, thereby preventing the angle of the upper connector 111 from twisting or sliding along the circumference.

[0047] The upper end connector 111 may have an additional fixing groove on the upper side of the clamp. A fixing pin 1111 can be inserted into such a fixing groove, and a rotating pin 1112 can be inserted through the fixing groove and the hollow portion provided in the fixing pin 1111.

[0048] Furthermore, the fixing pin 1111 may have a groove formed at its upper end that allows the retaining member 1110 to be fastened to it.

[0049] The upper connector 111 may be further connected to the thrust 12, as shown in Figure 5. Here, one end of the thrust 12 may be provided in the shape of a rod, i.e., a shape with a through hole 121 formed in the middle.

[0050] More specifically, the retaining member 1110 is fitted into the groove formed at the upper end of the fixing pin 1111 and the through hole 121 of the thrust 12, thereby connecting the upper end connector 111 and the thrust 12 with the retaining member 1110 and the rotating pin 1112 as axes.

[0051] Preferably, the upper connector 111 can be connected to a pair of thrusters 12 using two retaining members 1110, thereby reducing the burden on the user when assembling the ring frame 11 and the thrusters 12.

[0052] As a result, the upper connector 111 can fasten one or more thrusts 12 to the ring frame 11 via the above configuration, and each thrust 12 can rotate around the through hole 121 and the rotating pin 1112 as an axis, and the length of the thrust 12 is variable, ultimately allowing the position and angle of the ring frame 11 to be varied.

[0053] Details regarding the variable length of thrust 12 will be described later.

[0054] Furthermore, Figure 7 is a perspective view showing the lower end connector of Figure 4, Figure 8 is an exploded view showing the lower end connector, thrust and drive unit to which the ring frame of Figure 4 is connected disassembled, and Figure 9 is a plan projection view showing the difference in diameter between the first and second linkage holes of the lower end connector of Figure 7.

[0055] Referring to Figures 7 and 8, the lower end connector 112 may be equipped with a clamp. The clamp can be formed to be in close contact with the periphery of the ring frame 11, thereby preventing the angle of the lower end connector 112 from twisting or sliding along the circumference.

[0056] Furthermore, the lower end connector 112 can connect the drive unit 20 and the thrust 12 via the linkage hole 1120.

[0057] For this purpose, the diameter of the linkage hole 1120 may be formed to correspond to the drive unit 20 and the thrust 12.

[0058] More specifically, the diameter of the linkage hole 1120 that contacts the drive unit 20 may be set to correspond to the size of the driver coupler 23, and the diameter of the linkage hole 1120 that contacts the thrust 122 may be set to correspond to the size of the power transmission unit 122.

[0059] Here, the linkage hole 1120 opened on the thrust 12 side is referred to as the first linkage hole 1120a, and the linkage hole 1120 opened on the drive unit 20 side is referred to as the second linkage hole 1120b.

[0060] In other words, as shown in Figure 9, a difference in diameter (1120a - 1120b / 2) between the first connecting hole 1120a and the second connecting hole 1120b can appear in the lower end connector 112.

[0061] Therefore, by housing the driver coupler 23 and the power transmission unit 122 of the thrust 12 inside the linkage hole 1120, the connection between the driver coupler 23 and the power transmission unit 122 can be guided, which has the effect of making it easier for the user to attach the drive unit 20 to the fracture reduction unit 10.

[0062] Here, the power transmission section 122 of the thrust 12 is the part formed at the other end of the thrust 12 that transmits the drive of the drive unit 20, and the driver coupler 23 can transmit the drive of the drive unit 20. Details of each will be described later.

[0063] Furthermore, Figure 10 is a perspective view showing the thrust configuration in Figure 4, and Figure 11 is a cross-sectional example showing the internal structure of the thrust configuration in Figure 10 and how the lower end connector is connected.

[0064] Referring to Figure 10, the thrust 12 can be formed to have a variable length configuration such as an actuator or cylinder, which can change the position of the ring frame 11. The thrust 12 may include a thrust body 120, a through hole 121, and a power transmission section 122.

[0065] Furthermore, the thrust body 120 may also include a sight gauge 1200, a cylinder 1201, and a measuring ruler 1202.

