CN106361441A - Master-slave mode parallel robot system and method for femoral shaft fracture reduction - Google Patents
Master-slave mode parallel robot system and method for femoral shaft fracture reduction Download PDFInfo
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- CN106361441A CN106361441A CN201610832181.3A CN201610832181A CN106361441A CN 106361441 A CN106361441 A CN 106361441A CN 201610832181 A CN201610832181 A CN 201610832181A CN 106361441 A CN106361441 A CN 106361441A
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- 230000009467 reduction Effects 0.000 title claims abstract description 39
- 238000000034 method Methods 0.000 title claims abstract description 22
- 210000000689 upper leg Anatomy 0.000 claims abstract description 58
- 230000000399 orthopedic effect Effects 0.000 claims abstract description 32
- 238000013507 mapping Methods 0.000 claims abstract description 25
- 210000004247 hand Anatomy 0.000 claims description 136
- 230000000875 corresponding effect Effects 0.000 claims description 12
- 210000001694 thigh bone Anatomy 0.000 claims description 11
- 210000003127 knee Anatomy 0.000 claims description 10
- 230000001276 controlling effect Effects 0.000 claims description 7
- 238000004904 shortening Methods 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 claims description 6
- 238000011017 operating method Methods 0.000 claims description 6
- 238000001356 surgical procedure Methods 0.000 claims description 5
- 238000011084 recovery Methods 0.000 claims description 4
- 210000002303 tibia Anatomy 0.000 claims description 3
- 238000007665 sagging Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims description 2
- 208000027418 Wounds and injury Diseases 0.000 abstract description 7
- 230000006378 damage Effects 0.000 abstract description 4
- 208000014674 injury Diseases 0.000 abstract description 4
- 208000010392 Bone Fractures Diseases 0.000 description 54
- 206010017076 Fracture Diseases 0.000 description 54
- 230000009286 beneficial effect Effects 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 8
- 210000000988 bone and bone Anatomy 0.000 description 7
- 238000007373 indentation Methods 0.000 description 5
- 206010052428 Wound Diseases 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 206010016454 Femur fracture Diseases 0.000 description 1
- 208000002565 Open Fractures Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000011230 binding agent Substances 0.000 description 1
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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
-
- 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
- A61B17/64—Devices extending alongside the bones to be positioned
- A61B17/6408—Devices not permitting mobility, e.g. fixed to bed, with or without means for traction or reduction
-
- 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
- A61B17/64—Devices extending alongside the bones to be positioned
- A61B17/645—Devices extending alongside the bones to be positioned comprising a framework
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
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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
- A61B2017/564—Methods for bone or joint treatment
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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
- A61B2017/606—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 with resilient spring element
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2210/00—Devices for specific treatment or diagnosis
- A61G2210/10—Devices for specific treatment or diagnosis for orthopedics
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
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Abstract
The invention provides a master-slave mode parallel robot system and method for femoral shaft fracture reduction. The system comprises a master manipulator control robot, a central control unit, a slave manipulator reduction robot, a mapping switch, an orthopedic operating bed, a traction frame, a G-arm dual-display X-ray machine and an operating trolley, wherein the central control unit conditionally maps and transmits a fracture reduction operation of the master manipulator control robot to the slave manipulator reduction robot; a conditional mapping operation of the central control unit is started or closed by the mapping switch; a proximal femur of a patient is fixed on the orthopedic operating bed; the traction frame and the orthopedic operating bed are connected with each other to form a rigid body; the slave manipulator reduction robot copies the fracture reduction operation of the master manipulator control robot for the patient under mapping control of the central control unit; the G-arm dual-display X-ray machine simultaneously collects an entopic X-ray image and a lateral X-ray image of a femoral shaft fracture position of the patient. The method comprises the steps of preoperative preparation and intro-operative operation. According to the system and the method provided by the invention, the injury of an X-ray to the patient is reduced, and a reduction state is stably maintained before fixation.
