MOTORIZED MULTI-AXIS BONE DETECTION DEVICE

Abstract

The invention relates to a bone fixation device (1) developed for use in correcting congenital or acquired long bone deformities, bone lengthening, and bone segment transfer procedures. The device comprises a triangular upper platform (2), a middle platform (3), and a lower platform (4), with extendable and retractable upper and lower arms located between these platforms. The upper and lower arms are positioned at equal angular intervals around the central axis (I), and each arm is moved by means of a motor connected to it. The distance and angular position between the platforms can be changed depending on the amount of extension and retraction of the arms.

Description

1 TARIFF MOTORIZED MULTI-AXIS BONE DETECTION DEVICE TECHNICAL AREA 5 The invention relates to the technical field of orthopedic external fixation systems. More specifically, The invention is a computer-controlled device used for correcting long bone deformities. Multi-degree-of-freedom, dual-stage, monolateral robotic external fixation It relates to the system. 10 The invention also includes a software-controlled synchronized actuator architecture, multi-axis motion control, inverse kinematics calculation, real-time position feedback, and active translation controlled realignment of bone segments using compensation It relates to the mechanical and electronic system that provides. 15 PREVIOUS TECHNIQUE Bone deformities, limb length discrepancies, nonunion fractures, External 20 is used in the treatment of complex fractures and deformities resulting from osteotomy. Fixation systems have been in use for many years. Today, the systems used in computer-assisted deformity correction applications a large part of it is circular external fixation based on Stewart platform kinematics. It consists of systems. In these systems, 25 are placed around the bone segments. The ring structures are connected to each other by six linear actuators, thus enabling six Movement capability with varying degrees of freedom is achieved. Computer-aided planning. Daily extension or reduction amounts for each actuator using software. The deformity is calculated and gradually corrected over time. These systems provide multi-axis deformation correction capability, but the ring Due to their mechanical architectures based on geometry, they have a number of technical limitations. Primarily, ring structures are large-volume mechanical structures that surround the extremity. It is formed by anatomical features such as the proximal femur, pelvic area, humerus, and similar areas. 35 This creates implementation difficulties in the regions. The environmental impact created by the ring structure. 2 Geometry can limit surgical access and complicate soft tissue management. and can negatively affect the patient's daily life activities. In addition, circular systems have several disadvantages in terms of patient comfort. It carries. Due to its large mechanical structure, it is suitable for sitting, lying down, and wearing clothes. 5 Personal hygiene and mobilization processes can become difficult. In current computer-aided circular systems, deformity planning is performed via software. Despite this, the calculated correction values ​​are often based on the patient's, patient's relative's, or It is applied manually by healthcare personnel. Daily actuator 10 Manually performing the adjustments can lead to user error, incomplete implementation, This can lead to incorrect settings, patient non-compliance, and deviations from the treatment process. On the other hand, unilateral external fixation systems found in the literature are more compact. It offers a mechanical structure and is particularly suitable for use in areas where anatomical access is limited. It provides convenience. However, existing one-sided systems are generally linear. It is used for distraction or limited angular correction purposes, and the Stewart platform equivalent to the principle of six degrees of freedom computer-controlled deformity correction He is unable to fulfill his ability. In current single-sided systems, actuators operate on a single motion platform. due to the translational movements that occur during angular correction It is not possible to manage the unwanted areas that form during the deformity correction process. Modifications are left to passive mechanical behaviors. Therefore, with the current technology; • maintaining the high correction capacity of ring systems, • It has a single-sided and compact mechanical architecture, • capable of performing computer-controlled automatic movement, • capable of applying multi-axis deformation correction in a software-controlled manner, 30 • able to actively compensate for translation that occurs during angular correction, • Synchronize multiple independently moving actuator platforms in real time. able to A robotic external fixation system is needed. This need arises because the current technique... This is one of the main technical problems he hasn't been able to solve. 35 3 In conclusion, all the problems mentioned above necessitate an innovation in the relevant technical field. It has made it mandatory. A BRIEF DESCRIPTION OF THE INVENTION The present invention aims to eliminate the aforementioned disadvantages and contribute to the relevant technical field. It is related to a bone detection device, aiming to bring new advantages. One aim of the invention is to provide separate connection zones on platforms through A bone fixation system in which linear and angular positional changes can be created in different directions. 