Patent ID: 12213716

DRAWING MARKS

1, a mobile end mechanism;2, a fixed end mechanism;3, an operating bed;4, a patient;11, a traction component;12, a translation component;13, a lifting component;14, a swing component;15, a flipping component;16, a self-rotating component;17, a mobile end clamping component;18, a connection component;21, an auxiliary traction structure;22, an auxiliary translation structure;23, a hand-cranking lifting structure;24, a flipping fixed structure;25, an auxiliary flipping structure;26, a fixed end clamping component;1101, a support frame;1102, a support frame sheet metal;1103, a cross-bed connecting rod;1104, a guide rail mounting plate;1105, a traction guide rail;1106, a traction push rod;1107, a push rod bracket;1108, a push rod mounting frame;1109, a motor support plate;1110, a storage box;1111, a counterweight block;1112, a traction organ cover;1113, a caster;1114, a hole flat connector;11101, a bulge;11111, a storage groove11111;1201, a translation sheet metal;1202, a translation organ cover;1203, a translation side plate;1204, a translation bearing;1205, a translation guide rail;1206, a translation bottom plate;1207, a traction slider;1208, a module connector;1209, a translation motor;1210, a translation limit part;1211, a translation screw;1212, a translation motor plate;1213, a tensioning bulge;1214, a translation tensioning plate;1215, a translation synchronous belt component;12011, a translation groove;12061, a guide rail groove;12062, a relief groove;11061, a movable rod;1301, a translation baffle;1302, a translation slide;1303, a translation slider;1304, a connecting seat;1305, a screw nut;1306, a slide side plate;1307, a lifting limit part;1308, a lifting bottom plate;1309, a lifting guide rail;1310, a lifting side plate;1311, a lifting bearing;1312, a lifting screw;1313, a lifting sheet metal;1314, a lifting organ cover;1315, a lifting motor;1316, a lifting motor plate;1317, a lifting bulge;1318, a lifting tensioning plate;1319, a lifting synchronous belt component;13131, a lifting groove;1401, a lifting baffle;1402, a lifting slide;1403, a lifting seat;1404, a lifting slider;1405, a lifting nut;1406, a sensor fixed plate;1407, a sensor;1408, a sensor adapter plate;1409, a swing reducer;1410, a swing motor;1411, a swing sheet metal;1501, a support frame;1502, a flipping bearing;1503, a flipping limit part;1504, a rubber pad;1505, a flipping motor;1506, a flipping reducer;1507, a flipping motor plate;1508, a flipping synchronous belt component;1509, a flipping sheet metal;15011, an installation groove;15012, a left groove;15013, a left lug;15014, a right groove;15015, a right lug;15016, an array of holes;15017, a step surface;15018, an installation hole;15071, a straight groove;1601, a gearbox;1602, a gear;1603, a ring gear;1604, a gear shaft;1605, an oil-free bearing;1606, a linear bearing;1607, a front cover plate;1608, a front insert strip;1609, a rear insert strip;1610, a roller bearing;1611, a roller;1612, a left shaft;1613, a flipping baffle;1614, a left shaft snap ring;1615, a right shaft;1616, a right shaft snap ring;1617, a self-rotating limit part;1618, a joint motor;1619, a clamping seat;1620, a locking handle;1621, a limit screw;16011, a motor installation hole;16012, a rear groove;16013, a limit groove;16014, an arc straight groove;16015, a shaft hole;16016, a small bearing hole;16017, a groove structure;16021, a center hole;16031, a bearing hole;16071, a front groove;1701, a left inner splint;1702, a left outer splint;1703, a right inner splint;1704, a right outer splint;1705, a rotating shaft;1706, a shaft ring;1707, a carbon ring;1708, a plug;1709, a rotating handle;1710, a butterfly nut;1711, an optical shaft;1801, a bent rod base plate;1802, a single-ended bent rod;1803, a rotating shaft;1804, a slotted bent rod;1805, a locking sleeve;1806, a trimming bent rod;1807, a clip spring;2101, a fixed frame;2102, a shell;2103, a fixed plate;2104, a guide rail I;2105, an organ cover I;2016, a connecting plate;2107, an auxiliary caster;21021, a rectangular groove;2201, a rectangular shell;2202, a guide rail II;2203, a bottom plate I;2204, a slider I;2205, a traction gripper;2206, an organ cover II;2207, a cushion block I;22011, a long groove;2301, an L-shaped shell;2302, an organ cover III;2303, a handwheel;2304, a vertical plate;2305, a screw I;2306, an auxiliary bearing;2307, a guide rail III;2308, a bottom plate II;2309, a slider II;2310, an L-shaped plate;2311, a translation gripper;2312, a cushion block II;23011, a short groove;23012, a circular hole;23101, a short side;23102, a long side inner side;2401, a square plate;2402, a padding plate;2403, a slider III;2404, a moving seat;2501, an upper U-shaped ear plate;2502, a pressing shaft;2503, a shaft end screw;2504, a lower U-shaped ear plate;2505, an eccentric wheel;2506, a handle;2507, an arc plate;2508, an auxiliary linear bearing;2509, a shaft sleeve;2510, an auxiliary handle;2511, an auxiliary clamping seat.