[0066] The site gauge 1200 can be formed along the longitudinal direction around the thrust body 120, thereby indicating the maximum contraction length and maximum extension length of the thrust 12.

[0067] The cylinder 1201 can move inside the thrust fuselage 120, making the overall length of the thrust 12 variable. The cylinder 1201 can move along the length of the thrust fuselage 120 by power transmitted from the drive unit 20.

[0068] As shown in Figure 11, the measuring ruler 1202 is formed at the end of the cylinder 1201 and is positioned to reciprocate inside the sight gauge 1200 to display the length of the thrust 12, allowing the user to visually determine the length of the thrust 12.

[0069] However, the physical method of measuring the length of the thrust 30 through the user's visual inspection, as described above, is not necessarily limited to this method, and other methods, such as measuring electromagnetically using the operation of the drive unit 40, can also be used in combination.

[0070] This allows the user to determine the overall length of each thrust 12 via the site gauge 1200 and measuring ruler 1202, and to determine the shape of the fracture reduction part 10 fixed to the affected area according to the length of the thrust 12.

[0071] The through-hole 121 can be formed in a donut shape at one end of the thrust body 120, and a bearing may be provided on the inner circumferential surface for ease of rotation.

[0072] The through-hole 121 can pass through the retaining member 1110 and may be connected to the upper end connector 111. In other words, as shown in Figure 6, the through-hole 121 may be fastened to the fixing pin 1111 via the retaining member 1110 of the upper end connector 111.

[0073] In other words, the through holes 121 may be provided so that each thrust 12 can rotate around the retaining member 1110 and the fixing pin 1111 as axes in the upper end connector 111.

[0074] The power transmission unit 122 is formed at the other end of the thrust fuselage 120 and can be connected to the lower end connector 112, so that it can be connected to the drive unit 20 via the lower end connector 112 and power can be transmitted.

[0075] Referring to Figure 11, the power transmission section 122 may include a tubular screw 1220, a keyway 1221, and a ball joint 1222.

[0076] The tubular thread 1220 can come into contact with the lower end connector 112.

[0077] The tubular thread 1220 is a component for connecting the lower end connector 112 and the thrust 12, and extends to the inner surface of the lower end connector 112 so that it can abut against the lower end connector 112.

[0078] The keyway 1221 may be a part that is directly connected to the drive unit 20 and transmits power from the drive unit 20.

[0079] A through-pin 12220 can be inserted into the ball joint 1222 from the outside of the power transmission section 122, and the through-pin 12220 can rotate around the axis of rotation.

[0080] Using the height-adjustable properties described above, the configuration in which it is fastened to the upper connector 111, and the power transmission section 122, the thrust 12 can move the ring frame 11 along a linear axis, horizontally and vertically, and is given six degrees of freedom that allow for pitch, yaw, and roll rotation.

[0081] Hereinafter, with reference to Figures 12 to 16, the configuration and method for transmitting power from the drive unit 20 to the thrust 11 according to the embodiment of the present invention will be described.

[0082] Figure 12 is a perspective view showing the drive unit of Figure 2, Figure 13 is an exploded view showing the control unit by rotating the drive unit of Figure 12, Figure 14 is an illustrative diagram showing the driver coupler and thrust power transmission unit of Figure 2, Figure 15 is a rotational perspective view showing the clutch teeth of the driver coupler of Figure 14, Figure 16a is an illustrative diagram showing the driver coupler and thrust coupling unit of Figure 14 before they are connected, Figure 16b is an illustrative diagram showing the driver coupler of Figure 14 inserted into the thrust coupling unit, and Figure 16c is an illustrative diagram showing the driver coupler and thrust coupling unit of Figure 14 connected.

[0083] Referring to Figure 12, the drive unit 20 may have a driver coupler 23 protruding outward for connection to the ring frame 11. Such a drive unit 20 can transmit power to the thrust 12 via the driver coupler 23 and may be formed as a wireless type with communication and power lines removed.

[0084] Furthermore, referring to Figure 2b, a drive unit fixing pin P may be provided between the drive unit 20 and the ring frame 11 to fasten them together. The drive unit fixing pin P can form a fixing force between the drive unit 20 and the ring frame 11 by having one end fixed to the ring frame 11 while the drive unit 20 is passing through it.

[0085] Referring to Figure 13, the drive unit 20 may include a drive unit housing 21 and a control unit 22.

