CN114732522B - Flexible wire driven fracture reduction surgical robot - Google Patents
Flexible wire driven fracture reduction surgical robot Download PDFInfo
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- CN114732522B CN114732522B CN202210246226.4A CN202210246226A CN114732522B CN 114732522 B CN114732522 B CN 114732522B CN 202210246226 A CN202210246226 A CN 202210246226A CN 114732522 B CN114732522 B CN 114732522B
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- 230000009467 reduction Effects 0.000 title claims abstract description 26
- 239000000463 material Substances 0.000 claims abstract description 12
- 238000004804 winding Methods 0.000 claims description 19
- 238000005096 rolling process Methods 0.000 claims description 14
- 229910000838 Al alloy Inorganic materials 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 208000010392 Bone Fractures Diseases 0.000 abstract description 32
- 206010017076 Fracture Diseases 0.000 abstract description 29
- 210000000988 bone and bone Anatomy 0.000 description 4
- 238000003745 diagnosis Methods 0.000 description 4
- 208000006670 Multiple fractures Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000399 orthopedic effect Effects 0.000 description 2
- 208000001132 Osteoporosis Diseases 0.000 description 1
- 208000001164 Osteoporotic Fractures Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000002354 daily effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 230000005802 health problem Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/60—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like for external osteosynthesis, e.g. distractors, contractors
- A61B17/62—Ring frames, i.e. devices extending around the bones to be positioned
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/60—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like for external osteosynthesis, e.g. distractors, contractors
- A61B17/66—Alignment, compression or distraction mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a flexible wire driven fracture reduction surgical robot which consists of a proximal ring, a distal ring and six active branched chains connected with the proximal ring and the distal ring. Each active branched chain is provided with a driving device. The six driving branched chains are completely identical in structure and consist of a bearing fixing frame, a deep groove ball bearing, a bearing retainer ring, a near-end Hooke hinge, a wire driving upper end connecting piece, a wire driving device, a wire driving lower end connecting piece and a far-end Hooke hinge. Except for the wire driving device and the deep groove ball bearing, all the other parts are made of light materials. The flexible wire driving type fracture reduction surgical robot wire driving form is light in weight, high in rigidity and strong in wearability, and can achieve accurate minimally invasive safe and controllable fracture treatment.
Description
Technical Field
The invention relates to the technical field of medical appliances, in particular to an electric mode, light-weight, high-rigidity and wearable fracture reduction surgical robot.
Background
Along with the aging of population and the change of life style, osteoporosis has become a global social health problem, and 1 osteoporosis fracture is counted every 12 seconds in China; at the same time, accidental fractures are the most easily caused injuries by accidents. Fracture treatment is different from other diseases, and fracture patients need closed-loop services covering the whole life cycle of 'before diagnosis, during diagnosis and after diagnosis', so that the fracture patients are expensive. In orthopaedics patients with operation indexes in China, nearly 80% of patients have no-edge operation treatment due to high cost, and more quality and price-flat medical service is needed urgently, and the medical cost of a fracture rehabilitation robot in the post-diagnosis rehabilitation stage can be greatly reduced.
The wearable orthopaedics medical robot utilizes a threaded half needle or a Kirschner wire to stably fix broken bones with the far end ring and the near end ring of the robot, and the reduction of the broken bones is completed by adjusting the relative position of the far end ring and the near end ring of the robot, so that the accurate and minimally invasive fracture treatment is realized. However, most wearable orthopedic medical robots currently mainly suffer from the following disadvantages: 1) No electric control is implemented. The fracture reduction parallel external fixation support according to patent CN108742804B can realize long bone fracture reduction, but its branched chain is manually adjusted, the accuracy is general, and the patient or doctor needs to operate every day, which brings inconvenience to life. 2) Heavy and expensive, and has poor wearability. The six-degree-of-freedom parallel long bone robot described in patent CN101847182a can electrically drive the reduction and fixation of fracture shaping, but the transmission structure is heavy and expensive, and is not suitable for the daily activities of patients during healing. 3) The structure is unstable and compact, the positioning performance is poor, and the folding parallel bone external fixator is capable of realizing bone reposition only through two branched chains and a U-shaped platform, and has unsatisfactory rigidity and weak protection capability as described in patent CN 106725782A.