10 The goal is to reveal the device. Another aim of the invention is to enable the arm movements specified in the treatment plan to be performed on each arm. A bone fixation that can be performed without the need for separate manual adjustments. The goal is to reveal the device. 15 All the purposes mentioned above and those that will emerge from the detailed explanation below. The present invention aims to realize the treatment of congenital or acquired long bone diseases. For correcting deformities, bone lengthening or bone segment transfer procedures, It is a bone fixation device that connects to the bone via pins that extend into the bone. This is called 20 According to the innovation, it functions to hold together the elements of the bone fixation device and each of the aforementioned pins has at least one hole so that one end can be connected to the device. It includes a top platform, a middle platform, and a lower platform; the aforementioned top platform The platform, the middle platform, and the bottom platform are triangular in shape, with the upper platform and the middle platform... an upper side plan arm connected to one of the opposite corners of the platform and which can be extended and shortened 25 It includes, connecting the upper platform and the middle platform from opposite corners and extending It includes a first upper front-rear arm that can be shortened, connecting the upper platform and the middle platform. a second upper foreground-background connected to each other at opposite corners and which can be extended and shortened It includes an arm, connected to one of the opposite corners of the middle and lower platforms, and extends It includes a retractable lower side plan arm, with the middle and lower platforms facing each other at 30 degrees. It includes a primary lower foreground-background arm that is connected at each corner and can be extended and shortened. The middle platform and the lower platform are connected to each other at opposite corners and extend. It includes a second lower foreground-background arm that can be shortened, the aforementioned upper lateral background arm, the first upper the foreground-background arm and the second upper foreground-background arm from the center of the aforementioned triangular form Having an equally spaced arrangement around a central axis, the aforementioned 35 the lower side plan arm, the first lower foreground-background arm and the second lower foreground-background arm mentioned Having an equally spaced arrangement around the central axis, the aforementioned upper side 4 connected to the planing arm and providing the drive for the extension and retraction movement of the upper lateral planing arm. It includes an upper lateral planar engine, connected to the first upper front-back planar arm and mentioned a primary arm that provides drive for the extension and retraction movement of the first upper front-back arm. It includes an upper motor, connected to the second upper front-rear lever, and the aforementioned second upper front-rear lever. The planing arm includes a second upper motor that provides drive for the extension and retraction movement, 5 connected to the aforementioned lower lateral plane arm and the extension and shortening movement of the lower lateral plane arm. It includes a lower lateral motor providing propulsion, connected to the first lower front-rear lever. and the drive for the extension and retraction movement of the first lower anterior-posterior arm mentioned. It includes a primary sub-motor that provides and is connected to a second sub-front-rear arm, and 10 that provides the drive for the extension and retraction movement of the second lower front-back arm mentioned. It includes a second sub-engine. Thus, the corner areas of the triangular-shaped platforms The distance between the platforms is measured by arms located between them and moved by separate motors. and their angular positions can be changed, the device can be positioned on the outer side of the bone. And if the procedure is to be performed on two limbs simultaneously, the patient should be lying face down or on their back. He is allowed to lie down. 15 A characteristic feature of a possible configuration of the invention is the aforementioned upper lateral plan engine, the first upper The engine is connected to the second upper engine, the lower side plan engine, the first lower engine, and the second lower engine. the direction of operation, sequence of operation, and the movement that the mentioned motors will produce It includes a processing unit that transmits the commands determining the quantity to the motors. 20 Thus, the direction, sequence, and amount of movement of the motors are centrally controlled. It can be edited. Another possible configuration of the invention features user-entered motion. transmitting the commands to the aforementioned processing unit and the operating status of the bone detection device 25 a user interface connected to the processor unit to present relevant information to the user This allows the user to monitor the device's operating status and related actions. Settings can be managed remotely through a single interface. Another possible configuration of the invention features the aforementioned upper lateral plan arm, the first 30 top foreground-background arm, second top foreground-background arm, bottom side background arm, first bottom The front-back arm and the second lower front-back arm are telescopic in design. Thus, the length of the arms can be increased or decreased in a controlled manner. Another characteristic of a possible configuration of the invention is that the upper lateral planar engine, the first upper 35 the engine, the second upper engine, the lower side plan engine, the first lower engine, and the second lower engine The advantage is that it is a micro-motor. Thus, the motors are integrated with the arms and take up less space. It is possible to create it in the structure. Another possible configuration of the invention features an upper platform, a middle platform, and a lower platform. 