Description
Technical field
The invention belongs to orthopedic robot field, particularly to a kind of master-slave mode fracture of shaft of femur reset parallel robot system
System and method.
Background technology
Fracture of shaft of femur is the common disease of Orthopedic Clinical.Medical personnel, when carrying out reduction therapy to such sufferer, need
First fracture near-end to be fixed, more first knochenbruch far-end to be stretched by observing x image, then be alignd with near-end knochenbruch multiple
Position, then fixed.Because femur periphery is muscular, reset generally requires two to three doctors and jointly completes.And keep
Reset state is fixed also highly difficult.It is also clinically wide based on fixing fracture of shaft of femur reattachment surgery treatment in intramedullary pin
A kind of repositioning method of general employing.This treatment meanss exist x radiation x dosage big so that the putting of operative doctor during treatment
Penetrating property open-assembly time is long, and not good to the reset effect of axial-rotation fracture.This kind of operation belongs to open operation, cuts wound
Mouth wound surface is larger.The blood loss that open fracture resets is big, and the wound of patient is easy to infect, and the time of wound healing is long.
Content of the invention
The radiation exposure time in order to solve the problems, such as operative doctor during treatment present in prior art is long, the present invention
On the one hand provide a kind of master-slave mode fracture of shaft of femur reset parallel robot system, comprising: main handss Manipulation of the machine people, central authorities
Controller, from handss reset robot, zpk switch, Orthopedic operation bed, traction frame, the double aobvious x ray machine of g arm and operation chassis；Institute
State main handss Manipulation of the machine artificial hand push-and-pull rod six-degree-of-freedom parallel connection mechanism robot, for receiving and executing the fracture of patient again
Bit manipulation instruction；Described central controller and described main handss Manipulation of the machine people and described be connected from handss reset robot, for will
The reduction of the fracture operation of described main handss Manipulation of the machine people have ready conditions mapping pass to described from handss reset robot；Described mapping is opened
Close and be connected with described central controller, for being turned on and off the map operation of having ready conditions of described central controller；Described orthopaedics
The near end of thighbone of patient is fixed with operation table, described patient is fracture of shaft of femur patient and is in attitude of going down on one's knees；Described traction
Frame and described Orthopedic operation bed connect into a rigid body；Described from the artificial electric push rod six-degree-of-freedom parallel connection mechanism of handss reset machine
Robot, the described far-end fixed platform from handss reset robot is fixed on described traction frame, described from handss reset robot
Near-end mobile platform pass through the distal femur of nail or spicule immobilized patients, control for the mapping in described central controller
Under, replicate the reduction of the fracture operation that described main handss Manipulation of the machine people is carried out to described patient；The double aobvious x ray machine of described g arm is used for
Normotopia x light image at the fracture of shaft of femur of collection patient and the x light image of side position simultaneously；Described main handss Manipulation of the machine people and described
Central controller is fixed on described operation chassis；Wherein, described reduction of the fracture operational order by patient according to the observation to institute
State the light image of normotopia x and the x light image of described side position is made.
It is preferable that described include from handss reset robot in system as above: far-end fixed platform, near-end move
Moving platform, six electric push rods and six pairs of universal joints；Described far-end fixed platform is in the form of annular discs；Described near-end mobile platform is in
2/3rds is circular；Six described electric push rods are connected to described far-end fixed platform and described near by six pairs of universal joints
Between the mobile platform of end, under controlling in the mapping of described central controller, execute corresponding actions；Universal joint described in a pair is used
In the both ends of an electric push rod are connected with corresponding described far-end fixed platform and described near-end mobile platform respectively.
It is preferable that described central controller is additionally operable to directly control described electric push rod in system as above
Stroke；Described system also includes: recovery button, elongation button and the shortening button being connected with described central controller respectively；
The described button that recovers is used for described electric push rod is returned to the half of rated travel by current stroke；Described elongation button is used
In described electric push rod is gradually extended by current stroke；Described shortening button is used for described electric push rod by current line
Journey is gradually shortened.