The invention comprises the following steps:
in order to solve the problems in the prior art, the invention provides a flexible wire driven fracture reduction surgical robot, which solves the problems that an orthopedic medical robot in the prior art is heavy and expensive, does not realize electric control, is unstable and compact in structure and has poor positioning performance.
The invention provides the following technical scheme:
the invention relates to a flexible wire driven fracture reduction surgical robot which consists of a proximal ring, a distal ring, a first active branched chain, a second active branched chain, a third active branched chain, a fourth active branched chain, a fifth active branched chain and a sixth active branched chain, wherein the first active branched chain, the second active branched chain, the third active branched chain, the fourth active branched chain, the fifth active branched chain and the sixth active branched chain are connected with the proximal ring and the distal ring. Each active branched chain is provided with a driving device.
The structure of the proximal ring and the structure of the distal ring are similar, and the proximal ring and the distal ring are both in central symmetry structures, and are provided with a series of inner ring round holes which are uniformly distributed on the circumference and are used for installing a threaded half needle and a Kirschner wire or installing a driving device and a branched chain, and the proximal ring and the distal ring are manufactured by processing light materials (such as aluminum alloy and the like).
The six driving branched chains are completely identical in structure and consist of a bearing fixing frame, a deep groove ball bearing, a bearing retainer ring, a near-end Hooke hinge, a wire driving upper end connecting piece, a wire driving device, a wire driving lower end connecting piece and a far-end Hooke hinge. Except for the wire driving device and the deep groove ball bearing, all the other parts are made of light materials (such as aluminum alloy and the like).
Six active branched chains are all fastened with the proximal ring through bolts through the bearing fixing frame. The deep groove ball bearing is positioned and installed through a shaft shoulder machined on the inner side of the bearing fixing frame and a shaft shoulder shaft section at the upper end of the near-end Hooke hinge. The upper end of the near-end Hooke hinge is provided with external threads, and the bearing retainer ring is provided with internal threads matched with the external threads to axially fix the deep groove ball bearing. The proximal hook hinge is connected with the wire driving device through the wire driving upper end connecting piece. The wire driving device is connected with the far-end Hooke hinge through the wire driving lower end connecting piece. The lower end shaft section of the far-end Hooke hinge is inserted into the outer ring mounting hole of the far-end ring and is locked by a nut. The center cross structures of the near-end Hooke hinge and the far-end Hooke hinge are detachable structures.
The wire driving device consists of a wire driving fixing frame, an upper end wire wheel, a lower end wire wheel, wires, a wire driving long rod, a wire winding pin, a sleeve, a thrust bearing, a first bevel gear, a second bevel gear, a first rolling bearing, a second rolling bearing, an upper end wire wheel shaft and a lower end wire wheel shaft. The wire driving fixing frame is of an arch-shaped structure; the bow back is provided with a long rod fixing hole and a Hooke hinge connecting hole, two sides are provided with wire wheel shaft connecting holes, and the long rod fixing hole is provided with internal threads. The near-end Hooke hinge far-end is in threaded connection with the wire driving upper end connecting piece, and the thrust bearing is positioned and installed through a shaft shoulder machined on the inner side of the Hooke hinge connecting hole and a shaft shoulder of the wire driving upper end connecting piece, so that the near-end Hooke hinge far-end and the wire driving upper end connecting piece can freely rotate relative to the wire driving fixing frame under the action of the driving device. The lower end of the wire driving upper end connecting piece is fixedly connected with the first bevel gear. The upper end of the filament driving long rod is provided with external threads and is connected with the long rod fixing hole, the upper end and the lower end of the long rod are respectively provided with a square filament wheel groove, the dimension