DETAILED DESCRIPTION

The technical scheme of the present invention is further explained below by drawings and embodiments.

Unless otherwise defined, the technical or scientific terms used in the invention shall be those to which the invention belongs. As used herein, the terms “first”, “second”, and the like do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Similar words such as “comprise” or “include” means that the elements or items preceding the word encompass the elements or items listed after the word and equivalents thereof, but do not exclude other elements or items. The terms “arranged”, “mounted” and “connected” are to be understood in a broad sense, e.g. as a fixed connection, as a detachable connection, or as an integral connection; maybe a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and can be the internal connection of two components. “Up”, “down”, “left”, “right”, etc. are only used to indicate a relative positional relationship, which may change accordingly when the absolute position of the object being described changes.

Embodiment

As shown inFIG.1, a frame-type surgical robot for fracture reduction of the present invention, comprising a mobile end mechanism1and a fixed end mechanism2, the mobile end mechanism1is connected to the fixed end mechanism2through a connection component18. As shown inFIG.2, the mobile end mechanism1comprises a traction component11, a translation component12, a lifting component13, a swing component14, a flipping component15, a self-rotating component16, a mobile end clamping component17, and a connection component18. The traction component11is connected to the lifting component13through the translation component12, the lifting component13is connected to the flipping component15through the swing component14, the flipping component15is provided with the self-rotating component16, and the self-rotating component16is provided with the mobile end clamping component17. The spatial six-degree-of-freedom motion required for the operation of distal fracture reduction can be realized through the mobile end mechanism1. As shown inFIG.3, the fixed end mechanism2comprises an auxiliary traction structure21, an auxiliary translation structure22, a hand-cranking lifting structure23, a flipping fixed structure24, an auxiliary flipping structure25, and a fixed end clamping component26. The auxiliary traction structure21is connected to the hand-cranking lifting structure23through the auxiliary translation structure22, the hand-cranking lifting structure23is connected to the auxiliary flipping structure25through the flipping fixed structure24, the auxiliary flipping structure25is provided with the fixed end clamping component26. The fixed end mechanism2can assist the mobile end mechanism1to realize the fixation of the proximal limb of the fracture, and the motion is realized by manual operation. During the operation, the surgical robot is placed above the operating bed3to complete the fracture reduction operation of a patient4.

The motor output force of the mobile end mechanism1can ensure that the muscle antagonism force can be overcome, the fixed end mechanism2can ensure that the human body is fixed firmly, prevent the patient4body displacement caused by dragging during the reduction process, so as to ensure the surgical effect and safety of the robot operation, the mobile end mechanism1and the fixed end mechanism2are connected by the connection component18to form a hybrid structure as a whole, which ensures its high load and high stability. During the operation, the robot is moved to the appropriate position along the length direction of the operating bed3, by adjusting the connection component18to the maximum length, the relative position of the mobile end mechanism1and the fixed end mechanism2can be fixed; after adjustment, the robot is distributed along the length direction of the bed, and the overall structure is compact, which avoids collision and interference with other equipment in the operating room, and there is sufficient standing space on both sides along the width direction of the bed, which is convenient for doctors to interfere with the operation of the robot in the case of emergency treatment, thereby improves the safety of the robot operation. At the end of the operation, by adjusting the connection component18again, the distance between the mobile end mechanism1and the fixed end mechanism2can be reduced, so as to reduce the overall size of the robot, reduce the occupied area, and facilitate storage and placement.

As shown inFIG.4, the traction component11comprises a support frame1101, and the side and top end of the support frame1101are provided with a support frame sheet metal1102. The bottom end of the support frame1101is connected to a caster1113through a hole flat connector1114. The support frame1101is provided with a motor support plate1109, and the motor support plate1109is provided with a traction push rod1106. The two sides of the traction push rod1106are provided with a traction guide rail1105, there are two traction guide rails1105, and the traction guide rail1105is connected to the support frame1101through a guide rail mounting plate1104. The traction push rod1106is connected to a push rod mounting frame1108through a push rod bracket1107, the push rod mounting frame1108is fixed on the support frame1101. A support frame sheet metal1102is provided with a sheet metal groove11021, and a traction organ cover1112is mounted in the sheet metal groove11021, the support frame sheet metal1102plays a protective role in its internal structure, and the traction organ cover1112plays a beautiful and protective role without affecting the relative motion of the components. The support frame1101is provided with a cross-bed connecting rod1103and a counterweight block1111, the counterweight block1111is provided with a storage box1110, and the storage box1110is connected to the counterweight block1111through a bulge11101. There are two cross-bed connecting rods1103, one of the cross-bed connecting rod1103is arranged below the counterweight block1111, and the storage box1110is placed above the counterweight block1111and in contact with the below cross-bed connecting rod1103, another cross-bed connecting rod1103is arranged above the counterweight block1111and can be used as the robot's push-pull handle. The counterweight block1111is provided with a storage groove11111suitable for the bulge11101, and the bulge11101is inserted in the storage groove11111. The bulge11101can facilitate the installation and disassembly of storage box1110and can limit the storage box's relative motion. The storage box1110is placed on the counterweight block1111, and the counterweight block1111plays a supporting role in the storage box1110.

