Tandem-type three-axis motion reduction robot for closed reduction of pelvic fracture

Abstract

Disclosed in the present invention is a tandem-type three-axis motion reduction robot for closed reduction of pelvic fracture, comprising an affected side pelvic fracture reduction robot and a healthy side fixing apparatus. The affected side pelvic fracture reduction robot comprises a movable base, a three-axis moving apparatus, a three-axis rotating apparatus, a reduction force detection apparatus, and an affected side screw holding apparatus. By means of the above structure, six-degree-of-freedom translation and rotation of a fracture block can be achieved, and the change of the reduction force is monitored in real time, thereby providing a guarantee for surgical safety. The three-axis rotating apparatus is connected in series by means of a U-shaped frame, occupies a smaller space than a traditional ball pair, can be close to the upper surface of a human body during reduction, and has a short force arm, such that a larger reduction force can be provided. The robot features compact structure, high precision, large loading force, high flexibility, and large working space; the motion center of the robot is a spatial virtual point, the position is adjustable according to patients and fracture types, and thus the operation is convenient.

Description

A serial three-axis motion reduction robot for closed reduction of pelvic fractures Technical Field

[0001] The present invention relates to the technical field of medical equipment, in particular to a serial three-axis motion reduction robot for closed reduction of pelvic fractures. Background Art

[0002] With social progress and the development of the transportation industry, the number of patients suffering pelvic fractures has increased annually. Pelvic fractures account for 3% to 8% of all fractures, with a disability rate as high as 37% and a mortality rate as high as 30-60%. Traditional open reduction surgery involves large incisions, significant bleeding, and the effectiveness of the reduction depends on the surgeon's experience. Minimally invasive closed reduction of pelvic fractures avoids large incisions, significantly reduces bleeding, and minimizes complications, becoming the trend in pelvic fracture reduction surgery.

[0003] The reduction force required during the reduction surgery is as high as 500N. Manual reduction by the doctor is labor-intensive and cannot guarantee reduction accuracy. Compared with manual reduction by the doctor, robot-assisted pelvic fracture reduction offers advantages such as smoother operation, higher precision, less intraoperative fluoroscopy, and reduced labor intensity for the doctor, providing greater accuracy and safety.

[0004] Currently, research on fracture surgical robots focuses primarily on long bone fractures, while there is relatively little research on pelvic fracture reduction robots. Serial pelvic fracture reduction robots primarily utilize six-axis robots, which have low stiffness and small end loads and cannot meet clinical requirements. Parallel pelvic fracture reduction robots primarily utilize Ilizarov frames or Stewart platforms, which have large loads but small workspaces and occupy a large amount of space, which can affect operations such as intraoperative X-ray filming. Serial-parallel pelvic fracture reduction robots are primarily based on serial mobile platforms, with a parallel mechanism located at the end of the serial platform to control the posture of the fracture fragments. This type of robot is located directly at the side of the bed, which affects the doctor's operation. Parallel mechanisms are often large in size, and their proximity to the pelvis can interfere with the surgical operating space and affect intraoperative X-ray filming.

[0005] Summary of the Invention

[0006] The purpose of the present invention is to provide a serial three-axis motion reduction robot for closed reduction of pelvic fractures, so as to solve the problems in the related art such as high labor intensity for doctors, multiple fluoroscopy during surgery, low reduction accuracy, large robot size, small load and low rigidity.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A serial three-axis motion reduction robot for closed reduction of pelvic fractures, characterized in that: the pelvic fracture reduction robot comprises an affected-side pelvic fracture reduction robot and a healthy-side fixation device; wherein,

[0009] The ipsilateral pelvic fracture reduction robot includes a movable base, a three-axis moving device, a three-axis rotating device, a reduction force detection device, and an ipsilateral screw holding device; the ipsilateral pelvic fracture reduction robot is moved to the ipsilateral side and placed next to the operating table, biased towards the patient's feet, to facilitate preoperative and postoperative operations by the doctor. The movable base is fixedly connected to the bedside guide rail of the operating table, and the three-axis moving device is fixed above the movable base, used for horizontal and vertical traction of the fracture fragments, so that the fracture ends are separated and unlocked, and the three-degree-of-freedom translational reduction of the fracture fragments; the three-axis rotating device is fixed in front of the three-axis moving device, used for three-degree-of-freedom rotational reduction of the fracture fragments; the output end is fixed with the reduction force detection device, and the end of the reduction force detection device is detachably connected to the ipsilateral screw holding device to facilitate surgical disinfection needs; the ipsilateral screw holding device can achieve arbitrary position control of the ipsilateral holding nail and is detachably connected to the ipsilateral holding nail. Through the above structure, the six-degree-of-freedom translation and rotation of the fracture fragment can be achieved, and the change of the reduction force can be monitored in real time, providing protection for the safety of the reduction surgery. The contralateral fixation device allows the contralateral holding pin to be positioned anywhere. It is detachably connected to the contralateral holding pin and securely attached to the operating table's bedside rails, securing the contralateral hemi-pelvis. The ipsilateral pelvic fracture reduction robot, patient, operating table, and contralateral fixation device form a closed structure. The reduction force is internal, increasing the robot's load-bearing capacity and reducing its overall weight.