of the filament wheel groove in the upper end direction is larger than that of the side face of the filament wheel in the upper end direction, two sides of the filament wheel groove in the upper end direction are provided with through holes, the diameter of each through hole is slightly larger than that of each filament wheel shaft in the upper end, and the diameter of each filament wheel shaft in the upper end is equal to that of each hole in the filament wheel in the upper end. And placing the upper end wire wheel into the upper end wire wheel groove, and fixedly installing the upper end wire wheel shaft and the upper end wire wheel. The lower end wire wheel and the lower end wire wheel shaft are installed in a similar manner to the upper end wire wheel and the upper end wire wheel shaft. The other end of the upper end wire wheel shaft is fixedly connected with the second bevel gear, and the second bevel gear is meshed with the first bevel gear so as to realize that the far-end rotation of the near-end Hooke hinge drives the rotation of the upper end wire wheel shaft and the upper end wire wheel in the vertical direction. The first rolling bearing and the second rolling bearing are positioned and installed by processing shaft shoulders on the inner sides of the wire wheel shaft connecting holes, so that the upper end wire wheel shaft can freely rotate relative to the wire driving fixing frame under the action of the second bevel gear. The side surface of the upper end of the sleeve is provided with an internal threaded hole for fixing the winding pin, and the wire sequentially bypasses the upper end wire wheel, the winding pin and the lower end wire wheel. The rotation of the upper end wire wheel drives the wire, the winding pin, the sleeve and the lower end wire wheel to move, and the sleeve moves along the long rod in a straight line. The lower end of the sleeve is provided with a threaded hole connected with the wire drive lower end connecting piece, and the threaded hole is fixedly connected with the far-end station end of the Hooke hinge through the wire drive lower end connecting piece. The wire driving fixing frame, the upper wire wheel shaft, the wire driving long rod, the lower wire wheel shaft and the sleeve are all manufactured by adopting light materials (such as aluminum alloy and the like).
And a D-shaped output shaft of the motor is connected with a D-shaped hole at the upper end of the proximal Hooke hinge to drive the proximal Hooke hinge to rotate. The proximal hook hinge drives the wire to drive the upper end connecting piece to rotate. The wire drives the upper end connecting piece to drive the first bevel gear to rotate. The first bevel gear drives the second bevel gear to rotate, so that the conversion of the rotation direction is realized. The second bevel gear drives the upper end wire wheel shaft to rotate. The upper end wire wheel shaft drives the upper end wire wheel to rotate, and the upper end wire wheel drives the wire and the winding pin to do linear motion along the long rod. The sleeve moves linearly along the long rod through the winding pin, so that the rotary motion of the motor is converted into the linear motion of the wire driving device, and the length of the active branched chain is adjusted.
The light high-rigidity wearable flexible wire-driven fracture reduction surgical robot has the beneficial effects that: 1. the silk thread can bear larger pulling force, so that the silk drive has the characteristic of high axial rigidity, and meanwhile, the dead weight of the silk thread is smaller, thereby being beneficial to the light-weight high-rigidity design of the fracture reduction robot, so that the robot can meet the requirement of large bearing capacity of fracture reduction operation and reduce the load of a patient; 2. the length of the branched chain is adjusted by utilizing the silk transmission mode, and compared with other length adjustment modes, the branched chain has stronger bearing capacity, is more environment-friendly and has more price advantage; 3. six-degree-of-freedom fracture reduction operation robot based on silk drive fully utilizes rigid-flexible coupling structural characteristics, can realize the disconnected bone position appearance of patient effectively convenient accurate and adjust, helps doctor to accomplish the fracture reduction operation fast and safely.
The flexible wire-driven fracture reduction surgical robot has the advantages of light weight, high rigidity and strong wearability, and aims to realize accurate minimally invasive safe and controllable fracture treatment.