As shown inFIG.5, the translation component12comprises a translation bottom plate1206, the bottom of the translation bottom plate1206is provided with a module connector1208, a movable rod11061of the traction push rod1106is connected to the module connector1208. The bottom of the translation bottom plate1206is provided with a traction slider1207, and the traction slider1207is slidably connected to the traction guide rail1105. By pulling the movable rod11061of the traction push rod1106, the module connector1208can be driven to move, and then the whole translation component12can be driven to move. The traction push rod1106stroke is not less than 100 mm, which can ensure that the traction stroke meets the needs of all kinds of fracture reduction. The top of the translation bottom plate1206is covered with a translation sheet metal1201, and the translation sheet metal1201is provided with a translation groove12011, a translation organ cover1202is mounted at the translation groove12011, the translation organ cover1202plays a beautiful and protective role without affecting the relative motion of the components. The two ends of the translation bottom plate1206are respectively provided with a translation side plate1203and a translation motor plate1212, a translation screw1211is arranged between the translation side plate1203and the translation motor plate1212. The two ends of the translation screw1211are respectively connected to the translation side plate1203and the translation motor plate1212through a translation bearing1204. Both sides of the translation screw1211are provided with a translation guide rail1205, the translation bottom plate1206is provided with a guide rail groove12061, the guide rail groove12061is suitable for the translation guide rail1205, and the translation guide rail1205is mounted in the guide rail groove12061. The output shaft of the translation motor1209is connected to one end of the translation screw1211through a translation synchronous belt component1215. The translation motor plate1212is provided with the translation motor1209, and the other side of the translation motor plate1212is provided with a translation tensioning plate1214, and the installation holes of the translation motor1209and the translation tensioning plate1214are concentric, both of them can move left and right relative to the translation motor plate1212, during the installation, the bolts pass through the translation motor1209, the translation motor plate1212, the translation tensioning plate1214in turn and realize the connection of the three by nut locking. One side of the translation motor plate1212is fixed with a tensioning bulge1213for the tensioning of the translation synchronous belt component1215, the tensioning bulge1213is threadedly connected to the translation tensioning plate1214through a single bolt, when is tensioning, the nuts of the locking translation motor1209, translation motor plate1212and translation tensioning plate1214are loosened, by adjusting the tension of the tensioning bulge1213, the screw pair rotates and drags the translation tensioning plate1214to move, and then drags the translation motor1209to move to realize the tension of the translation synchronous belt assembly1215. The translation bottom plate1206is provided with a translation limit part1210for translation limit. The translation bottom plate1206is provided with a relief groove12062, the relief groove12062can reduce the weight of the translation component12, the translation screw1211is arranged above the relief groove12062, the relief groove12062can also reduce the overall height of the translation component12.

As shown inFIG.6, the lifting component13comprises a lifting bottom plate1308, and the lifting bottom plate1308is connected to a translation slide1302through a slide side plate1306. The bottom end of the translation slide1302is provided with a connecting seat1304and a translation slider1303, the translation slider1303is arranged on both sides of the connecting seat1304, and the translation slider1303is slidably connected to the translation guide rail1205. The connecting seat1304is provided with a screw nut1305, the screw nut1305is sleeved on the translation screw1211and rotationally connected to the translation screw1211. The translation slide1302is provided with a translation baffle1301for the translation limit. The translation motor1209can drive the translation screw1211to rotate through the translation synchronous belt component1215, and then drive the whole lifting component13to translate along the translation guide rail1205through the connecting seat1304and the translation slider1303. When translating, the translation baffle1301triggers the translation limit part1210to interrupt the signal to limit its motion, while ensuring that the robot parts do not interfere with the collision, the translation motion does not exceed the limit of the human fracture site, so as to ensure safety. The translation motion stroke is not less than 400 mm to adapt to the span of the left and right legs of the human body, the stroke is not less than 50 mm during the unilateral leg reduction process, which can ensure that the translation stroke meets the needs of various types of fracture reduction. The upper of the lifting bottom plate1308is covered with a lifting sheet metal1313, the lifting sheet metal is provided with a lifting groove13131, and the lifting organ cover1314is mounted at the lifting groove13131, the lifting organ cover1314plays a beautiful and protective role without affecting the relative motion of the components. Both ends of the lifting bottom plate1308are provided with a lifting side plate1310and a lifting motor plate1316, a lifting screw1312is arranged between the lifting side plate1310and the lifting motor plate1316. The two ends of the lifting screw1312are respectively connected to the lifting side plate1310and the lifting motor plate1316through a lifting bearing1311. Both sides of the lifting screw1312are provided with a lifting guide rail1309, and the lifting guide rail1309is arranged on the lifting bottom plate1308. The lifting motor plate1316is provided with a lifting motor1315, and the output shaft of the lifting motor1315is in transmission connection with one end of the lifting screw1312through the lifting synchronous belt component1319. One side of the lifting motor plate1316is fixed with a lifting bulge1317for the tensioning of the lifting synchronous belt component1319, the lifting bulge1317is connected to a lifting tensioning plate1318through a single bolt, its tensioning principle is the same as that of the translation synchronous belt assembly1215. The lifting bottom plate1308is provided with a lifting limit part1307for lifting limit.