[0010] Furthermore, the three-axis rotation device includes a fixed ring, a fixed and limited gear disc, a dynamic limited gear disc, a first connecting shaft, a first bearing, a lifting nut, a first rotation drive mounting seat, a first rotation drive, a first coupling, a second bearing, a first bearing cover, a U-shaped frame, a second rotation drive, a second rotation drive mounting seat, a second coupling, a third bearing, a third rotation drive, a third rotation drive mounting seat, a third coupling, and a fourth bearing. The fixed ring set is fixed to the three-axis movable device, the fixed and limited gear disc is fixed below the fixed ring, the dynamic limited gear disc is fixed above the first rotation drive mounting seat, and the first bearing is embedded in it. The first connecting shaft is vertically installed below the fixed ring and passes through the center of the two limited gear discs. The first bearing is installed on the first connecting shaft. The lifting nut is threadedly connected to the bottom of the first connecting shaft for controlling the engagement and disengagement of the limited gear disc to achieve rotation and fixation of the three-axis rotation device; the first rotation drive is fixed to Below the first rotation drive mounting seat, the first coupling is fixedly connected to the first rotation drive output end, the second bearing is fixed in the first bearing cover and mounted on the first coupling, and the first bearing cover is fixedly connected to the first rotation drive mounting seat to enhance the ability of the first coupling to resist bending moment; the U-shaped frame is fixedly connected to the output end of the first coupling, the second rotation drive is fixed to the front end outer side of one arm of the U-shaped frame through the second rotation drive mounting seat, the second coupling is fixedly connected to the second rotation drive output end, the third bearing is fixed to the front end inner side of both arms of the U-shaped frame, and the third rotation drive mounting seat is fixedly connected to the output end of the second coupling through the inner ring of the third bearing; the third rotation drive is mounted on the third rotation drive mounting seat, the third coupling is fixedly connected to the third rotation drive output end, and the fourth bearing is mounted on the third coupling to enhance the ability of the third coupling to resist bending moment, and the three-axis rotation device is used to realize three-degree-of-freedom rotational reduction of the fracture fragment.

[0011] Furthermore, the movable base includes a bottom plate, 4 universal brake wheels, 2 directional brake wheels, 4 fixed foot cups, a chassis, 2 linear guide sliders, 2 clamping seats, 2 locking bolts, 2 locking wrenches, and 2 bed fixing clamps. The bottom plate extends under the bed to prevent the pelvic fracture reduction robot from tipping over laterally. The 4 universal brake wheels, 2 directional brake wheels and 4 fixed foot cups are installed under the bottom plate for moving and fixing the pelvic fracture reduction robot on the affected side; the chassis is fixed to the upper part of the bottom plate, and the interior of the chassis is used to place the controller, power supply, etc. The top Used to fix the three-axis moving device; the two clamping seats are fixed on the top of the chassis, the clamping seats are equipped with the locking bolts, and the locking wrench is installed at the tail of the locking bolts; the two linear guide sliders are fixed on the sides of the chassis, the linear guide sliders are fixed with the bed fixing fixture, the bed fixing fixture is connected to the bedside guide rail, and is used to fix the pelvic fracture reduction robot on the affected side to prevent the robot on the affected side from moving during surgery; the linear guide slider is used to realize the lifting and lowering of the bed fixing fixture to adapt to the height of the operating bed, and the clamping seat and locking bolts are used for left and right limit and locking of the bed fixing fixture.

[0012] Furthermore, the three-axis moving device includes a first servo motor, a first linear module, a first reinforcing plate, a first fixed plate, a second servo motor, a second linear module, a second reinforcing plate, a second fixed plate, a third servo motor, a third linear module, a third reinforcing plate, and a third fixed plate. The first (second, third) linear module is fixedly equipped with the first (second, third) servo motor and the first (second, third) fixed plate. The first linear module is fixed to the top of the movable base and arranged along the long axis of the bed to realize the movement of the fracture fragment along the long axis of the bed; the second linear module is fixed to the top of the movable base and arranged along the long axis of the bed to realize the movement of the fracture fragment along the long axis of the bed. The linear module is fixed above the first fixed plate, arranged perpendicular to the bed surface, and is reinforced and fixed by the first reinforcing plate to realize the lifting and lowering of the fracture fragment perpendicular to the bed surface; the third linear module is fixed on the second fixed plate, located in front of the second linear module, and arranged along the short axis direction of the bed to realize the movement of the fracture fragment along the short axis direction of the bed. The second reinforcing plate is sleeved on the second linear module, and the third reinforcing plate is sleeved on the third linear module. Both reinforcing plates are fixedly connected to the second fixed plate to reinforce the fixation of the third linear module. The above structure is used to realize the three-degree-of-freedom translational reduction of the fracture fragment.