Drawings
FIG. 1 is a schematic structural view of a flexible wire driven fracture reduction surgical robot of the present invention;
FIG. 2 (a) is a schematic structural view of a first active filament driving method of the present invention; FIG. 2 (b) is a schematic cross-sectional view of the first active branch along the plane of the filament of the present invention;
FIG. 3 is a schematic cross-sectional plan view of a first active branched cone carrier and direction of motion according to the present invention;
FIG. 4 (a) is a schematic illustration of the active branch installation of the present invention; FIG. 4 (b) is a schematic illustration of the first active branched deep groove ball bearing of the present invention installed;
Reference numerals: 1. a motor; 2. a proximal ring; 3. an active branched chain; 4. a distal ring; 5. a wire driving device; 51. the wire drives the fixing frame; 52. an upper end wire wheel; 53. an upper end wire wheel shaft; 54. a silk; 55. a filament driven long rod; 56. winding pins; 57. a lower end wire wheel; 58. a lower end wire wheel shaft; 59. a sleeve; 510. a thrust bearing; 511. a first bevel gear; 512. a second bevel gear; 513. a first rolling bearing; 514. a second rolling bearing; 6. a bearing fixing frame; 7. a bearing retainer ring; 8. deep groove ball bearings; 9. a proximal hook hinge; 10. a distal hook hinge; 11. the wire drives the upper end connecting piece; 12. the wire drives the lower end connector.
Detailed Description
For further understanding of the invention, the following examples are set forth to illustrate, together with the drawings, the detailed description of which follows:
As shown in fig. 1, the flexible wire-driven fracture reduction surgical robot consists of a motor 1, a proximal ring 2, a distal ring 4 and six active branched chains 3, wherein the six active branched chains 3 connect the proximal ring 2 and the distal ring 4. Each of the active branches is driven by a motor 1.
The proximal ring 2 and the distal ring 4 have similar structures and are all in central symmetry structures, and are provided with a series of inner ring round holes which are uniformly distributed on the circumference and are used for installing a threaded half needle and a kirschner wire or installing branched chains, and the inner ring round holes are manufactured by processing light materials (such as aluminum alloy and the like).
The six driving branched chains 3 have the same structure and are composed of a wire driving device 5, a bearing fixing frame 6, a deep groove ball bearing 8, a bearing retainer ring 7, a near-end Hooke hinge 9, a far-end Hooke hinge 10, a wire driving upper end connecting piece 11 and a wire driving lower end connecting piece 12. Except for the wire driving device 5 and the deep groove ball bearing 8, all the other parts are made of light materials (such as aluminum alloy and the like).
As shown in fig. 2 and 3. The wire driving device 5 is composed of a wire driving fixing frame 51, an upper wire wheel 52, an upper wire wheel shaft 53, a wire 54, a wire driving long rod 55, a wire winding pin 56, a lower wire wheel 57, a lower wire wheel shaft 58, a sleeve 59, a thrust bearing 510, a first bevel gear 511, a second bevel gear 512, a first rolling bearing 513 and a second rolling bearing 514. The wire driving fixing frame 51 is of an arch-shaped structure; the bow back is provided with a long rod fixing hole and a Hooke hinge connecting hole, two sides are provided with wire wheel shaft connecting holes, and the long rod fixing hole is provided with internal threads. The distal end of the proximal hook hinge 9 is in threaded connection with the wire driving upper end connecting piece 11, and the thrust bearing 510 is positioned and installed through a shaft shoulder machined at the inner side of the hook hinge connecting hole and a shaft shoulder of the wire driving upper end connecting piece 11, so that the proximal hook hinge 9 distal end and the wire driving upper end connecting piece 11 can freely rotate relative to the wire driving fixing frame 51 under the action of the driving device. The lower end of the wire driving upper end connector 11 is fixedly connected with the first bevel gear 511. The upper end of the wire driving long rod 55 is provided with external threads and is connected with the long rod fixing hole, the upper end and the lower end of the wire driving long rod 55 are respectively provided with a square