As shown inFIG.7, the swing component14comprises a sensor fixed plate1406, the sensor fixed plate1406is connected to a lifting seat1403through a lifting slide1402. The lifting seat1403is provided with a lifting nut1405, the lifting nut1405is sleeved on the lifting screw1312and is rotatably connected to the lifting screw1312. The two sides of the lifting seat1403are provided with a lifting slider1404, one side of the lifting slider1404is connected to a lifting slide1402, and the other side of the lifting slider1404is slidably connected to the lifting guide rail1309. The lifting slide1402is provided with a lifting baffle1401for the lifting limit. The lifting motor1315drives the lifting screw1312to rotate through the lifting synchronous belt component1319, and then drives the swing component14to lift along the lifting guide rail1309through the lifting seat1403and the lifting slider1404. When lifting, the lifting baffle1401triggers the lifting limit part1307to limit its motion, while ensuring that the robot parts do not interfere with the collision, and the translation motion does not exceed the limit of the human fracture site, so as to ensure safety. The lifting motion stroke is not less than 50 mm, which can ensure that the stroke perpendicular to the bed surface meets the needs of all kinds of fracture reduction. The sensor fixed plate1406is provided with a sensor1407, the sensor1407is a six-dimensional force/torque sensor, its axis is parallel to the axis of the bone, and the range of the traction direction is ≥500N, which can meet the traction needs of different patients4to overcome muscle antagonistic forces, meanwhile, the sensor1407can be used for force feedback control, so as to ensure that the reduction force generated by the robot during the operation does not exceed the limit of human tissue and ensure the safety of the operation. The sensor1407is connected to a sensor adapter plate1408, the sensor adapter plate1408is provided with a swing reducer1409, and the swing reducer1409is connected to the output shaft of a swing motor1410. The lifting slide1402is connected to a swing sheet metal1411, and the swing sheet metal1411is covered on the sensor fixed plate1406, sensor1407, sensor adapter plate1408, swing reducer1409, and swing motor1410.

As shown inFIG.8, the flipping component15comprises a support frame1501, and the upper of the support frame1501is covered with a flipping sheet metal1509. The support frame1501is provided with an array hole15016, and the swing reducer1409is connected to the support frame1501through an array hole15016. The swing motor1410drives the support frame1501to swing through the swing reducer1409, and then drives the whole flipping component15to swing. When swinging, the rotation angle is not less than 30°, which can ensure that the correction angle of angular displacement parallel to the bed surface meets the needs of all kinds of fracture reduction. One end of the support frame1501is provided with a left lug15013with a left groove15012and an installation groove15011, and the other end of the support frame1501is provided with a right lug15015with a right groove15014. The left groove15012and the right groove15014are respectively provided with a flipping bearing1502. The end of the left lug15013is provided with a rubber pad1504, which plays a sealing role. The left lug15013is provided with a flipping limit part1503for limiting the flipping limit, the support frame1501is provided with a step surface15017, the step surface15017is provided with a flipping reducer1506, this arrangement can reduce the size along the width direction. The flipping reducer1506is connected to the output shaft of a flipping motor1505, and the flipping reducer1506is in transmission connection with a flipping synchronous belt component1508. A flipping motor plate1507is arranged between the flipping reducer1506and the flipping synchronous belt component1508, the flipping motor plate1507is provided with a straight groove15071for adjusting the tension of the flipping synchronous belt component1508. The straight groove15071is provided with an installation hole15018, and the installation hole15018is arranged on the support frame1501. The straight groove15071is connected to the installation hole15018through an adjusting bolt, loosening the bolt, by adjusting the position of the upper and lower installation holes15018on the straight groove15071, the distance between the output shaft of the flipping reducer1506and the right shaft1615can be changed, and then the tension of the flipping synchronous belt assembly1508can be realized.