5 on each platform to allow one end of the pins to be connected to the device. It contains multiple holes. Thus, the pins are positioned according to the bone structure and the area to be inserted. It can be connected to platforms via different connection points suitable for treatment. BRIEF DESCRIPTION OF THE FIGURE Figure 1 shows a representative isometric view of the bone fixation device. DETAILED DESCRIPTION OF THE INVENTION This detailed explanation of the invention does not include any information solely for the purpose of better understanding the subject. This is explained with examples that will not create a limiting effect. Figure 1 shows a representative isometric view of the bone fixation device (1) that is the subject of the invention. Bone detection device (1), long bone detection device for congenital or acquired bone correction of deformities, performance of bone lengthening procedures and bone 20 It is an external detection device used for the purpose of implementing segment transportation operations. Bone fixation device (1) is applied to the patient in the operating room environment and the patient will be treated The device is positioned so that it remains on the outer side of the long bone. In this placement, the device It forms a unilateral structure located on one side of the bone, and the bone forms a circular ring. It is not surrounded by. Bone fixation device (1), pins extending towards the bone 25 They are connected to the bone via this connection. One end of the pins connects to the bone tissue, The other end is connected to the bone fixation device (1). The pins are on the bone. Their location depends on the area of ​​the deformity, the location of the bone cut or fracture line, and the treatment. It is determined according to the location of the bone sections to be fixed. In the bone fixation device (1) The linear or angular positional changes that occur are transmitted through the pins to the relevant bone 30 The data is transferred to the components. Thus, through the elements of the device located outside the body... The distances and angles between bone fragments can be altered. Bone detection device (1) an upper platform (2), a middle platform (3) and a lower platform (4) It includes. The aforementioned platforms contain 35 of the device's arms, pins, and connectors. They are the supporting structures that hold the platforms together. The terms upper, middle, and lower refer to the platforms. 6 This indicates the sequence of events on the device and the direction in which the device is applied to the patient. It does not carry a limiting meaning in this respect. There is a pin on each of the upper platform (2), the middle platform (3) and the lower platform (4) There is at least one hole (5) to allow the tip to be connected to the device. 5 In the preferred configuration, each platform is positioned at different locations along the platform surface. It contains numerous holes (5) distributed. In one configuration, the pins are on the platforms. It can also be connected to the device via pin holder elements fixed to the holes (5). The holes (5) are located in different regions of the platforms, so that the pins are in the bone to be treated It allows attachment from different positions depending on its geometry. The physician, bone 10 Considering the positions and orientations of the pins to be applied to the tissue on the platform It can select the appropriate holes (5). In this way, the position of the platforms relative to the bone, The pins can be adjusted according to the type of deformity and the nature of the treatment to be applied. The bone detection device (1) can be connected to the platforms from multiple points. It allows application to bones of varying lengths and to different deformity areas. 15 The upper platform (2), the middle platform (3) and the lower platform (4) are triangular in shape. Triangular shape thanks to three corner zones separated from each other in the circumferential direction on each platform. This occurs. The mentioned corner areas do not have to be sharp. Corner The zones are rounded, curved, or cut depending on production and usage requirements. 20 It can be formed in a corner shape. A hypothetical line passing through the central regions of the platforms would be used by the bone detection device. (1) forms the central axis (I). The corner regions of the triangular platforms They are located at equal angular intervals around the aforementioned central axis (I). Upper platform 25 (2), middle platform (3) and lower platform (4) are arranged in a way that corresponds to each other. Arms that can extend and retract between opposite corner areas of adjacent platforms. It is located. The fact that each of the arms is connected to a different corner area means that the platforms are three It enables the arms to be moved from the side. The arms are equally spaced around the central axis (I). Its layout allows for the transfer of motion to the platforms from different directions. 