[0086] First, the drive unit housing 21 may be formed in a ring shape so that the patient's arm or leg passes through it. In this case, the drive unit housing 21 may have an inner diameter that is even longer than the outer diameter of the ring frame 11.

[0087] In other words, the drive housing 21 is formed to be larger than the ring frame 11 so as not to obstruct the movement of the ring frame 11 when the patient's arm or leg passes through it.

[0088] Preferably, the drive unit housing 21 can be formed in a shape with a portion cut out, as shown in Figure 13, so that the fracture reduction unit 10 and the drive unit 20 can be easily assembled by the user inserting their hand into the cut-out portion.

[0089] Furthermore, the drive unit housing 21 may have a hole through which the driver coupler 23, which is disposed on the drive motor 221 of the control unit 22, can be inserted.

[0090] Since the control unit 22 can be formed inside the drive unit housing 21, it can control the thrust 12.

[0091] The control unit 22 may have its components located on one side inside the drive unit housing 21. The control unit 22 may also include a main controller 220, a drive motor 221, and a power supply unit 222.

[0092] The main controller 220 can control the drive of the fracture reduction unit 10.

[0093] Specifically, the main controller 220 can communicate wirelessly and, based on the communicated information, can control the drive motor 221 and power supply unit 222 to control the fracture reduction unit 10 so as to correct the affected area.

[0094] The main controller 220 can control the rotational speed and direction of the drive motor 221 so that the length of the thrust 12 is variable from the current position in which the fracture reduction section 10 is fixed. For example, by varying the length of the thrust 12, the main controller 220 can vary the angle and position of the ring frame 11.

[0095] Furthermore, the main controller 220 can communicate with other terminals using a pairing method that uses direct contact, such as NFC (Near Field Communication), and a long-range wireless communication method that utilizes the ISM band.

[0096] Since the drive motor 221 can be shaped to match the number of thrusts 12, it can generate power that varies the length and direction of each thrust 12 according to the control of the main controller 220.

[0097] The drive motors 221 can be formed in pairs in three directions depending on the position of the thrust 12, and power can be transmitted to each thrust 12 via the driver coupler 23, but this is not limited to this configuration.

[0098] Furthermore, the main controller 220 can monitor the rotational speed and direction of each drive motor 221 corresponding to each thrust 12, and can calculate the current length of the thrust 12.

[0099] The power supply unit 222 is configured as a battery type and is wirelessly rechargeable so as to supply power to the main controller 220 and the drive motor 221. The power supply unit 222 can be charged by methods such as magnetic induction or resonant induction, but is not limited thereto.

[0100] The driver coupler 23 may be formed on one surface of the drive unit housing 21 and connected to the thrust 12.

[0101] The driver coupler 23 may be provided at the location where the drive motor 221 is formed, and transmits the power of the drive motor 221 to the thrust 12.

[0102] In this case, the driver coupler 23 may be connected to the thrust 12 via the lower end connector 112.

[0103] Referring to Figures 14 and 15, the driver coupler 23 may also be equipped with clutch teeth 230.

[0104] The clutch teeth 230 may be formed to engage with the keyway 1221 of the thrust 12.

[0105] Specifically, as shown in Figure 14, one or more clutch teeth 230 can be formed along the circumference of the driver coupler 23, but this is merely an example, and all possible configurations include those that are detachable from the keyway 1221.

[0106] Preferably, the clutch teeth 230 may be formed at regular intervals along the circumferential direction of the driver coupler 23.

[0107] Furthermore, the driver coupler 23 may further include an elastic member 231 that is connected to the clutch teeth 230, as shown in Figure 15a.

[0108] The clutch teeth 230 can be pushed out of the driver coupler 23 in the direction of the keyway 1221 or pulled in the opposite direction by the elastic member 231 through attachment and detachment with the keyway 1221.

[0109] The elastic member 231 includes, but is not limited to, any member that can push the clutch teeth 230 in the direction in which the keyway 1221 is provided, such as a coil spring, leaf spring, or disc spring.

[0110] Preferably, the elastic member 231 may be formed by a coil spring through which the lower end of the clutch teeth 230 passes.