As shown inFIG.9,FIG.10,FIG.11,FIG.12, andFIG.13, the self-rotating component16comprises a gearbox1601, and the two ends of the gearbox1601are respectively provided with a left shaft1612and a right shaft1615. The gearbox1601is connected to the flipping bearing1502of the left groove15012of the support frame1501through the left shaft1612, the left shaft1612is provided with a left shaft snap ring1614and a flipping baffle1613for the flipping limit. The gearbox1601is connected to the flipping bearing1502of the right groove15014of the support frame1501through the right shaft1615, the right shaft1615is provided with a right shaft snap ring1616, and the right shaft1615passes through the right groove15014of the support frame1501and is in transmission connection with to the flipping synchronous belt component1508. The left shaft1612and the right shaft1615are inserted into a shaft hole16015at both ends of the gearbox1601to strengthen the connection and guidance. The flipping motor1505drives the gearbox1601to flip on the support frame1501by flipping the flipping reducer1506and flipping synchronous belt component1508, and then drives the whole self-rotating component16to flip. When the self-rotating component16rotates back and forth along the left shaft1612axis, the flipping baffle1613triggers the flipping limit part1503to limit its motion, while ensuring that the robot parts do not interfere with the collision, it is ensured that the rotation motion does not exceed the limit of the human fracture site, thereby ensuring safety. When flipping, the rotation angle is not less than 30°, which can ensure that the angle displacement correction angle perpendicular to the bed surface meets the needs of all kinds of fracture reductions. The gearbox1601is provided with a front cover plate1607, the gearbox1601is provided with a gear1602. The outer surface of the gearbox1601is provided with a joint motor1618, the gearbox1601is provided with motor installation holes16011, and the joint motor1618is mounted on the gearbox1601through the motor installation hole16011. The output shaft of the joint motor1618is connected to gear1602, the gear1602is meshed with a ring gear1603. The motor installation hole16011is a straight groove shape, which can adjust the meshing relationship between gear1602and ring gear1603, facilitate assembly and adjustment, and ensure transmission efficiency. The gear1602center is provided with a gear shaft1604, the gear shaft1604is fixed on the front cover plate1607, the gear shaft1604is connected to the center of the gear1602through an oil-free bearing1605, the oil-free bearing1605is inserted in a center hole16021of the gear1602, the output shaft of the joint motor1618can drive the gear1602to rotate on the oil-free bearing1605. A groove structure16017is arranged in the gearbox1601, and the gear ring1603does the circular reciprocating motion along the groove structure16017of the gearbox1601. The ring gear1603is slidably connected to the gearbox1601through a roller1611, small bearing holes16016are arranged in the gear box, and a roller bearing1610is arranged in the small bearing hole16016, the two ends of the roller1611are rotationally connected to the gearbox1601through the roller bearing1610. Both ends of the roller1611are provided with threaded holes, and a limit screw1621is mounted in the threaded hole. A rear insert strip1609is arranged between one side of the ring gear1603and the gearbox1601, and a front insert strip1608is arranged between the other side of the ring gear1603and the front cover plate1607. The gearbox1601is provided with a rear groove16012, the rear insert strip1609is arranged in the rear groove16012, the front cover plate1607is provided with a front groove16071, and the front insert strip1608is arranged in the front groove16071. The front insert strip1608and the rear insert strip1609can limit the collision and friction of the gear ring1603with the front cover plate1607and the gearbox1601during the motion, which can reduce the working noise and working friction, so as to improve the motion performance of the robot. The gearbox1601is provided with a self-rotating limit part1617, and there are two self-rotating limit parts1617, the two self-rotating limit parts1617are respectively provided in two limit grooves16013of the gearbox1601. The angle of center angle of the ring gear1603is 110°, the joint motor1618can drive the gear1602to rotate, and then drive the ring gear1603to perform circular reciprocating motion along the groove structure16017of gearbox1601, the ring gear1603triggers the self-rotating limit part1617to limit its motion, while ensuring that the robot parts do not interfere with the collision, it ensures that the rotation motion does not exceed the limit of the human fracture site, thereby ensuring safety. The ring gear1603can ensure that the positive/reverse rotation angle is not less than 45° in the groove structure16017, which can ensure that the self-rotating correction angle around the bone axis meets the needs of all kinds of fracture reduction. The ring gear1603is provided with bearing holes16031, a linear bearings are arranged in the bearing hole16031. The gearbox1601is provided with a clamping seat1619, and the clamping seat1619is provided with a locking handle1620. The clamping seat1619is fixed on the gear ring1603and passes through an arc straight groove16014in the gearbox1601, the center angle of the arc straight groove16014is 150°.