wire wheel groove, the size of the wire wheel groove at the upper end is larger than that of the side surface of the upper end wire wheel 52, two sides of the wire wheel groove at the upper end are provided with through holes, the diameter of each through hole is slightly larger than that of the upper end wire wheel shaft 53, and the diameter of the upper end wire wheel shaft 53 is equal to that of the hole on the upper end wire wheel 52. The upper end wire wheel 52 is placed in the upper end wire wheel groove, and the upper end wire wheel shaft 53 is fixedly installed with the upper end wire wheel 52. The lower end wire wheel 57 and lower end wire wheel shaft 58 are mounted in a similar manner to the upper end wire wheel 52 and upper end wire wheel shaft 53. The other end of the upper end wire wheel shaft 53 is fixedly connected with the second bevel gear 512, and the second bevel gear 512 is meshed with the first bevel gear 511, so that the rotation of the far end of the near-end hook hinge 9 drives the rotation of the upper end wire wheel shaft 53 and the upper end wire wheel 52 in the vertical direction. The first rolling bearing 513 and the second rolling bearing 514 are positioned and installed by processing shaft shoulders on the inner side of the wire wheel shaft connecting hole, so that the upper end wire wheel 52 shaft can freely rotate relative to the wire driving fixing frame 51 under the action of the second bevel gear 512. The upper end side of the sleeve 59 is provided with an internal threaded hole for fixing the winding pin 56, and the wire 54 sequentially bypasses the upper end wire wheel 52, the winding pin 56 and the lower end wire wheel 57. The rotation of the upper wire wheel 52 drives the wire 54, the winding pin 56, the sleeve 59 and the lower wire wheel 57 to move, and the sleeve 59 drives the long rod 55 to move linearly along the wire. The lower end of the sleeve 59 is provided with a threaded hole connected with the wire driving lower end connecting piece 12, and the threaded hole is fixedly connected with the far-end of the hook hinge 10 through the wire driving lower end connecting piece 12. The wire driving fixing frame 51, the upper wire wheel shaft 53, the wire driving long rod 55, the lower wire wheel shaft 58 and the sleeve 59 are all made of light materials (such as aluminum alloy and the like).
As shown in fig. 3. The D-shaped output shaft of the motor 1 is connected with the D-shaped hole at the upper end of the proximal Hooke hinge 9 to drive the proximal Hooke hinge 9 to rotate. The proximal hook hinge 9 drives the wire to rotate the upper end connector 11. The wire driving upper end connector 11 drives the first bevel gear 511 to rotate. The first bevel gear 511 drives the second bevel gear 512 to rotate, so as to realize the conversion of the rotation direction. The second bevel gear 512 rotates the upper wire wheel shaft 53. The upper end wire wheel shaft 53 drives the upper end wire wheel 52 to rotate, and the upper end wire wheel 52 drives the wire 54 and the winding pin 56 to linearly move along the wire driving long rod 55. The sleeve 59 makes a linear motion along the wire driving long rod 55 through the wire winding pin 56, so that the rotary motion of the motor 1 is converted into the linear motion of the wire driving device 5, and the length of the driving branched chain 3 is adjusted.
As shown in fig. 4. Six active branched chains 3 are all fastened with the proximal ring 2 through bolts through the bearing fixing frame 6. The deep groove ball bearing 8 is positioned and installed through a shaft shoulder machined on the inner side of the bearing fixing frame 6 and a shaft shoulder shaft section at the upper end of the proximal Hooke hinge 9. The upper end of the near-end Hooke hinge 9 is provided with external threads, the bearing retainer ring 7 is provided with internal threads matched with the external threads, and the deep groove ball bearing 8 is axially fixed. The proximal hook hinge is connected to the wire drive device 5 via the wire drive upper connector 11. The wire driving device 5 and the far-end Hooke hinge 10 are connected through the wire driving lower-end connecting piece 12. The lower end shaft section of the far-end Hooke hinge 10 is inserted into the outer ring mounting hole of the far-end ring 4 and is locked by a nut. The center cross structures of the near-end Hooke hinge 9 and the far-end Hooke hinge 10 are detachable structures.