30 Thus, the platforms are brought closer together along the central axis (I) They can be moved further apart, or positioned at an angle to each other. (Triangle) When the platform structure and the three-sided arm connection system are considered together, a mechanical system where the position of the platforms can be changed with different arm length combinations The structure is obtained. 35 7 Between the upper platform (2) and the middle platform (3) there is an upper side plan arm (6), a first upper front-rear There is a plan arm (8) and a second upper foreground-background plan arm (10). The upper side plan arm (6) one end part to one of the corner areas (2) of the upper platform, the other end part to the middle platform (3) is connected to the corresponding corner region. One end of the first upper foreground arm (8) part of the upper platform (2) to another corner area, the other end part to the middle platform (3) to this 5 It is connected to the corresponding corner region. One end of the second upper foreground arm (10) is the remaining corner area of ​​the upper platform (2), the other end of the middle platform (3) It is connected to the corresponding corner region. With the defined structure, the upper platform (2) and the middle three arms connecting between platforms (3) through three separate corner regions of the platforms. A restructuring is taking place. 10 Upper side plan arm (6), first upper foreground-background arm (8) and second upper foreground-background arm (10) They are structures that can extend and shorten. By changing the lengths of the aforementioned arms, the upper part can be adjusted. The distance and angular relationship between platform (2) and the middle platform (3) can be changed. Three If the upper arm extends by the same amount, the distance between the upper platform (2) and the middle platform (3) is 15 The distance increases. If the three upper arms shorten by the same amount, the aforementioned... The platforms are approaching each other. The arms extend by different amounts. or in case of shortening, the angular position of the upper platform (2) relative to the middle platform (3) It varies. The arm connected to a corner area of ​​the upper platform (2) is more than the other arms. its excessive length causes the corner area in question to move further away from the central platform (3) 20 This is the reason. By changing the lengths of the other two arms by different amounts, the upper The slope direction and slope amount of the platform (2) can be adjusted. Between the middle platform (3) and the lower platform (4) there is a lower side plan arm (7), a first lower front-rear There is a plan arm (9) and a second lower foreground-background plan arm (11). The lower side plan arm (7) is 25 one end of the middle platform (3) is placed in one of the corner areas, the other end of the lower platform (4) It is connected to the corresponding corner region. One end of the first lower foreground arm (9) part of the middle platform (3) to another corner area, other end part of the lower platform (4) to this It is connected to the corresponding corner region. One end of the second lower foreground arm (11) is the remaining corner area of ​​the middle platform (3), the other end of the lower platform (4) to this 30 It is connected to the corresponding corner area. With this arrangement, the middle platform (3) and the lower platform (4) A connection is established between three separate corner regions. The lower side plan arm (7), the first lower foreground-background arm (9) and the second lower foreground-background arm (11) They are structures that can be extended and shortened. The extension of the three lower arms by the same amount, the middle platform (3) and the lower 35 This ensures that the distance between the platforms (4) increases. The aforementioned sub-arms are the same. If the amount of shortening occurs, the lower platform (4) approaches the middle platform (3). Lower 8 If the arms lengthen or shorten by different amounts, the lower platform (4) Its angular position changes relative to the middle platform (3). It is located in a corner area of ​​the lower platform (4). The fact that the connecting arm is longer than the other two arms means that the relevant corner area of ​​the lower platform (4) This causes it to move away from the middle platform (3). The lengths of the other lower arms The orientation and slope of the lower platform (4) are changed by varying amounts. They can be adjusted. The upper and lower arms are separate from each other. Since the upper platform (2) and the lower platform (4) have movement relations, the middle platform (3) Their positions can be changed separately. Thus, the upper platform (2), the middle platform (3) Different distance and angle positions can be created between the lower platform (4). The upper side plan arm (6), the first upper foreground-background arm (8) and the second upper foreground- The background arm (10) has an equally spaced arrangement around the central axis (I). Bottom lower side plan arm (7) at the level, first lower foreground-background arm (9) and second lower foreground-background The plan arm (11) is placed at equal angular intervals around the aforementioned central axis (I). It takes. 