As shown inFIG.14, the mobile end clamping component17comprises four optical shafts1711, four optical shafts1711are connected to the ring gear1603through the linear bearing1606, and the optical shaft1711is clamped in the clamping seat1619. The mobile end clamping component17is connected to the gear ring1603of the gearbox1601through the optical shaft1711, and the joint motor1618can drive the mobile end clamping component17to perform circular motion. One end of the four optical shafts is provided with a step, and the step is provided with a carbon ring. The other end of the two optical shafts1711is connected to a left inner splint1701, and the other end of the other two optical shafts1711is connected to a right inner splint1703. One end of the left inner splint1701is connected to a left outer splint1702through a rotating shaft1705, the other end of the left inner splint1701is connected to the left outer splint1702through a rotating handle1709, one end of the right inner splint1703is connected to a right outer splint1704through the rotating shaft1705, the other end of the right inner splint1703is connected to the right outer splint1704through the rotating handle1709. The top of the rotating shaft1705is provided with a boss, and the bottom of the rotating shaft1705is provided with a groove, after the rotating shaft1705is connected with the inner splints and outer splints, the groove at the bottom of the rotating shaft1705is mounted with a shaft ring1706, and a plug1708is mounted at the bottom of the inner splint. The shaft ring1706plays the role of axial limit, and the plug1708plays the role of sealing. The rotating handle1709comprises a head and a rod, rotary holes are arranged on the inner splints and outer splints, and the rod is inserted in the rotary hole and rotationally connected with it, one end away from the head of the rod is provided with a butterfly nut1710. The left inner splint1701and the left outer splint1702, the right inner splint1703and the right outer splint1704can rotate relative to the rotating shaft1705. Taking the left inner splint1701and the left outer splint1702as an example, as shown inFIGS.15-16, when rotating, the left outer splint1702can press the Kirschner wire A, and the pressing degree of the Kirschner wire A can be adjusted by rotating the head of the rotating handle1709and the butterfly nut1710. The diameter of Kirschner wire A is D, when the outer side of the left inner splint1701is parallel to the outer side C of the left outer splint1702, the distance between the inner side of the left inner splint1701and the outer side C of the left outer splint1702is less than the diameter D, and the distance is taken as 0.5 mm, this kind of configuration locking can form an interference structure to ensure that Kirschner wire A is fixed firmly. The left inner splint1701, the left outer splint1702, the right inner splint1703, and the right outer splint1704are all arc-shaped, so they can hold Kirschner wire A with different angles α along its circumferential direction.

As shown inFIG.17, the mobile end clamping component17is connected to the self-rotating component16, the optical shaft1711passes through the ring gear1603, the linear bearing1606, and the clamping seat1619, by adjusting the locking handle1620, the clamping seat1619can hold tightly the optical shaft1711, so as to realize the connection between the mobile end clamping component17and the self-rotating component16, the carbon ring1707is mounted after the connection, which can prevent the mobile end clamping component17from separating from the self-rotating component16during working. When working, according to the distance between the two Kirschner wires A and E entered by the doctor along the direction of the optical shaft1711, the position of the optical shaft1711on the clamping seat1619can be adjusted to fix two Kirschner wires at the same time. In addition, since the doctor's posture of entering two Kirschner wires is arbitrary, the structure can simultaneously satisfy the fixation of two Kirschner wires E with different distances and postures, so as to improve the applicability and operability of the robot.

As shown inFIG.18, the auxiliary traction structure21comprises a fixed frame2101, both sides and the top of the fixed frame2101are provided with a shell2102. The shell2102at the top of the fixed frame2101is provided with a rectangular groove21021, and an organ cover I2105is mounted in the rectangular groove21021, the an organ cover I2105plays a beautiful and protective role without affecting the relative motion of the components. The bottom of the fixed frame2101is connected to an auxiliary caster2107through a connecting plate2016. The top of the fixed frame2101is provided with a fixed plate2103, the fixed plate2103is provided with a guide rail I2104, and the guide rail I2104is arranged in the shell2102at the top of the fixed frame2102.

As shown inFIG.19, the auxiliary translation structure22comprises a bottom plate I2203, the bottom end of the bottom plate I2203is provided with a slider I2204, and the slider I2204is slidably connected to the guide rail I2104, the bottom end of the bottom plate I2203is connected to a traction gripper2205through a cushion block I2207. When using, first adjust the traction gripper2205to a loose state, and drag the auxiliary translation structure22to move along the guide rail I2104, when adjusted to the appropriate position, adjust the traction gripper2205to a locking state, thereby limiting the relative position of the auxiliary translation structure22relatives to the auxiliary traction structure21. The upper of a connecting bottom plate I2203is covered with a rectangular shell2201, and the rectangular shell2201is provided with a long groove22011, the organ cover II2206is mounted in the long groove22011, the organ cover II2206plays a beautiful and protective role without affecting the relative motion of the components. The top of the bottom plate I2203is provided with a guide rail II2202.