[0111] In other words, as shown in Figure 16a, the driver coupler 23 may be provided such that the power transmission section 122 and the connecting surface are in correspondence with each other. When the thrust 12 and the driver coupler 23 are connected, as shown in Figure 16b, the elastic force of the elastic member 231 can maintain a state in which the engagement between the clutch teeth 230 and the keyway 1221 is delayed. As shown in Figure 16c, the rotational force of the drive motor 221 is applied, allowing the clutch teeth 230 and the keyway 1221 to engage.

[0112] This allows the user to attach multiple thrusters 12 and multiple driver couplers 23 at once, making the combination of the fracture reduction unit 10 and the drive unit 20 even more convenient.

[0113] Figure 17 is a perspective view of a fracture reduction robot in which a wireless drive unit is formed according to another embodiment of the present invention, and Figure 18 is an exploded view showing the drive unit and cooler of Figure 17 disassembled.

[0114] Referring to Figure 17, the drive unit 20 of a fracture reduction robot in which a wireless drive unit according to another embodiment of the present invention is formed may further include a cooler 24 and a mesh net 25.

[0115] Here, a fracture reduction robot 1 having a wireless drive unit formed according to another embodiment of the present invention, excluding the cooler 24 and the mesh net 25, may be substantially the same as the fracture reduction robot 1 having a wireless drive unit formed according to the embodiment of the present invention described above.

[0116] Therefore, only the cooler 24 and the mesh net 25 will be described.

[0117] Referring to Figures 17 and 18, the cooler 24 can reduce the amount of heat generated in the drive unit 20. For this purpose, the cooler 24 may include a temperature conversion unit 240 and a heat transfer space 241.

[0118] The temperature conversion unit 240 can convert the warm air generated in the drive unit 20 into cold air.

[0119] More specifically, the temperature conversion unit 240 basically consists of an air blower capable of forming an airflow to cool the heat generated inside, and in addition, it can be configured with a heat exchange device using a fluid that can provide improved cooling performance, or a heat pump device such as a thermoelectric element (Peltier element), but is not necessarily limited to this.

[0120] Here, the warm air may be heat that has circulated in the heat transfer space 241 by being conducted along the outer surface of the drive unit 20 or escaping through the mesh net 25.

[0121] Furthermore, the temperature conversion section 240 can be formed so that it opens in the direction opposite to the direction in which the affected area is fixed, and discharge can be performed through the open portion, but is not limited to this.

[0122] As shown in Figure 18, the temperature conversion unit 240 has one or more holes on the heat transfer space 241 side, allowing warm air to enter the interior of the temperature conversion unit 240, convert it to cold air, and then discharge the cold air into the heat transfer space 241.

[0123] The heat transfer space 241 may be arranged around the drive unit 20. The heat transfer space 241 can be inseparable from the drive unit 20 because connecting protrusions (not shown) can be formed along the portion that contacts the drive unit 20.

[0124] Furthermore, since the heat transfer space 241 can be formed from an elastic material, it can enclose and secure the outer surface of the drive unit 20.

[0125] The material for the heat transfer space 241 is not limited to any material that can enclose the drive unit 20 and form a passage for the cold air from the temperature conversion unit 240 to move, such as rubber, vinyl, or spandex.

[0126] Furthermore, a moisture-absorbing material may be arranged along the inner surface of the heat transfer space 241. The moisture-absorbing material can also prevent condensation caused by the movement of warm air ejected from the mesh net 25 and cold air converted in the temperature conversion section 240.

[0127] The materials used for the moisture absorber include, but are not limited to, any material capable of absorbing moisture or dew, such as paper, zeolite, charcoal, nylon, ABS resin, polycarbonate, and polyresin.

[0128] On the other hand, the mesh net 25 may be formed on the side of the drive unit 20 and provided so that the cold air from the cooler 24 is transmitted to the drive motor 221.

[0129] Specifically, the mesh 25 allows the hot air from the drive motor 221, which generates the most heat in the control unit 22, to escape to the heat transfer space 241 via the shortest possible route.

[0130] Next, the mesh screen 25 may be provided so that the cold air discharged into the heat transfer space 241 can pass through and so as to directly transmit the cold air to the drive motor 221 and the main controller 220.

[0131] Furthermore, since the mesh screen 25 can be formed with a mesh size that is fine enough to allow only gas to pass through, it is possible to prevent dust inserted through the open portion of the temperature conversion unit 240 described above from being inserted into the inside of the drive unit housing 21.