15 In a possible configuration, the upper and lower arms would have controlled lengths. It has a telescopic structure so that it can be changed. The arms extend telescopically. or shortening the distance between adjacent platforms changes the distance between them, at the same level. By moving the arms at different rates, an angular shift of 20 degrees occurs between the platforms. A change of location is being made. The terms "anterior-background" and "lateral plane" used in the names of the arms refer to the orthopedic aspects of the bone. The antero-background expression relates to the imaging aspects being evaluated. The antero-background representation refers to the front-to-back orientation of the bone. It refers to the deformity components evaluated in the image taken from this direction. This 25 Deformity components include the inward or outward angulation of the bone and in the anteroposterior view. It can include the resulting linear displacements. The term "lateral plane" refers to the side of the bone. It is related to the deformity components evaluated in the image taken from this direction. The components cause the bone to angle forward or backward, and the linear shape formed in the lateral view. This may include displacements. The actual movement generated by the platforms is the same 30 It results from the combination of movements of the three arms at the same level. The upper platform (2), the middle platform (3) and the lower platform (4) are triangular in shape, bone fixation instead of a circular or ring-shaped structure surrounding the bone, the device (1) is on the outside of the bone It allows for the creation of a unilateral structure that can be positioned. The aforementioned 35 The triangular form limits the space occupied by the platforms around the limb and the device It allows the device to be positioned so that it remains on either side of the patient. This feature is particularly useful for every... 9 Important in bilateral treatments where bone fixation device (1) needs to be applied to both limbs at the same time. It carries. In circular structures, devices can come into contact with each other, and the patient Changing the sleeping position can become difficult, and the devices can get tangled together. Discomfort may occur during use. The device in question is located on the outside of the bone. Thanks to its placement next to each other, the devices applied to opposite limbs are less likely to collide with each other. 5 or the possibility of entanglement is reduced. Thus, the patient lies face down without being squeezed between the devices. or they can lie on their back and change their sleeping position more easily. There is an upper side plan motor (16) connected to the upper side plan arm (6). Upper side plan The motor (16) provides drive for the extension and shortening movement of the upper lateral planar arm (6). 10 First upper motor (12) connected to the first upper front-rear arm (8), first upper front-rear It provides drive for the extension and shortening movement of the arm (8). Second upper front-back plane The second upper motor (14) connected to the arm (10) extends the second upper front-rear arm (10) and It provides drive for the shortening movement. Similarly, the lower side plan arm (7) is connected to the lower side plan arm. The side planing motor (17) provides the extension and retraction movement of the lower side planing arm (7). 15 First lower motor (13) and second lower front-back arm connected to the first lower front-back arm (9) The second sub-motor (15) connected with (11) is also driven to change the lengths of the relevant sub-arms. It provides. The motors mentioned are in the form of micro-motors in the preferred configuration. Each motor has 20 It is connected to the relevant arm either directly or indirectly through at least one motion transmission mechanism. The drive generated by the motor can be increased by extending the length of the relevant arm or It is used to reduce the load. When the motor is operated in one direction, the lever extends; in the opposite direction... When operated in that direction, the corresponding arm shortens. The motors are located on the corresponding arm, at the end of the arm. It can be positioned in the region or in a housing adjacent to the arm. Each 25 The arm being connected to a separate motor, the arm lengths being independent of each other This allows for the modification of the platforms' distance and angular position. The arm movements required to change their positions are performed separately on each arm. This can be achieved by using motors and manually operating the arms separately. It reduces the need for adjustment and allows for smaller movement of arm lengths. 30 It allows for regulation based on quantities. Bone detection device (1) to manage the operating status of the mentioned motors. It includes at least one processor unit associated with the engines. The processor unit is connected to the upper lateral engine. (16), first upper engine (12), second upper engine (14), lower side plan engine (17), first lower 35 It is structured in such a way that it can transmit separate operating commands to the motor (13) and the second sub-motor (15). The aforementioned operating commands determine the direction of operation, operating time, or function of the respective motor. It can contain data that determines the amount of movement it will generate. The processor unit is a It can start a single motor or multiple motors simultaneously or sequentially. It can also operate in this way. Commands transmitted to the motors by the processor unit. in line with the upper platform (2) compared to the middle platform (3) and the lower platform (4) compared to the middle platform (3) The distance and angular position can be changed. Each motor has 5 separately. controllability, the ability to determine the movement of the relevant arm independently from the other arms. It makes it possible. The processor unit allows the user to enter commands relating to the bone detection device (1). and in order for information