In the fracture reduction operation process, firstly, two ends of a broken bone are fixedly connected with the distal end ring 4 and the proximal end ring 2 respectively by using a threaded half needle or a Kirschner wire, then, the motion track of the center of the distal end ring 4 relative to the center of the proximal end ring 2 during fracture reduction is obtained by means of the prior medical pretreatment means, and further, six adjustment schemes of the active branched chains 3 are obtained by means of inverse kinematics analysis of a parallel robot, and finally, the six active branched chains 3 are driven by using the motor 1, so that the fracture reduction according to the planned track with high precision is realized.
The flexible wire-driven fracture reduction surgical robot uses wire drive, and a large number of parts are made of light materials (aluminum alloy and the like), and the structural parameters of the flexible wire-driven fracture reduction surgical robot are obtained through optimization design, so that the robot body structure has low dead weight and high rigidity. Meanwhile, six active branched chains 3 of the robot are compact in layout, light in structure and excellent in wearability.
The above description of the present invention is intended to be illustrative, and not restrictive, and thus, the embodiments of the present invention are not limited to the specific embodiments described above. Other changes and modifications may be made by one skilled in the art without departing from the spirit of the invention and the scope of the claims, which are intended to be covered thereby.
Claims (2)
1. The flexible wire driven fracture reduction surgical robot is characterized by comprising a proximal ring, a distal ring, a first active branched chain, a second active branched chain, a third active branched chain, a fourth active branched chain, a fifth active branched chain and a sixth active branched chain, wherein the first active branched chain, the second active branched chain, the third active branched chain, the fourth active branched chain, the fifth active branched chain and the sixth active branched chain are connected with the proximal ring and the distal ring, and each active branched chain is provided with a driving device; the proximal ring and the distal ring are of central symmetrical structures, and are provided with a series of inner ring round holes which are uniformly distributed on the circumference and are used for installing a threaded half needle and a Kirschner wire or installing a driving device and a branched chain, and the proximal ring and the distal ring are manufactured by adopting light materials; the six active branched chains have the same structure and consist of a bearing fixing frame, a deep groove ball bearing, a bearing retainer ring, a near-end Hooke hinge, a wire driving upper end connecting piece, a wire driving device, a wire driving lower end connecting piece and a far-end Hooke hinge; except for the wire driving device and the deep groove ball bearing, all the other parts are made of light materials; the six active branched chains are all connected and fastened with the proximal ring through bolts by the bearing fixing frame; the deep groove ball bearing is positioned and installed through a shaft shoulder machined on the inner side of the bearing fixing frame and a shaft shoulder shaft section at the upper end of the near-end Hooke hinge; the upper end of the near-end Hooke hinge is provided with external threads, and the bearing retainer ring is provided with internal threads matched with the external threads to axially fix the deep groove ball bearing; the proximal Hooke hinge is connected with the wire driving device through the wire driving upper end connecting piece; the wire driving device is connected with the far-end Hooke hinge through the wire driving lower end connecting piece; the lower end shaft section of the far-end Hooke hinge is inserted into the outer ring mounting hole of the far-end ring and is locked by a nut; the center cross structures of the near-end Hooke hinge and the far-end Hooke hinge are detachable structures;