[0013] Furthermore, the reset force detection device includes a flange seat, a six-dimensional force sensor, and an output shaft. The flange seat is fixedly connected to the third coupling. The six-dimensional sensor is fixed on the flange seat, and the output shaft is fixed at the other end thereof for real-time monitoring of changes in reset force during surgery.

[0014] Furthermore, the screw holding device on the affected side includes a locking nut, a holding rod, and three screw holding mechanisms. The holding rod is installed on the output shaft and is quickly fixed and disassembled through the locking nut. The screw holding mechanisms are installed on both sides of the holding rod for quickly and conveniently finding the position of the holding nail on the affected side and firmly holding and fixing it.

[0015] Furthermore, the healthy side fixing device includes 2 bed fixing clamps, 2 U-shaped brackets, 4 cross connectors, 2 cross rods, and 4 screw-free holding mechanisms. The bed fixing clamps are hung on the bedside guide rails, the U-shaped brackets are fixed to the outside of the bed fixing clamps, one end of the cross connector is fixed to the U-shaped bracket, and the other end is fixed to the cross rod. The screw-free holding mechanism is installed on the cross rod for quickly and conveniently finding the position of the healthy side holding pin and firmly holding and fixing it.

[0016] Furthermore, the bed fixing fixture includes a guide rail connector, 2 clamping blocks, 2 locking bolts, and 2 locking wrenches. The clamping block is installed at one end of the locking bolt, and the locking wrench is installed at the other end. It is connected to the guide rail connector through a threaded connection. The guide rail connector is hung on the guide rail beside the bed and is clamped and fixed by driving the clamping block through the locking bolt.

[0017] Furthermore, the screw holding mechanism includes a rotating fixing clamp, a connecting rod, a sleeve, a gasket, a bolt, and a holding nail clamp. One end of the rotating fixing clamp is fixed to the holding rod, and the other end is connected to the connecting rod. The sleeve is installed at the lower end of the connecting rod and is rotatably connected to the holding nail clamp. The gasket and bolt are used for axial fixation, and the holding nail clamp clamps the holding nail.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The ipsilateral pelvic fracture reduction robot is placed next to the operating table, at the patient's ipsilateral femur, to meet the doctor's space requirements for intraoperative operation and X-ray film taking; a three-axis moving device is used to achieve three-dimensional movement in space, and a three-axis rotating device is used to achieve three-dimensional rotation in space. The axes of the three-axis rotating device intersect at one point, similar to a ball pair, which can achieve arbitrary rotation in space. The robot has high flexibility and a large working space; the three-axis rotating device is connected in series through a U-shaped frame, with a compact structure, taking up less space than a traditional ball pair, and can be close to the upper surface of the human body during reduction, with a short lever arm, which can provide a larger reduction force; each branch of the ipsilateral screw holding device has seven degrees of freedom, which can achieve arbitrary position of the screw The device can be held, and can form a parallel mechanism with the pelvis. Each branch chain constrains each other. By controlling a small amount of freedom of each branch chain, the screw holding device on the affected side and the pelvis can be formed into a rigid body; the affected-side pelvic fracture reduction robot, the patient, the operating table, and the healthy-side screw holding mechanism are connected to form a closed loop, and the reduction force is an internal force, which can improve the robot's carrying capacity and reduce the overall weight of the robot; the motion center of this pelvic fracture reduction robot is a virtual point in space, and its position can be adjusted according to the patient's position and fracture type, providing convenience for surgery; the robot can provide unilateral and bilateral reduction operations according to surgical requirements and needs, and can meet the surgical needs of patients of different body sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] FIG1 is an isometric view of a serial three-axis motion reduction robot for closed reduction of pelvic fractures according to the present invention;

[0021] FIG2 is a schematic structural diagram of a movable base;

[0022] FIG3 is a schematic structural diagram of a three-axis moving device;

[0023] FIG4 is a schematic structural diagram of a three-axis rotating device;

[0024] FIG5 is a schematic diagram of a three-axis rotating device from a top view;

[0025] FIG6 is a schematic structural diagram of a reset force detection device;

[0026] 7 is a schematic structural diagram of the screw holding device on the affected side;

[0027] FIG8 is a schematic structural diagram of a healthy side fixation device;

[0028] FIG9 is a schematic structural diagram of a bed fixing fixture;

[0029] FIG10 is a schematic structural diagram of a screw arbitrary holding mechanism.