It is preferable that described main handss Manipulation of the machine people includes in system as above: Zhu Shou robot stationary platforms,
Zhu Shou robot dynamic platform, six manual Distance-sensing push-pull bars and six pairs of universal joints；Described Zhu Shou robot stationary platforms
In the form of annular discs, it is fixed on described operation chassis；Described Zhu Shou robot dynamic platform is in the form of annular discs, for receiving described patient
Reduction of the fracture operational order；Six described manual Distance-sensing push-pull bars are located at described Zhu Shou robot stationary platforms and described
Between Zhu Shou robot dynamic platform；Universal joint described in a pair is used for the both ends of a described manual Distance-sensing push-pull bar
It is connected with corresponding described Zhu Shou robot stationary platforms and described Zhu Shou robot dynamic platform respectively.
It is preferable that described main handss Manipulation of the machine people also includes in system as above: extension spring；Described stretching
Spring is connected between described Zhu Shou robot stationary platforms and described Zhu Shou robot dynamic platform, and is located at described main mobile phone
Device people's stationary platforms and the outer circumferential of described Zhu Shou robot dynamic platform.
It is preferable that described universal joint is rubber universal joint in system as above.
It is preferable that described zpk switch is foot switch in system as above, described foot switch is arranged on ground
On face.
It is preferable that described system also includes in system as above: lead shield, described lead shield is arranged at described g arm
Between double aobvious x ray machines and described patient.
Another aspect of the present invention additionally provides one kind and carries out master-slave mode fracture of shaft of femur repositioning method, institute using said system
The method of stating comprises: operating procedure in Preoperative Method step and art；Described Preoperative Method step specifically includes: described main handss are manipulated
Robot and described central controller are fixed on described operation chassis, by the described far-end fixed platform from handss reset robot
It is fixed on described traction frame；Connect described central controller and described main handss Manipulation of the machine people, described from handss reset robot
With described zpk switch；Described traction frame and described Orthopedic operation bed are connected into a rigid body；Fracture of shaft of femur patient is made to lie low
On described Orthopedic operation bed, the near end of thighbone of patient is fixed on described Orthopedic operation bed, and makes under the tibia of patient
Hang down in shape of going down on one's knees；Adjust the position of described traction frame, the described near-end mobile platform from handss reset robot is directed at patient's
Distal femur, by draw point and nail by distal femur be fixed on described from the near-end mobile platform of handss reset robot；Move
The position of the g arm of the double aobvious x ray machine of dynamic g arm, two transceivers of described g arm are respectively aligned at fracture of shaft of femur
Normotopia and side position；In described art, operating procedure specifically includes: opens the on and off switch of described central controller and described g type
The on and off switch of the double aobvious x ray machine of arm；Observe the double-display screen of the double aobvious x ray machine of described g arm, manipulate described main handss Manipulation of the machine people
Main robot dynamic platform, realize described in remote operating from handss reset robot to carry out fracture of shaft of femur reattachment surgery.
It is preferable that described near-end mobile platform is circular, first by described near-end in 2/3rds in method as above
Mobile platform is sheathed on the distal femur of the patient going down on one's knees, then is fixed on distal femur by draw point and nail described multiple from handss
The near-end mobile platform of position robot.
Technical scheme provided in an embodiment of the present invention has the benefit that
By setting up main handss control device people and the mapping from handss reset robot, thus avoiding or reduce medical personnel being subject to
X light ray injury.
By the near-end mobile platform from handss reset robot under quiescent conditions, its attitude can be maintained constant, and have
Have with reset operation identical retentivity, thus freed medical personnel for make after the reduction of the fracture keep reset state and to fracture
The required manpower applying before being fixed.