regarding the operating status of the device to be transmitted to the user, a user 10 It is connected via the user interface. The user interface is an interface unit located on the device. as well as a computer, tablet, mobile device or similar device located outside the device. It can also be created as a software interface that runs on an electronic device. The relevant arm, motor, direction of movement, amount of extension or shortening, and Information such as the time when the movement will be performed can be defined. User interface 15 The input information is transmitted to the processing unit, and the processing unit then uses this information to control the motors. It converts them into commands for execution. In a possible configuration, the user the interface shows the current position of each arm, the movements performed, and the remaining movements. It can display the quantity and the operating status of the device to the user. In this way, the device 20 without the need for direct and individual manual adjustment of the motors on it Motor movements can be controlled via the user interface. The communication between the processor unit and the user interface is either wired or wireless. This can be provided via the connection. In a setup using wireless communication. user interface, an electronic 25 located physically away from the bone detection device (1) Access is provided via the device. Thus, the physician or authorized user can access the device. It is possible to view the operating data of the engines and the processor without being physically present. It can transmit movement commands to the unit. Remote access prevents unauthorized use. for the purpose of using a username, password, verification code, or similar authentication information. This can be done depending on the circumstances. The processor unit is only accessible to authorized users 30 It can be configured to accept commands sent by it. In a possible configuration, the user interface is created through or added to the user interface. A transmitted treatment prescription is forwarded to the processing unit. The aforementioned treatment prescription is then forwarded to the upper unit. and in what order, in what direction and by what amount do the arms at the lower levels move? 35 It may contain data regarding how it will be processed. The processor unit processes the data contained in the prescription. By evaluating the situation, it operates the relevant motors in the specified order and quantity. The recipe is a single one. 11 It may include movement commands or multiple movements distributed over a specific treatment period. It can also include the command. In this case, the processor unit, at the time defined in the recipe... According to the information, it starts the relevant engine and when the movement is complete, the next command is given. It is awaiting the application. Thus, the movements of the arms are subjected to the predetermined treatment. It can be implemented gradually in accordance with the plan. 5 The processor unit receives data regarding the commands transmitted to the motors and the movements performed. It can record data. The recorded data can be viewed through the user interface. or it can be transmitted to a remote electronic system. The physician can then use this data... which motor was started and when, in which direction the corresponding lever moved, and 10 in the prescription It can track whether the movements in question have been performed or not. The device is working. If an engine fails to respond to commands during the transmission, the communication link is interrupted. If the defined movement is interrupted or cannot be completed, the processor unit will display an error. It can generate error data. This error data is transmitted to the user interface and given to the user. A visual, auditory, or vibratory stimulus may be provided. 15 According to all these explanations, the bone fixation device (1), the geometric structure of the platforms, the arrangement of the arms, the fact that each arm can be moved independently by means of a motor, and this Thanks to the control of movements via the processing unit, the bone segments movements towards positioning through a single integrated system 20 This structure allows for the realization of the distance and angular differences between the platforms. The relationship is established through the coordinated arrangement of different arm movements. It can be modified, without the need for an environmentally expanding support structure for the device. It is possible to create multi-directional movement. Together with the processing unit of the motors... Its operation eliminates the need for direct manual adjustment of the arms individually. 25 reducing and centralizing the direction and amount of movement to be applied to each arm. This allows for the determination of the device's mechanical layout and electronic control. the structure works together, the relative positions of the platforms are more precise, a bone fixation system that can be modified in a repeatable and controlled manner has emerged. It places. 30 The scope of protection of the invention is specified in the claims attached hereto, and these details are strictly adhered to. The explanation cannot be limited to those given for illustrative purposes. Because a technically skilled person... the person, without deviating from the main theme of the invention, in light of what has been described above, similar It is clear that this can lead to the emergence of new structures. 35 12 REFERENCE NUMBERS GIVEN IN THE FIGURE 1 Bone Detection Device 2 Upper Platforms 3 Medium Platform 5 4 Sub-Platforms Hole 6 Upper Side Plan Arms 7 Lower Side Plan Arms 8 First Top Foreground-Background Arm 10 9 First Lower Foreground Arm Second Upper Front-Background Arm 11 Second Lower Front-Background Arm 12 First Upper Engine 13 First Lower Engine 15 14 Second Upper Engine Second Sub-Engine 16 Upper Side Plan Engine 17 Sub-Side Plan Engines (I) Central Axis