[0030] Explanation of the accompanying drawings: Operating bed 1, movable base 2, three-axis moving device 3, three-axis rotating device 4, reset force detection device 5, affected side screw holding device 6, healthy side fixing device 7, base plate 8, universal brake wheel 9, directional brake wheel 10, fixed foot cup 11, chassis 12, linear guide slider 13, clamping seat 14, locking bolt 15, locking wrench 16, bed fixing fixture 17, first servo motor 18, first linear module 19, first reinforcement plate 20, first fixed plate 21, second servo motor 22, second linear module 23, second reinforcement plate 24, second fixed plate 25, third servo motor 26, third linear module 27, third reinforcement plate 28, third fixed plate 29, fixing ring 30, fixed limit gear disc 31, dynamic limit gear disc 32, first connecting shaft 33, first bearing 3 4. Lifting nut 35, first rotary drive mounting seat 36, first rotary drive 37, first coupling 38, second bearing 39, first bearing cover 40, U-shaped frame 41, second rotary drive 42, second rotary drive mounting seat 43, second coupling 44, third bearing 45, third rotary drive 46, third rotary drive mounting seat 47, third coupling 48, fourth bearing 49, flange seat 50, six-dimensional force sensor 51, output shaft 52, locking nut 53, holding rod 54, screw arbitrary holding mechanism 55, bed fixing fixture 56, U-shaped bracket 57, cross connector 58, horizontal connecting rod 59, guide rail connector 60, clamping block 61, rotary fixing clamp 62, connecting rod 63, sleeve 64, gasket 65, bolt 66, holding nail fixture 67, holding nail 68. DETAILED DESCRIPTION

[0031] The present invention is described in detail below with reference to the various embodiments shown in the accompanying drawings, but it should be noted that these embodiments are not limitations of the present invention, and any equivalent transformations or substitutions in functions, methods, or structures made by ordinary technicians in this field based on these embodiments are all within the scope of protection of the present invention.

[0032] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, for the purposes of describing the embodiments of the present application herein.

[0033] In this application, the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These terms are primarily intended to better describe this application and its embodiments, and are not intended to limit the indicated devices, elements, or components to having a specific orientation, or to being constructed and operated in a specific orientation. Moreover, in addition to being used to indicate orientations or positional relationships, some of the above-mentioned terms may also be used to indicate other meanings. For example, the term "upper" may also be used to indicate a certain dependency or connection relationship in certain circumstances. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood based on the specific circumstances. In addition, the terms "set", "equipped", "fixed", etc. should be understood in a broad sense, and the term "fixed connection" refers to a detachable connection by bolt connection. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in this application can be understood based on the specific circumstances.

[0034] To reduce physician workload and the number of fluoroscopy procedures, while also improving fracture reduction accuracy, surgical robots are being used for fracture reduction. However, pelvic fracture reduction requires significant force and a high workspace. Existing pelvic fracture robots have a small end-load capacity and cannot meet the clinical reduction force requirements. Furthermore, the robots are located at the side of the bed, hindering the physician's operation and intraoperative X-ray filming.

[0035] To this end, this application provides a serial three-axis motion reduction robot for closed pelvic fracture reduction, which achieves the goal of having a larger load capacity and higher precision while not interfering with the doctor's operation and intraoperative X-ray filming. The details are as follows:

[0036] Serial pelvic fracture reduction robots are primarily six-axis robots, which have low stiffness and small end loads, failing to meet clinical requirements. Parallel pelvic fracture reduction robots primarily utilize an Ilizarov frame or Stewart platform, which have large loads but a small workspace and occupy a large amount of space, impacting operations such as intraoperative X-rays. Serial-parallel pelvic fracture reduction robots are primarily based on a serial mobile platform. The parallel mechanism is located at the end of the serial platform to control the posture of the fracture fragment. This type of robot is located directly at the bedside, impacting the doctor's operation. The parallel mechanism is often large, and its proximity to the pelvis can interfere with the surgical operating space and affect intraoperative X-rays.

[0037] The present embodiment provides a serial three-axis motion reduction robot for closed reduction of pelvic fractures, as shown in Figures 1 to 10. The pelvic fracture reduction robot includes an affected-side pelvic fracture reduction robot and a healthy-side fixation device; wherein, the affected-side pelvic fracture reduction robot includes a movable base 2, a three-axis movement device 3, a three-axis rotation device 4, a reduction force detection device 5, and an affected-side screw holding device 6; the affected-side pelvic fracture reduction robot is moved to the affected side and placed next to the operating table, biased towards the patient's feet, to facilitate preoperative and postoperative operations by the doctor. The movable base 2 is fixedly connected to the bedside rails of the operating table 1. The three-axis movable device 3 is fixed above the movable base 2 and is used to pull the fracture fragment horizontally and vertically to separate and unlock the fracture ends, and to perform three-degree-of-freedom translational reduction of the fracture fragment. The three-axis rotation device 4 is fixed in front of the three-axis movable device 3 and is used to perform three-degree-of-freedom rotational reduction of the fracture fragment. The output end of the three-axis rotation device 5 is fixed to the reset force detection device 5, and the end of the reset force detection device 5 is detachably connected to the affected-side screw holding device 6 to facilitate surgical disinfection. The affected-side screw holding device 6 can hold the affected-side holding nail at any position and is detachably connected to the affected-side holding nail 68. Through the above structure, the six-degree-of-freedom translation and rotation of the fracture fragment can be achieved, and the changes in the reset force can be monitored in real time, providing safety for the reduction surgery. The healthy-side fixing device 7 can hold the healthy-side screw at any position, is detachably connected to the healthy-side holding nail 68, and is fixedly connected to the bedside rails of the operating table 1 to firmly fix the healthy-side hemi-pelvis. The affected-side pelvic fracture reduction robot, the patient, the operating table, and the healthy-side fixation device are connected to form a closed structure. The reduction force is an internal force, which can improve the robot's carrying capacity and reduce the robot's overall weight.