The characteristic being a rigid body by using Orthopedic operation bed and traction frame, will be fixing flat for the far-end from handss reset robot
Platform is fixed on traction frame so that being fixed on Orthopedic operation bed the near end of thighbone of fracture and the upper fixation being fixed on traction frame
Platform is considered a rigid body, thus when the near-end mobile platform from handss reset robot carries out reduction of the fracture campaign, driving
Distal femur fixed thereon is moved to realize the reduction of the fracture simultaneously, and the femur beneficial to patient resets.
Brief description
Fig. 1 is one kind provided in an embodiment of the present invention from handss reset robot, patient, traction frame, Orthopedic operation bed, g type
The structural representation of arm.
Fig. 2 is a kind of structural representation from handss reset robot, patient and traction frame provided in an embodiment of the present invention.
Fig. 3 is a kind of structural representation of main handss Manipulation of the machine people provided in an embodiment of the present invention.
Fig. 4 is a kind of structural representation of rubber universal joint provided in an embodiment of the present invention.
Fig. 5 is the location diagram of a kind of lead shield provided in an embodiment of the present invention, art area and operating space.
In figure symbol description:
1- main handss Manipulation of the machine people, 11- Zhu Shou robot stationary platforms, 12- Zhu Shou robot dynamic platform, 13- distance
Sensing push-pull bar, 14- rubber universal joint, 15- extension spring, 16- annulus control handle, 17- stationary platforms extension, 18- move
State platform extension, 2- central controller, 3- from handss reset robot, 31- far-end fixed platform, 32- near-end mobile platform,
The double aobvious x ray machine of 33- electric push rod, 34- rubber universal joint, 4- Orthopedic operation bed, 5- traction frame, 6-g arm, 61-g arm,
62- double-display screen, 7- patient, 70- semicircular connecting piece, 71- distal femur, 72- near end of thighbone, 24- foot switch, 21- are extensive
Multiple button, 22- elongation button, 23- shorten button, 9- lead shield, 91- art area, 92- operating space, 10 operation chassis.
Specific embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is described in further detail.
The use of Erie's letter promise husband (ilizarov) external fixator provides new method for the reduction of the fracture.It uses draw point and
Steel nail passes through skin and the bone section of broken ends of fractured bone both sides to fix, and its end is connected with two annulus of external fixator respectively.Due to two
Annulus is connected two entirety of formation respectively with the bone section of broken ends of fractured bone both sides, thus the relative motion of two annulus can drive two knochenbruch
Relative motion, realize the reduction of the fracture.The bone based on Erie's letter promise husband's external fixator for Stewart (stewart) parallel robot
Folding reset principle, is connected phase it is achieved thereby that six-freedom degree by six pairs of hinges with six electric push rods two annulus
To displacement and rotation, realize knochenbruch alignment, and the function of the reduction of the fracture.The following main handss Manipulation of the machine people 1 of the present invention and from handss
Reset robot 3 is to realize on the basis of the structure of Stewart parallel robot.
Referring to Fig. 1～5, embodiments provide a kind of master-slave mode fracture of shaft of femur parallel robot system, its bag
Include: main handss Manipulation of the machine people 1, central controller 2, from handss reset robot 3, zpk switch, Orthopedic operation bed 4, traction frame 5, g
The double aobvious x ray machine 6 of arm and operation chassis 10.