As shown inFIG.20, the hand-cranking lifting structure23comprises a bottom plate II2308, one side of the bottom plate II2308is provided with an L-shaped plate2310, the bottom end of the L-shaped plate2310is provided with a slider II2309, the slider II2309is slidably connected to the guide rail II2202. A short side23101of the L-shaped plate2310is fixedly connected with the bottom plate II2308, and a long side inner side23102is connected with the slider II2309. The bottom end of the L-shaped plate2310is connected to a translation gripper2311through a cushion block II2312, when using, first adjust the translation gripper2311to a loose state, and the hand-cranking lifting structure23is dragged to move along the guide rail II2202, when adjusted to the appropriate position, the translation gripper2311is adjusted to a locking state, thereby limiting the relative position of the hand-cranking lifting structure23relatives to the auxiliary translation structure22. Both ends of the bottom plate II2308are provided with a vertical plate2304, and the other side of the bottom plate II2308is provided with a guide rail III2307and a screw I2305. Both ends of the screw I2305are connected to the vertical plate2304through an auxiliary bearing2306. An L-shaped shell2301is provided with a circular hole23012, and one end of the screw I2305is connected to a handwheel2303through the circular hole23012. The bottom plate II2308is connected to the L-shaped shell2301, the L-shaped shell2301is covered on the screw I2305, the guide rail III2307and the L-shaped plate2310. The L-shaped shell is provided with a short groove23011, and an organ cover III is mounted in the short groove23011, which plays a beautiful and protective role without affecting the relative motion of the components.

As shown inFIG.21, the flipping fixed structure24comprises a square plate2401, the square plate2401is provided with a padding plate2402, the padding plate2402is provided with a slider III2403, the slider III2403is slidably connected to the guide rail III2307. The square plate2401is provided with a moving seat2404, and the moving seat2404is rotationally sleeved on the screw I2305. When working, the handwheel2303is rotated, which can control the flipping fixed structure24along the guide rail III2307to do reciprocating motion.

As shown inFIG.22, the auxiliary flipping structure25comprises an upper U-shaped ear plate2501, the upper U-shaped ear plate2501connected to the square plate2401. The upper U-shaped ear plate2501is connected to a lower U-shaped ear plate2504through a pressing shaft2502. The pressing shaft2502is provided with an eccentric wheel2505, and the eccentric wheel2505is provided with a handle2506. The two ends of the pressing shaft2502are provided with a shaft end screw2503for axial limit, the pressing shaft2502is provided with two shaft sleeves2509, and the shaft sleeve2509is arranged between the eccentric wheel2505and the lower U-shaped ear plate2504. The bottom end of the lower U-shaped ear plate2504is provided with an arc plate2507, and an auxiliary linear bearing2508is arranged in the arc plate2507. The side of the arc plate2507is provided with an auxiliary clamping seat2511, and the auxiliary clamping seat2511is provided with an auxiliary handle2510. When working, the handle2506is held to adjust the eccentric wheel2505to a loosening state, so that the upper U-shaped ear plate2501and the lower U-shaped ear plate2504can rotate relatively, after adjusting to the appropriate position, the eccentric wheel2505is adjusted to a pressing state, so that the upper U-shaped ear plate2501and the lower U-shaped ear plate2504are relatively fixed.

As shown inFIG.23, the fixed end clamping component26and the mobile end clamping component17adopt the same structure, the optical shaft1711of the fixed end clamping component26is connected to the arc plate2507through the auxiliary linear bearing2508, and the optical shaft1711of the fixed end clamping component26is clamped in the auxiliary clamping seat2511. When working, the fixed end clamping component26is connected to the auxiliary flipping structure25, by adjusting the auxiliary clamping seat2511, the fixed end clamping component26and the auxiliary flipping structure25can be fixed at any relative position.

As shown inFIG.24andFIG.25, the connection component18comprises two single-ended bent rods1802, one end of the single-ended bent rod1802is connected to the support frame1101through a bent rod base plate1801, the other end of the single-ended bent rod1802is rotationally connected to one end of a slotted bent rod1804through the rotating shaft1803. The other end of the slotted bent rod1804is rotationally connected to one end of a trimming bent rod1806through the rotating shaft1803. The other end of the trimming bent rod1806is rotationally connected to one end of the other single-ended bent rod1802through the rotating shaft1803, and the other end of the single-ended bent rod1802is connected to the fixed frame2101through the bent rod base plate1801. A locking sleeve1805is slidably arranged on the single-ended bent rod1802, slotted bent rod1804and trimming bent rod1806. The connection component18also comprises a clip spring1807, the clip spring1807is mounted at the end of the rotating shaft1803to play an axial limiting role. The locking sleeve1805can move left and right along the long axis direction of the slotted bent rod1804, when the connection component18is adjusted to the longest state, the locking sleeve1805is moved to the connection between the slotted bent rod1804and the trimming bend rod1806, so as to limit the joint rotation at the connection and realize the fixation of the length of the connection component18, cooperate with the weight of the mobile end mechanism1and the fixed end mechanism2, the relative fixation of the two positions can be ensured. In the non-working state, in order to reduce the space occupation of the robot and facilitate the storage and placement, to move the locking sleeve1805to make it separate from the connection of the rotating shaft1803, and the connection component18is lifted up to rotate the connection of the rotating shaft1803, meanwhile, the moving end mechanism1and the fixed end mechanism2are dragged to reduce the relative distance between the two and realize the contraction of the robot.