[0038] In this embodiment, the movable base 2 shown in Figures 1 and 2 includes a base plate 8, 4 universal brake wheels 9, 2 directional brake wheels 10, 4 fixed foot cups 11, a chassis 12, 2 linear guide sliders 13, 2 clamping seats 14, 2 locking bolts 15, 2 locking wrenches 16, and 2 bed fixing fixtures 17. The base plate 8 extends under the bed to prevent the pelvic fracture reduction robot from tipping over laterally. The 4 universal brake wheels 9, 2 directional brake wheels 10 and 4 fixed foot cups 11 are installed under the base plate 8 for moving and fixing the pelvic fracture reduction robot on the affected side; the chassis 12 is fixed to the upper part of the base plate 8, and the interior of the chassis 12 is used to place the controller and power supply etc., the top is used to fix the three-axis moving device 3; the two clamping seats 14 are fixed on the top of the chassis 12, the clamping seat 14 is equipped with the locking bolt 15, and the locking wrench 16 is installed at the tail of the locking bolt 15; the two linear guide sliders 13 are fixed on the side of the chassis 12, the linear guide slider 13 is fixed with the bed fixing fixture 17, the bed fixing fixture 17 is connected to the bedside guide rail, and is used to fix the pelvic fracture reduction robot on the affected side to prevent the robot on the affected side from moving during surgery; the linear guide slider 13 is used to realize the lifting and lowering of the bed fixing fixture 17 to adapt to the height of the operating bed, and the clamping seat 14 and the locking bolt 15 are used for the left and right limit and locking of the bed fixing fixture.

[0039] In this embodiment, as shown in Figures 1 and 3, the three-axis moving device 3 includes a first servo motor 18, a first linear module 19, a first reinforcing plate 20, a first fixed plate 21, a second servo motor 22, a second linear module 23, a second reinforcing plate 24, a second fixed plate 25, a third servo motor 26, a third linear module 27, a third reinforcing plate 28, and a third fixed plate 29; the linear module adopts a screw module, and the first (second, third) linear module 19 (23, 27) is fixedly equipped with the first (second, third) servo motor 18 (22, 26) and the first (second, third) fixed plate 21 (25, 29), and the first linear module 19 is fixed to the top of the movable base 2, along the length of the bed. The second linear module 23 is fixed above the first fixed plate 21, arranged perpendicular to the bed surface, and is reinforced and fixed by the first reinforcing plate 20, so as to realize the lifting and lowering of the fracture fragment perpendicular to the bed surface; the third linear module 27 is fixed on the second fixed plate 25, located in front of the second linear module 23, and arranged along the short axis of the bed, so as to realize the movement of the fracture fragment along the short axis of the bed, the second reinforcing plate 24 is sleeved on the second linear module 23, and the third reinforcing plate 28 is sleeved on the third linear module 27, and the two reinforcing plates are fixedly connected to the second fixed plate 25 to reinforce and fix the third linear module 27. The above structure is used to realize the three-degree-of-freedom translational reduction of the fracture fragment.