Main handss Manipulation of the machine people 1 is hand push-and-pull rod six-degree-of-freedom parallel connection mechanism robot, i.e. main handss Manipulation of the machine people
Push-pull bar is hand push-and-pull rod, and its driving force is manpower, and the reduction of the fracture for executing patient (i.e. operator) operates and refers to
Order, this reduction of the fracture operational order by patient according to the observation to the normotopia x light image that obtains of the double aobvious x ray machine 6 of g arm and side position
X light image is made, and passes to main handss Manipulation of the machine people 1 by handss.Central controller 2 and main handss Manipulation of the machine people 1 and from handss
Reset robot 3 connects respectively, multiple from handss for operating mapping of having ready conditions to pass to the reduction of the fracture of main handss Manipulation of the machine people 1
Position robot 3.Zpk switch 24 is connected with central controller 2, for being turned on and off the mapping control of having ready conditions of central controller 2
System.For example, press zpk switch 24, then the reduction of the fracture operation mapping of main handss Manipulation of the machine people 1 is passed to by central controller 2
From handss reset robot 3；Unclamp zpk switch 24, then central controller 2 is not by the operation mapping transmission of main handss Manipulation of the machine people 1
To from handss reset robot 3, thus realization is had ready conditions, mapping is turned on and off.It is electric push rod from handss reset robot 3
Six-degree-of-freedom parallel connection mechanism robot, is electric push rod from the push-pull bar of handss reset robot 3, its driving force comes from electricity
Machine, under controlling in the mapping of central controller 2, follows main handss Manipulation of the machine people 1 and carries out reduction of the fracture operation to patient.Art
Before (i.e. before reattachment surgery), the near end of thighbone 72 of fracture of shaft of femur patient is fixed on Orthopedic operation bed 4, such as using nail or
Spicule by semicircular connecting piece 70 or using binder, near end of thighbone is fixed on Orthopedic operation bed 4.Near end of thighbone refers to:
Femur refers near one end of patient's body, distal femur: femur is away from one end of patient's body.For the ease of resetting, suffer from
Person lies low on Orthopedic operation bed 4 and is in attitude of going down on one's knees.Traction frame 5 and Orthopedic operation bed 4 connect into a rigid body, traction frame 5
On be fixed with far-end fixed platform from handss reset robot 3, be fixed with patient from the near-end mobile platform of handss reset robot 3
Distal femur, traction frame 5 be used for adjustment from the position of handss reset robot 3 make its near-end mobile platform be aligned patient, near-end
Mobile platform (or claiming motion reset terminal) refers to: one end of immobilized patients from handss reset robot 3, during art, its motion, enters
And drive the patient femur's fracture of distal bone section motion being secured to, thus realize resetting；Far-end fixed platform (or claim fixation quiet
Not-go-end) refer to: the one end on traction frame 5 is fixed on from handss reset robot 3, its not immobilized patients, during art, it is because of traction
The fixation of frame 5 and transfixion.The double aobvious x ray machine 6 of g arm is used for obtaining the normotopia x light figure at the fracture of shaft of femur of patient simultaneously
Picture and the x light image of side position, comprising: g arm 61, double-display screen 62 and the behaviour being connected with g arm 61 and double-display screen 62 respectively
Vertical platform.Two pairs of emitters of g arm 61 are respectively aligned to the normotopia at fracture of shaft of femur and side position, to realize to normotopia and side bitmap
As sampling simultaneously.Bench board is delivered to dual screen 62 for the normotopia sampled and side bit image by g arm 61.Dual screen 62
For showing the light image of normotopia x and the x light image of side position at fracture of shaft of femur simultaneously.Main handss Manipulation of the machine people 1 and central authorities control
Device 2 is fixed on operation chassis 10.
The present invention is connected as a rigid body using Orthopedic operation bed 4 and traction frame 5, and (i.e. Orthopedic operation bed 4 and traction frame 5 are same
One rigid body) characteristic, the far-end fixed platform 31 from handss reset robot 3 is fixed on traction frame 5 so that being fixed on orthopaedics
On operation table 4, the near end of thighbone 72 of patient and the far-end fixed platform 31 being fixed on traction frame 5 are considered a rigid body.Operation
Shi Shuzhe observes patient's normotopia x light image and the x light image of side position that the double aobvious x ray machine of g arm obtains, and is then grasped with the main handss of hand control
Man-controlled mobile robot 1 execution reduction of the fracture operation, then in the presence of central controller 2, mapping of having ready conditions controls from handss reset machine
Device people 3, makes the near-end mobile platform 32 from handss reset robot 3 replicate the reduction of the fracture operation of main handss Manipulation of the machine people 1, and then
Drive the distal femur 71 being fixed on near-end mobile platform 32 to move, realize fracture of shaft of femur and reset, complete to femoral shaft bone
The remote operating that folding patient resets, so that patient, away from operative region (or the double aobvious x ray machine of g arm), can avoid or reduce
The x light ray that patient or medical personnel are subject to injures.