Claims

13 REQUESTS 1. The invention relates to the treatment of congenital or acquired long bone deformities. for correction, bone lengthening or bone segment transfer procedures, to the bone a bone fixation device (1) which connects to the bone by means of pins extending correctly 5 Its feature is to hold together the elements of the bone fixation device (1). and at least one end of each of the aforementioned pins can be connected to the device. an upper platform (2) with a hole (5), a middle platform (3) and a lower platform (4) including the aforementioned upper platform (2), middle platform (3) and lower platform (4) It is in the form of a triangle, 10 from opposite corners of the upper platform (2) and the middle platform (3). The upper platform includes an upper side plan arm (6) connected to one another and which can be extended and shortened. (2) and the middle platform (3) are connected to each other from opposite corners and extend. It includes a first upper front-back arm (8) that can be shortened, the upper platform (2) and the middle one of the opposite corners of the platform (3) is connected to another and can be extended and shortened Including the second upper front-rear arm (10), the middle platform (3) and the lower platform (4) 15 a lower side plan arm connected to one of its opposite corners and which can be extended and shortened (7) including, from opposite corners of the middle platform (3) and the lower platform (4) to the other It includes a connected and extendable first sub-frontal arm (9), middle platform (3) and sub-platform (4) are connected to each other at opposite corners and It includes a second lower foreground arm (11) that can be extended and shortened, the aforementioned upper side 20 plan arm (6), first upper foreground-background arm (8) and second upper foreground-background arm (10) equal around a central axis (I) passing through the center of the mentioned triangular form Having an angularly spaced layout, the aforementioned lower side plan arm (7), the first lower the aforementioned center of the foreground arm (9) and the second lower foreground arm (11) Having an equally spaced arrangement around the axis (I), the aforementioned upper side 25 connected to the planing arm (6) and for the extension and shortening movement of the upper side planing arm (6). It includes an upper side plan engine (16) that provides propulsion, the first upper front-rear plan arm (8) related to and the elongation and shortening of the first upper anterior-posterior arm (8) mentioned. It includes a first upper motor (12) which provides drive for its movement, second upper front-rear connected to the plan arm (10) and the extension of the second upper front-back plan arm (10) mentioned 30 and includes a second upper motor (14) which provides drive for the shorting motion, connected with the lower side plan arm (7) and the extension of the lower side plan arm (7) The first sub-plane motor (17) includes a lower side-plane motor that provides drive for the shorting motion. connected to the foreground-background arm (9) and the first lower foreground-background arm (9) mentioned above It includes a primary sub-motor (13) that provides drive for the extension and shortening motion and 35 connected to the second lower foreground arm (11) and the aforementioned second lower foreground 14 a second sub-motor (15) that provides drive for the extension and shortening movement of the arm (11) It includes.

2. According to claim 1, a bone fixation device (1) and its feature is; the aforementioned upper lateral plane engine (16), first upper engine (12), second upper engine (14), lower side plan engine (17), 5 connected to the first lower engine (13) and the second lower engine (15) and the mentioned engines the direction of work, the sequence of work, and the amount of movement it will generate It contains a processing unit that transmits the specified commands to the motors.

3. According to claim 2, a bone detection device (1) and its feature is; 10 entered by the user. to transmit the movement commands to the aforementioned processor unit and the bone detection device (1) In contact with the processor unit to provide the user with information regarding the operating status. It includes a user interface.

4. According to claim 1, a bone fixation device (1) whose feature is; the upper lateral plane arm (6), 15 first upper foreground-background arm (8), second upper foreground-background arm (10), lower side plan arm (7), first lower foreground-background arm (9) and second lower foreground-background its arm (11) is telescopic in structure.

5. According to claim 1, a bone fixation device (1) whose feature is; upper lateral plane motor (16), 20 first upper engine (12), second upper engine (14), lower side plan engine (17), first The lower motor (13) and the second lower motor (15) are micro motors.

6. According to claim 1, a bone fixation device (1) is characterized by; the upper platform (2), middle One end of the pins on each of the platform (3) and sub-platform (4) is connected to the device 25 It contains multiple holes (5) to allow it to be connected.

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