[0132] In other words, the mesh 25 can easily dissipate the heat from the drive motor 221 and the main controller 220 and transfer it to the temperature conversion unit 240, and the converted cold air in the temperature conversion unit 240 can be directly transferred to the drive motor 221, thereby further effectively reducing the amount of heat generated by the drive unit 20.

[0133] Figure 19 is a perspective view of a fracture reduction robot in which a wireless drive unit is formed according to yet another embodiment of the present invention; Figure 20 is a perspective view showing the auxiliary connecting unit of Figure 19; Figure 21 is an illustrative diagram showing the auxiliary connecting unit of Figure 20 in an open state; Figure 22a is an illustrative diagram showing the auxiliary connecting unit of Figure 19 before it is connected to the ring frame and the drive unit; Figure 22b is an illustrative diagram showing the upper end of the auxiliary connecting unit of Figure 19 placed on the upper side of the ring frame and the drive unit; Figure 22c is an illustrative diagram showing the lower end of the auxiliary connecting unit of Figure 19 rotated to enclose the ring frame and the drive unit; and Figure 22d is an illustrative diagram showing the closing part of the auxiliary connecting unit of Figure 19 fixing the upper end and the lower end.

[0134] Referring to Figure 19, the fracture reduction unit 10 of the fracture reduction robot, which is formed with a wireless drive unit according to another embodiment of the present invention, may further include an auxiliary connecting unit 13.

[0135] Here, a fracture reduction robot 1 having a wireless drive unit formed according to another embodiment of the present invention, excluding the auxiliary connecting portion 13, may be substantially the same as the fracture reduction robot 1 having a wireless drive unit formed according to the embodiment of the present invention described above.

[0136] Therefore, only the auxiliary connecting portion 13 will be explained.

[0137] Referring to Figure 20, the auxiliary connecting portion 13 can enclose the ring frame 11 and the drive unit 20 and assist in connecting the ring frame 11 and the drive unit 20, and may include an upper end portion 130, a lower end portion 131 and a closing portion 132.

[0138] The upper end portion 130 can enclose the ring frame 11 and the drive unit 20 from above, and a first through hole 1300 may be formed on its upper surface.

[0139] Here, since the first through-hole 1300 can be formed to be in the same position and at the same interval as the connecting hole 110 of the ring frame 11, when fixing the affected area to the ring frame 11, some of the connecting holes 110 can be left uncovered.

[0140] The upper end portion 130 may be provided such that the portion separated from the ring frame 11 and the drive unit 20 is flat, and the side surface may be formed in the same shape as the circumference of the ring frame 11 and the drive unit 20.

[0141] The upper end portion 130 may be connected in such a shape so as not to cause any separation between the ring frame 11 and the drive unit 20.

[0142] Furthermore, the upper end portion 130 may partially enclose the lower surface of the drive unit 20 and be connected to the lower end portion 131 via the pivot shaft 1301.

[0143] The lower end portion 131 can be formed below the upper end portion and may include a pivot shaft 1301 that rotates to enclose the lower side of the ring frame 11 and the drive unit 20.

[0144] As shown in Figure 21, the lower end portion 131 may have one or more second through holes 1310 formed on its upper surface so as to correspond perpendicularly to the first through hole 1300. Here, the second through holes 1310 may be fitted with a bone fixation frame capable of fixing the affected area via the ring frame 11, similar to the first through hole 1300.

[0145] The lower end portion 131, like the upper end portion 130, can be formed to match the circumferential shape of the ring frame 11 and the drive unit 20, so that it can enclose the ring frame 11 and the drive unit 20 without creating any gap between them. Unlike the upper end portion 130, the upper surface can be formed in a stepped shape, but is not limited to this.

[0146] The closing portion 132 can be fixed to the lower end portion 131 at its upper end portion 130.

[0147] Specifically, the closing portion 132 may be formed at the end of the upper end portion 130. If the lower end portion 131 rotates and comes into contact with the upper end portion 130, the closing portion 132 may rotate above the upper end portion 130 and be fixed to the lower end portion 131.