It should be understood that six electric push rods are when being connected with far-end fixed platform 31 and near-end mobile platform 32,
One end of six electric push rods 33 is divided into three groups, every group of one end containing two electric push rods 33, between two adjacent groups
120 ° of interval；The other end of six electric push rods 33 is also divided into three groups, every group contains the another of two electric push rods 33
End, is spaced 120 ° between two adjacent groups.And in the plane that near-end mobile platform is pointed to by far-end fixed platform 31, often
One end of individual electric push rod 33 differs 60 ° with the other end.In electric push rod on 2/3 annulus one group should be located at upper
Side, other the two groups positions being located at 120 ° of both sides.Six manual Distance-sensing push-pull bars with Zhu Shou robot stationary platforms 11
With during the dynamic platform connection of Zhu Shou robot, link position is identical with the link position of six electric push rods, and here is not another
One repeats.
Include from handss reset robot 3: far-end fixed platform 31,32, six electric push rod 33 and of near-end mobile platform
Universal joint.Far-end fixed platform 31 is preferably in the form of annular discs, is so beneficial to be fixed on traction frame 5 with the fixation of traction frame 5
Remain stationary as during art.Near-end mobile platform 32 was in 2/3rds circular (or claiming 2/3 annulus), in other words, was formed on annulus
There are a breach, 1/3rd (or claiming 1/3 annular indentation) of the Zhou Changwei annulus girth of this breach, near-end mobile platform 31 profit
It is sheathed on distal femur 71 with 1/3 annular indentation, and by the draw point on 2/3 annulus and nail resected femur far-end 71, preoperative
Using 1/3 annular indentation, the distal femur 71 of the patient going down on one's knees is inserted in and is fixed on 2/3 ring and be beneficial to reset operation.Six
Electric push rod 33 is connected between far-end fixed platform 31 and near-end mobile platform 32, for driving near-end mobile platform 32 to transport
Dynamic.A pair of universal joint 34 be used for by the both ends of an electric push rod 33 respectively with corresponding far-end fixed platform 31 and near-end
Mobile platform 32 is connected, and specifically, one end of electric push rod 33 is connected with near-end mobile platform 32 by a universal joint, electricity
The other end of dynamic push-pull bar 33 is connected with far-end fixed platform 31 by another universal joint, this universal joint and this another
Universal joint is collectively referred to as a pair of universal joint.
For the ease of accurate and stable patient is carried out with reduction of the fracture operation, central controller 2 is additionally operable to directly control electricity
The stroke of dynamic push-pull bar 33, this system also includes: the recovery button 21 that is connected with central controller 2 respectively, elongation button 22 and
Shorten button 23.Recover button 21 to be used for controlling six electric push rods 33 to be returned to the one of rated travel by current stroke simultaneously
Half, such as rated travel is 50mm, and the half of rated travel is 25mm, when pressing recovery button 21, six electric push rods
33 all return to 25mm by current stroke.Elongation button 22 be used for controlling simultaneously six electric push rods 33 by current stroke all by
Gradually extend, when pressing elongation button 22, then the current stroke of six electric push rods 33 all keeps slowly extending, until unclamping
Elongation button 22.Shorten button 23 to be used for controlling six electric push rods 33 to be all gradually shortened by current stroke, when pressing simultaneously
When shortening button 23, then the current stroke of six electric push rods 33 all keeps slowly shortening, until unclamping shortening button 23.