The wire driving device consists of a wire driving fixing frame, an upper end wire wheel, a lower end wire wheel, wires, a wire driving long rod, a wire winding pin, a sleeve, a thrust bearing, a first bevel gear, a second bevel gear, a first rolling bearing, a second rolling bearing, an upper end wire wheel shaft and a lower end wire wheel shaft; the wire driving fixing frame is of an arch-shaped structure; the bow back is provided with a long rod fixing hole and a Hooke hinge connecting hole, two sides of the bow back are provided with wire wheel shaft connecting holes, and the long rod fixing hole is provided with internal threads; the near-end Hooke hinge far-end is in threaded connection with the wire driving upper end connecting piece, and the thrust bearing is positioned and installed through a shaft shoulder machined at the inner side of the Hooke hinge connecting hole and a shaft shoulder of the wire driving upper end connecting piece, so that the near-end Hooke hinge far-end and the wire driving upper end connecting piece can freely rotate relative to the wire driving fixing frame under the action of the driving device; the lower end of the wire drive upper end connecting piece is fixedly connected with the first bevel gear; the upper end of the filament driving long rod is provided with external threads which are connected with the long rod fixing holes, the upper end and the lower end of the long rod are respectively provided with a square filament wheel groove, the square filament wheel groove at the upper end of the long rod is larger than the side surface of the upper filament wheel, through holes are formed in two sides of the square filament wheel groove at the upper end of the long rod, the diameter of each through hole is slightly larger than the diameter of the upper filament wheel shaft, and the diameter of the upper filament wheel shaft is equal to the diameter of the hole on the upper filament wheel; placing the upper end wire wheel into the upper end wire wheel groove, and fixedly mounting the upper end wire wheel shaft and the upper end wire wheel; the other end of the upper end wire wheel shaft is fixedly connected with the second bevel gear, and the second bevel gear is meshed with the first bevel gear so as to realize that the far-end rotation of the near-end Hooke hinge drives the rotation of the upper end wire wheel shaft and the upper end wire wheel in the vertical direction; the first rolling bearing and the second rolling bearing are positioned and installed by processing shaft shoulders at the inner sides of the wire wheel shaft connecting holes, so that the upper end wire wheel shaft can freely rotate relative to the wire driving fixing frame under the action of a second bevel gear; the side surface of the upper end of the sleeve is provided with an internal threaded hole for fixing the winding pin, and the wire sequentially bypasses the upper end wire wheel, the winding pin and the lower end wire wheel; the rotation of the upper end wire wheel drives the wire, the winding pin, the sleeve and the lower end wire wheel to move, and the sleeve moves along a long rod in a straight line; the lower end of the sleeve is provided with a threaded hole connected with the wire drive lower end connecting piece, and the threaded hole is fixedly connected with the far-end station end of the Hooke hinge through the wire drive lower end connecting piece; the wire driving fixing frame, the upper end wire wheel shaft, the wire driving long rod, the lower end wire wheel shaft and the sleeve are all manufactured by adopting light materials;
the light material is aluminum alloy.
2. The flexible wire driven fracture reduction surgical robot according to claim 1, wherein a D-shaped output shaft of the motor is connected with a D-shaped hole at the upper end of the proximal hook hinge to drive the proximal hook hinge to rotate; the near-end Hooke hinge drives the wire to drive the upper end connecting piece to rotate; the wire drives the upper end connecting piece to drive the first bevel gear to rotate; the first bevel gear drives the second bevel gear to rotate, so that the conversion of the rotation direction is realized; the second bevel gear drives the upper end wire wheel shaft to rotate; the upper end wire wheel shaft drives the upper end wire wheel to rotate, and the upper end wire wheel drives the wire and the wire winding pin to do linear motion along a long rod; the sleeve moves linearly along the long rod through the winding pin, so that the rotary motion of the motor is converted into the linear motion of the wire driving device, and the length of the active branched chain is adjusted.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210246226.4A CN114732522B (en) | 2022-03-14 | 2022-03-14 | Flexible wire driven fracture reduction surgical robot |
| PCT/CN2022/086349 WO2023173517A1 (en) | 2022-03-14 | 2022-04-12 | Flexible wire-driven fracture reduction surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210246226.4A CN114732522B (en) | 2022-03-14 | 2022-03-14 | Flexible wire driven fracture reduction surgical robot |
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| CN114732522A (en) | 2022-07-12 |
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