All the synchronous belt components in the present invention adopt the same existing structure.

Operation process: during the operation, the patient4lay flat on the operating bed3, when the doctor completed the Kirschner wire insertion, the robot is pushed to move along the length of the operating bed3, so that the self-rotating component16is approximately located above the wound of patient4; after reaching the specified position, the locking sleeve1805is adjusted to make the mobile end mechanism1and the fixed end mechanism2move relatively far away from the motion, after moving to the connection component18to the maximum length, the locking sleeve1805is adjusted to the locking position to ensure the relative fixation of the mobile end mechanism1and the fixed end mechanism2; the mobile end clamping component17and the fixed end clamping component26are taken out from the storage box1110and connected to the mobile end mechanism1and the fixed end mechanism2respectively; The host computer sends signals to control the motion of each joint of the mobile end mechanism1, and at the same time adjusts the relative position of the mobile end clamping component17and the self-rotating component16until it can clamp the Kirschner wire at the distal end of the patient4fracture, and then adjusts the traction gripper2205, handwheel2303, translation gripper2311and eccentric wheel2505to the loose state, holding the arc plate2507to drag its motion, and adjusting the relative position of the fixed end clamping component26and the auxiliary flipping structure25, until it can hold the proximal Kirschner wire of patient4fracture, after clamping, the traction gripper2205, handwheel2303, translation gripper2311and eccentric wheel2505are adjusted again to make it locked, so that the structure of each component of the fixed end mechanism2except the fixed end clamping component26is relatively fixed; after clamping, the kirschner wire can be fixed on the mobile end clamping component17and the fixed end clamping component26by adjusting the rotating handle1709and the butterfly nut1710, the clamping seat1619is adjusted to realize the fixed connection between the mobile end clamping component17and the self-rotating component16, the auxiliary clamping seat2511is adjusted to realize the fixed connection between the fixed end clamping component26and the auxiliary flipping structure25; the above steps enable the robot to connect with patient4.

After the above steps are completed, the six-degree-of-freedom motion of the space required for fracture reduction based on the preoperative patient's4CT or X-ray image is input into the host computer of the robot, the host computer sends a signal to control the motion of each joint of the mobile end mechanism1, so as to drive the distal motion of the patient's4fracture to align it with the proximal end of the fracture and finally achieve the reduction operation. After the reduction, the doctor carries out the fixed operation, after the operation is completed, the kirschner wire is separated from the mobile end clamping component17and the fixed end clamping component26by adjusting the rotating handle1709and the butterfly nut1710, the mobile end clamping component17and the self-rotating component16are separated by adjusting the clamping seat1619, the fixed end clamping component26and the auxiliary flipping component15are separated by adjusting the auxiliary clamping seat2511, the mobile end clamping component17and the fixed end clamping component26are removed and put back into the storage box1110; the traction gripper2205, handwheel2303, auxiliary gripper and eccentric wheel2505are adjusted to the loose state, and the arc plate2507is grasped to drag it to move, so that each part of the fixed end mechanism2is restored to the initial position, at the same time, the host computer sends a signal to control the motion of each joint of the mobile end mechanism1, so that each part of the mobile end mechanism1is restored to the initial position, the mobile end mechanism1and the fixed end mechanism2can move relatively close to each other by adjusting the locking sleeve1805, after moving to the initial state of the robot, the robot is pushed away from patient4along the length direction of the operating bed3, and the robot is moved to the preoperative position.

A frame-type surgical robot for fracture reduction of the present invention has a wide motion range of six-degree-of-freedom, and the joint motion stroke to achieve reduction is: the traction stroke is not less than 100 mm, the translation stroke is not less than 50 mm, the lifting stroke is not less than 50 mm, the angle displacement correction angle is not less than 30°, and the self-rotating correction angle around the bone axis is not less than +45°, which is suitable for different reduction stroke requirements such as embedded fractures.

Therefore, the present invention adopts a frame-type surgical robot for fracture reduction, which not only has a high load, a compact structure, a small footprint, and a wide range of motion but also combines manual and electric adjustment, which is a simple operation and a strong applicability.

Finally, it should be noted that the above examples are merely used for describing the technical solutions of the present invention, rather than limiting the same. Although the present invention has been described in detail with reference to the preferred examples, those of ordinary skill in the art should understand that the technical solutions of the present invention may still be modified or equivalently replaced. However, these modifications or substitutions should not make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present invention.