Main handss Manipulation of the machine people 1 includes Zhu Shou robot stationary platforms 11,12, six distances of Zhu Shou robot dynamic platform
Sensing push-pull bar 13 and universal joint.Zhu Shou robot stationary platforms 11 are preferably in the form of annular discs, are so beneficial to be fixed on operation chassis
On 10, operation chassis 10 is preferably placed at and is beneficial to reduction of the fracture operation by the bench board of the double aobvious x ray machine of g arm.Zhu Shou robot
Dynamic platform 12 is in the form of annular discs, is in preferably to have the discoid of hollow hole, for receiving the reduction of the fracture operational order of patient, is
Beneficial to patient's operation, it is connected with an annulus control handle 16 in the outer circumferential of Zhu Shou robot dynamic platform 12.Six handss
Dynamic Distance-sensing push-pull bar 13 is connected between Zhu Shou robot stationary platforms 11 and Zhu Shou robot dynamic platform 12, for
Lower displacement and the rotation producing corresponding six degree of freedom of reduction of the fracture operation of patient.A pair of universal joint 14 be used for by one manually away from
From the both ends of sensing push-pull bar 13 respectively with corresponding Zhu Shou robot stationary platforms 11 and Zhu Shou robot dynamic platform 12
It is connected, specifically, a universal joint 14 and Zhu Shou robot dynamic platform 12 are passed through in one end of manual Distance-sensing push-pull bar 13
Connect, the other end of manual Distance-sensing push-pull bar 13 is passed through another universal joint and is connected with Zhu Shou robot stationary platforms 11,
This universal joint and this another universal joint are collectively referred to as a pair of universal joint.
The universal joint of main handss Manipulation of the machine people 1 and the universal joint from handss reset robot 3 be preferably all rubber universal joint 14,
34, rubber universal joint includes: universal joint spring and the screw rod threadeded with universal joint both ends of the spring respectively, and universal joint spring is in
The hourglass shape that centre is thin, two is thick.Rubber universal joint passes through the other end and electric push rod 33 or the manual Distance-sensing of screw rod
Push-pull bar 13 or Zhu Shou robot dynamic platform 12 or Zhu Shou robot stationary platforms 11 or fix from handss reset robot far-end
Platform 31 or threaded from handss reset robot near-end mobile platform 32.Rubber universal joint and main robot dynamic platform 12 or
The axis of connect one section of main robot stationary platforms 11 or far-end fixed platform 31 or near-end mobile platform 32 is corresponding and main
It is flat that Robotic Dynamic platform 12 or main robot stationary platforms 11 or far-end fixed platform 31 or near-end mobile platform 32 are located
Face is vertical.Another section and manual distance biography that rubber universal joint is connected with manual Distance-sensing push-pull bar 13 or electric push rod 13
Sense push-pull bar 13 or the dead in line of electric push rod 33.Can also be rigid universal joint in other examples.