[0040] In this embodiment, referring to Figures 1 and 3-6, the three-axis rotation device 4 includes a fixing ring 30, a fixed limit gear disc 31, a dynamic limit gear disc 32, a first connecting shaft 33, a first bearing 34, a lifting nut 35, a first rotation drive mounting seat 36, a first rotation drive 37, a first coupling 38, a second bearing 39, a first bearing cover 40, a U-shaped frame 41, a second rotation drive 42, a second rotation drive mounting seat 43, a second coupling 44, a third bearing 45, a third rotation drive 46, a third rotation drive mounting seat 47, a third coupling 48, and a fourth bearing 49. The fixing ring 30 is fixed to the third fixing plate 29, the fixed limit tooth disc 31 is fixed below the fixing ring 30, the dynamic limit tooth disc 32 is fixed above the first rotation drive mounting seat 36, and the first bearing 34 is embedded inside the first connecting shaft 33. The first connecting shaft 33 is vertically installed below the fixing ring 30 and passes through the center of the two limit tooth discs (31, 32). The first bearing 34 is installed on the first connecting shaft 33. The lifting nut 35 is threadedly connected to the bottom of the first connecting shaft 33 for controlling the engagement and disengagement of the limit tooth discs (31, 32) to realize a three-axis rotation device. 4 rotation and fixation; the first rotary drive 37 is fixed below the first rotary drive mounting seat 36, the first coupling 38 is fixedly connected to the output end of the first rotary drive 37, the second bearing 39 is fixed in the first bearing cover 40 and mounted on the first coupling 38, the first bearing cover 40 is fixedly connected to the first rotary drive mounting seat 36 to enhance the ability of the first coupling 38 to resist bending moment; the U-shaped frame 41 is fixedly connected to the output end of the first coupling 38, and the second rotary drive 42 is fixed to the front end of one arm of the U-shaped frame 41 through the second rotary drive mounting seat 43. On the other side, the second coupling 44 is fixedly connected to the output end of the second rotation drive 42, the third bearing 45 is fixed to the inner side of the front end of the two arms of the U-shaped frame 41, and the third rotation drive mounting seat 47 passes through the inner ring of the third bearing 45 and is fixedly connected to the output end 44 of the second coupling; the third rotation drive 46 is installed on the third rotation drive mounting seat 47, the third coupling 48 is fixedly connected to the output end of the third rotation drive 46, and the fourth bearing 49 is installed on the third coupling 48 to enhance the ability of the third coupling 48 to resist bending moment. The above structure is used to achieve three-degree-of-freedom rotational reduction of the fracture fragment.

[0041] In this embodiment, as shown in Figures 1 and 6, the reset force detection device 5 includes a flange seat 50, a six-dimensional force sensor 51, and an output shaft 52. The flange seat 50 is fixedly connected to the third coupling 48. The six-dimensional sensor 51 is fixed on the flange seat 50, and the output shaft 52 is fixed at the other end thereof for real-time monitoring of changes in the reset force during surgery.

[0042] In this embodiment, as shown in Figures 1 and 7, the affected side screw holding device 6 includes a locking nut 53, a holding rod 54, and three screw arbitrary holding mechanisms 55. The holding rod 54 is installed on the output shaft 52 and is quickly fixed and disassembled through the locking nut 53. The three screw arbitrary holding mechanisms 55 are installed on both sides of the holding rod 54 for quickly and conveniently finding the position of the affected side holding nail and firmly holding and fixing it.

[0043] In this embodiment, as shown in Figures 1 and 8, the healthy side fixing device 7 includes two bed fixing clamps 56, two U-shaped brackets 57, four cross connectors 58, two horizontal connecting rods 59, and four screw-free holding mechanisms 55. The two bed fixing clamps 56 are suspended on the bedside guide rails and are located at both ends of the pelvis. The U-shaped bracket 57 is fixed to the outside of the bed fixing clamp 56. One end of the cross connector 58 is fixed to the U-shaped bracket 57, and the other end is fixed to the horizontal connecting rod 59. The two horizontal connecting rods are installed upper and lower. The screw-free holding mechanism 55 is installed on the upper horizontal connecting rod 59 for quickly and conveniently finding the position of the healthy side holding nail and firmly holding and fixing it.

[0044] In this embodiment, referring to Figures 1, 2, 9 and 10, the bed fixing fixture 56 includes a guide rail connector 60, two clamping blocks 61, two locking bolts 15 and two locking wrenches 16. The clamping block 61 is installed at one end of the locking bolt 15 and the locking wrench 16 is installed at the other end, which are respectively located on the side and bottom of the guide rail connector 60 and are connected to the guide rail connector 60 by threads. The guide rail connector 60 is suspended on the guide rail beside the bed and is clamped and fixed by driving the clamping block 61 through the locking bolt 15.

[0045] In this embodiment, referring to Figures 1, 7, 8 and 10, the screw arbitrary holding mechanism 55 includes a rotating fixing clamp 62, a connecting rod 63, a sleeve 64, a gasket 65, a bolt 66, and a holding nail clamp 67. One end of the rotating fixing clamp 62 is fixed to the holding rod 54, and the other end is connected to the connecting rod 63. The lower end of the connecting rod 63 is equipped with the sleeve 64, which is rotatably connected to the holding nail clamp 67. The gasket 65 and the bolt 66 are used for axial fixation, and the holding nail clamp 67 clamps the holding nail 68.

[0046] The working principle of the present invention is as follows: First, the holding pins are placed in the healthy and affected pelvises respectively, with three holding pins placed in the healthy hemipelvis, one holding pin placed in the healthy femur, two holding pins placed in the affected pelvis, and one holding pin placed in the affected femur. The holding screws are fixed and held by four screw-free holding mechanisms, which are fixedly connected to the upper horizontal connecting rod, and the pelvis is firmly fixed by the healthy side fixing device; the affected pelvic fracture reduction robot is moved to the affected side and placed next to the operating table. After the bed fixing fixture is fixed to the bedside guide rail, the brake wheel is locked and fixed; the holding rod is installed on the output shaft and fixed with a locking nut. The affected side holding screws are fixed and held by three screw-free holding mechanisms, which are installed on both sides of the holding rod and locked and fixed. The pelvis is connected to the fracture reduction robot. Then, a preoperative CT three-dimensional model of the pelvic fracture is established to plan the fracture fragment reduction path. Finally, the fracture reduction is performed through the six-degree-of-freedom translation and rotation of the fracture reduction robot. The doctor repeatedly observes the reduction of the fracture fragments through X-rays and guides the robot to make adjustments. First, the rough reduction is completed by translation, then the posture of the fracture fragment is adjusted, and finally the position of the end effector is adjusted to complete the precise reduction of the fracture fragment.