[0148] The closing portion 132 can have a projection formed at the point where it contacts the lower end portion 131, and the lower end portion 131 can also have a groove formed at the same position. Since the closing portion 132 can be fitted with the lower end portion 131, the auxiliary connecting portion 13 can prevent the connection between the ring frame 11 and the drive unit 20 from being released.

[0149] With the above configuration, the upper end portion 130 can be placed on the upper surface of the ring frame 11 and the drive unit 20, as shown in Figures 22a and 22b. Subsequently, the lower end portion 131 can rotate using the pivot shaft 1301 and come into contact with the upper end portion 130, as shown in Figure 22c.

[0150] Finally, as shown in Figure 22d, the closing portion 132 can fix the upper end 130 and the lower end 131, which has the effect of preventing the ring frame 11 and the drive unit 20 from being pulled apart during fracture reduction surgery via the auxiliary connecting portion 13.

[0151] While embodiments of the present invention have been described above based on the attached drawings, those with ordinary skill in the art to which the present invention belongs should understand that the present invention can be implemented in other specific forms without changing the technical idea or essential features of the present invention. Therefore, the embodiments described above should be understood to be illustrative in all respects and not limiting. [Explanation of Symbols]

[0152] 1. Fracture reduction robot 10 Fracture Reduction Department 11 Ring Frame 110 Binding hole 111 Upper connector 1110 Retaining member 1111 Fixing pin 1112 Rotating Pin 112 Lower connector 1120 Linkage hole 1120a First linkage hole 1120b Second linkage hole 12 Thrust 120 Thrust Fuselage 1200 Sight Gauge 1201 Cylinder 1202 Measuring Ruler 121 Through hole 122 Power transmission section 1220 Tubular thread 1221 Keyway 1222 Ball joint 12220 Through-pin 13 Auxiliary connection part 130 Upper end 1300 First through hole 1301 Rotary shaft 131 Lower end 1310 Second through hole 132 Closing part 20 Drive unit 21 Drive unit housing 22 Control Unit 220 Main Controller 221 Drive motor 222 Power supply section 23 Driver coupler 230 clutch teeth 231 Elastic members 24 Cooler 240 Temperature conversion unit 241 Heat transfer space 25 mesh net PB proximal bone fragment DB distal bone fragment P Drive unit fixing pin

Claims

1. A fracture reduction robot 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; and a drive unit connected to any one of the plurality of ring frames to provide power to the thrust to adjust the distance, wherein the drive unit has a drive unit housing formed in the shape of a ring through which the patient's arm or leg passes, the drive unit housing has an inner diameter that is longer than the outer diameter of the ring frame, and a main controller, a drive motor, and a power supply unit that can be charged wirelessly are provided inside the drive unit housing, the main controller is configured to be able to communicate wirelessly and control the drive motor and power supply unit based on the communicated information, and a driver coupler is connected to the surface of the drive unit housing facing the ring frame so as to be able to transmit power from the drive motor to the thrust, the drive unit having a wireless drive unit.

2. The fracture reduction robot is formed by a wireless drive unit according to claim 1, further comprising: an upper end connector connected to one end of the thrust; and a lower end connector connecting the drive unit to the other end of the thrust.

3. The fracture reduction robot has a wireless drive unit as described in claim 2, comprising: a thrust body formed to be of variable length, having a sight gauge on which the interior is projected along the length and a scale is formed, and a measuring ruler that moves inside the sight gauge as the length of the thrust is varied to indicate the length of the thrust; a through hole formed at one end of the thrust body and bound to the upper end connector; and a power transmission unit at the other end of the thrust body connected to the lower end connector to transmit power to vary the length of the thrust body.

4. The upper end connector comprises a fixing pin that penetrates the other end of the thrust body and fixes the thrust to the upper end connector; a retaining member coupled to the fixing pin to prevent the thrust fixed to the upper end connector from coming loose; and a rotating pin formed to penetrate one side around the fixing pin from the outside of the upper end connector and to adjust the angle of the fixing pin, wherein the thrust is formed so as to be angle-variable with respect to the rotating pin of the upper end connector as an axis, as described in claim 3, for fracture reduction robot.

5. The fracture reduction robot is formed with a wireless drive unit according to claim 1, wherein the fracture reduction unit is formed to enclose the ring frame and the drive unit, and further comprises an auxiliary connecting unit for fixing the drive unit to the ring frame.

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