[0047] The present invention provides a serial three-axis motion reduction robot for closed reduction of pelvic fractures, which has the following beneficial effects:

[0048] 1) The ipsilateral pelvic fracture reduction robot is placed next to the operating table, at the patient's ipsilateral femur, to provide ample space for the doctor to perform intraoperative operations and take X-rays.

[0049] 2) The three-axis rotation device is connected in series through a U-shaped frame, which takes up less space than the traditional ball joint. When resetting, it can be close to the upper surface of the human body, with a short lever arm, which can provide a larger resetting force;

[0050] 3) Each branch of the screw holding device on the affected side has seven degrees of freedom, which can achieve the holding position of the screw at any position;

[0051] 4) The ipsilateral pelvic fracture reduction robot, the patient, the operating table, and the healthy side screw holding mechanism are connected to form a closed structure. The reduction force is an internal force, which can improve the robot's load-bearing capacity and reduce the robot's overall weight.

[0052] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

[0053] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations that come within the meaning and range of equivalents of the claims be embraced therein.

Claims

1. A serial three-axis motion reduction robot for closed reduction of pelvic fractures, characterized by: The serial three-axis motion reduction robot for closed reduction of pelvic fractures comprises an affected-side pelvic fracture reduction robot and a healthy-side fixation device; wherein, The ipsilateral pelvic fracture reduction robot comprises a movable base, a three-axis moving device, a three-axis rotating device, a reducing force detecting device, and an ipsilateral screw holding device; the ipsilateral pelvic fracture reduction robot is moved to the ipsilateral side and placed next to the operating table, biased towards the patient's feet; the movable base is fixedly connected to the bedside guide rail of the operating table, and the three-axis moving device is fixed above the movable base, and is used for horizontal and vertical pulling of the fracture fragments to separate and unlock the fracture ends, and for three-degree-of-freedom translational reduction of the fracture fragments; the three-axis rotating device is fixed in front of the three-axis moving device, and is used for three-degree-of-freedom rotational reduction of the fracture fragments; the reducing force detecting device is fixed to the output end of the three-axis rotating device, and the end of the reducing force detecting device is detachably connected to the ipsilateral holding nail holding device, so as to facilitate surgical disinfection needs; The three-axis rotation device includes a fixed ring, a fixed and limited toothed disc, a dynamic limited toothed disc, a first connecting shaft, a first bearing, a lifting nut, a first rotation drive mounting seat, a first rotation drive, a first coupling, a second bearing, a first bearing cover, a U-shaped frame, a second rotation drive, a second rotation drive mounting seat, a second coupling, a third bearing, a third rotation drive, a third rotation drive mounting seat, a third coupling, and a fourth bearing. The fixed ring set is fixed to the three-axis moving device, the fixed and limited toothed disc is fixed below the fixed ring, the dynamic limited toothed disc is fixed above the first rotation drive mounting seat, and the first bearing is embedded in it. The first connecting shaft is vertically installed below the fixed ring and passes through the center of the two limited toothed discs. The first bearing is installed on the first connecting shaft. The lifting nut is threadedly connected to the bottom of the first connecting shaft, for controlling the engagement and disengagement of the limiting gear disk to realize the rotation and fixation of the three-axis rotation device; the first rotation drive is fixed below the first rotation drive mounting seat, the first coupling is fixedly connected to the first rotation drive output end, the second bearing is fixed in the first bearing cover and is mounted on the first coupling, the first bearing cover is fixedly connected to the first rotation drive mounting seat to enhance the ability of the first coupling to resist bending moment; the U-shaped frame is fixedly connected to the output end of the first coupling, the second rotation drive is fixed to the front outer side of one arm of the U-shaped frame through the second rotation drive mounting seat, the second coupling is fixedly connected to the second rotation drive output end, the third bearing is fixed to the front inner sides of the two arms of the U-shaped frame, the third rotation The rotary drive mounting seat passes through the inner ring of the third bearing and is fixedly connected to the output end of the second coupling; the third rotary drive is mounted on the third rotary drive mounting seat, the third coupling is fixedly connected to the output end of the third rotary drive, and the fourth bearing is mounted on the third coupling to enhance the ability of the third coupling to resist bending moments; the three-axis rotation device is used to achieve three-degree-of-freedom rotational reduction of the fracture fragment; The affected-side screw holding device can hold the affected-side screw at any position and is detachably connected to the affected-side holding nail; the healthy-side fixing device can hold the healthy-side holding nail at any position, is detachably connected to the healthy-side holding nail, and is fixedly connected to the bedside guide rail of the operating table for firmly fixing the healthy-side hemipelvis.

2. A serial three-axis motion reduction robot for closed reduction of pelvic fractures according to claim 1, characterized in that: The movable base includes a base plate, a universal brake wheel, a directional brake wheel, a fixed foot cup, a chassis, a linear guide slider, a clamping seat, a locking bolt, a locking wrench, and a bed fixing fixture. The base plate extends under the bed to prevent the pelvic fracture reduction robot on the affected side from tipping over laterally. The universal brake wheel, directional brake wheel and fixed foot cup are installed under the base plate for moving and fixing the pelvic fracture reduction robot on the affected side; the chassis is fixed to the upper part of the base plate, the interior of the chassis is used to place a controller and a power supply, and the top is used to fix the three-axis moving device; the clamping seat is fixed to the top of the chassis, the clamping seat is equipped with the locking bolt, and the locking wrench is installed at the tail of the locking bolt; the linear guide slider is fixed to the side of the chassis, the bed fixing fixture is fixed on the linear guide slider, the bed fixing fixture is connected to the bedside guide rail, the linear guide slider is used to realize the lifting and lowering of the bed fixing fixture to adapt to the height of the operating bed, and the clamping seat and locking bolt are used for left and right limiting and locking of the bed fixing fixture.

3. The serial three-axis motion reduction robot for closed reduction of pelvic fractures according to claim 1, characterized in that: The three-axis moving device includes a first servo motor, a first linear module, a first reinforcing plate, a first fixed plate, a second servo motor, a second linear module, a second reinforcing plate, a second fixed plate, a third servo motor, a third linear module, a third reinforcing plate, and a third fixed plate. The first linear module is fixedly equipped with the first servo motor and the first fixed plate, the second linear module is fixedly equipped with the second servo motor and the second fixed plate, and the third linear module is fixedly equipped with the third servo motor and the third fixed plate. The first linear module is fixed on the top of the movable base and arranged along the long axis of the bed, so as to realize the movement of the fracture fragment along the long axis of the bed; the second linear module is fixed above the first fixed plate and is perpendicular to the bed. The third linear module is fixed on the second fixed plate, located in front of the second linear module, and arranged along the short axis direction of the bed, so as to realize the movement of the fracture fragment along the short axis direction of the bed. The second reinforcing plate is sleeved on the second linear module, and the third reinforcing plate is sleeved on the third linear module. Both reinforcing plates are fixedly connected to the second fixed plate to strengthen the fixation of the third linear module.

4. The serial three-axis motion reduction robot for closed reduction of pelvic fractures according to claim 1, characterized in that: The reset force detection device includes a flange seat, a six-dimensional force sensor, and an output shaft. The flange seat is fixedly connected to the third coupling. The six-dimensional force sensor is fixed on the flange seat, and the output shaft is fixed to the other end of the flange seat.

5. The serial three-axis motion reduction robot for closed reduction of pelvic fractures according to claim 1, characterized in that: The affected side screw holding device includes a locking nut, a holding rod, and a screw holding mechanism. The holding rod is installed on the output shaft and is quickly fixed and disassembled through the locking nut. The screw holding mechanism is installed on both sides of the holding rod.

6. The serial three-axis motion reduction robot for closed reduction of pelvic fractures according to claim 5, characterized in that: The screw holding mechanism includes a rotating fixing clamp, a connecting rod, a sleeve, a gasket, a bolt, and a holding nail clamp. One end of the rotating fixing clamp is fixed to the holding rod, and the other end is connected to the connecting rod. The sleeve is installed at the lower end of the connecting rod and is rotatably connected to the holding nail clamp. The gasket and the bolt are used for axial fixation, and the holding nail clamp clamps the holding nail.

7. The serial three-axis motion reduction robot for closed reduction of pelvic fractures according to claim 1, characterized in that: The healthy side fixing device includes a bed fixing clamp, a U-shaped bracket, a cross connector, a horizontal connecting rod, and a screw optional holding mechanism. The bed fixing clamp is hung on the bedside guide rail, the U-shaped bracket is fixed to the outside of the bed fixing clamp, one end of the cross connector is fixed to the U-shaped bracket, and the other end is fixed to the horizontal connecting rod, and the screw optional holding mechanism is installed on the horizontal connecting rod.

8. The serial three-axis motion reduction robot for closed reduction of pelvic fractures according to claim 7, characterized in that: The bed fixing fixture includes a guide rail connector, a clamping block, a locking bolt, and a locking wrench. The clamping block is installed at one end of the locking bolt, and the locking wrench is installed at the other end. The locking bolt is connected to the guide rail connector through a threaded connection. The guide rail connector is hung on the guide rail beside the bed and is clamped and fixed by driving the clamping block through the locking bolt.

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