In order that winner handss Manipulation of the machine people 1 (in the case of being neither subject to any external force) when not interacted with patient is recovered
To original state (i.e. every sensor push-pull bar be reduced to the shortest), main handss Manipulation of the machine people 1 also includes: is connected to Zhu Shou robot
Extension spring 15 between stationary platforms 11 and Zhu Shou robot dynamic platform 12, it is located at Zhu Shou robot stationary platforms 11 He
The outer circumferential of Zhu Shou robot dynamic platform 12.For example along the radial direction of Zhu Shou robot stationary platforms 11, in Zhu Shou robot
The edge extension of stationary platforms 11 is provided with stationary platforms extension 17, Zhu Shou robot corresponding with stationary platforms extension 17
The edge of dynamic platform 12 is provided with dynamic platform extension 18 along radially extending of Zhu Shou robot dynamic platform 12, in static state
Vertically it is connected with extension spring 15 between platform extension 17 and dynamic platform extension 18.Specifically, stationary platforms extension
17 connect (such as bolt connection) in the lateral surface of Zhu Shou robot stationary platforms 11, that is, static flat perpendicular to Zhu Shou robot
In the axial direction of platform 11, plane that Zhu Shou robot stationary platforms 11 are formed and the plane that stationary platforms extension 17 is formed are not
Coplanar.The bottom surface of dynamic platform extension 18 connects (such as bolt connection) in the lateral surface of Zhu Shou robot dynamic platform 12,
Annulus control handle 16 is connected with the top surface of dynamic platform extension 18, that is, in the axial direction perpendicular to main robot dynamic platform 12
On, the plane that plane that annular control handle 16 is formed, Zhu Shou robot dynamic platform 12 are formed and dynamic platform extend
The plane three that portion 18 is formed is non-coplanar, is pointing to Zhu Shou robot stationary platforms 11 by Zhu Shou robot dynamic platform 12
Direction on, be followed successively by annular control handle 16, dynamic platform extension 18 and main robot dynamic platform 12.Stretching bullet is installed
During spring 15, through hole can be had on stationary platforms extension 17, corresponding, dynamic platform extension 18 has through hole,
Extension spring 15 catches on through hole by the hook at its two ends and realizes being arranged on stationary platforms extension 17 and dynamic platform extension 18
Between.The quantity of extension spring 15 can be multiple, multiple extension springs 15 along Zhu Shou robot stationary platforms 11 circumference or
The circumference of main robot dynamic platform 12 is uniformly distributed, (preferably 6, one end difference one of 3 in 6 extension springs 15
One position being correspondingly arranged at 3 groups of manual Distance-sensing push-pull bars, other 3 of 6 extension springs 15 one end is respectively one by one
It is correspondingly arranged at the centre position of two adjacent groups manual Distance-sensing push-pull bar).
Multiple equipment need to be operated, in order to beneficial to operation, this zpk switch is foot switch, and it is arranged on during due to patient's art
On ground, by the foot action (lift or fall) of patient i.e. being turned on and off of operable foot switch, with central control
Device 2 connects, for being turned on and off main handss Manipulation of the machine people 1 and the mapping of having ready conditions between handss reset robot 2.Central authorities' control
The connection plug of device 2 processed is preferably aviation plug.
In order to reduce the injury of x-ray suffered by patient further, this system also includes: lead shield 9, and it is used for separating g arm
Double aobvious x ray machines 6 and patient.Patient side is properly termed as art area 91, is placed with from handss reset robot 3, orthopaedics handss in art area 91
Art bed 4, traction frame 5, g arm 61.Patient side is properly termed as operating space 92, is placed with main handss Manipulation of the machine people in operating space 92
1st, central controller 2, operation chassis 10, bench board, double-display screen 62, foot switch 24, recover button 21, elongation button 22,
Shorten button 23.
It is described below and master-slave mode femoral shaft is carried out to patient using master-slave mode fracture of shaft of femur reset parallel robot system
The method of the reduction of the fracture.The method comprises: operating procedure in Preoperative Method step and art.
Preoperative Method step specifically includes: main handss Manipulation of the machine people 1 and central controller 2 are fixed on operation chassis 10
On.Connect central controller 2 and main handss Manipulation of the machine people 1, connect central controller 2 with from handss reset robot 3, connect central authorities
Controller 2 and zpk switch 1.Traction frame 5 and Orthopedic operation bed 4 are connected into a rigid body, in practice, traction frame 5 and orthopaedics handss
Art bed more than 4 is presented in same rigid body.Far-end fixed platform 31 from handss reset robot 3 is fixed on traction frame 5
On.So that fracture of shaft of femur patient is lain low on Orthopedic operation bed 4, the near end of thighbone 72 of patient is fixed on Orthopedic operation bed 4
Upper so that the tibia of fracture patient sagging in shape of going down on one's knees.The fixing bolt unclamping horizontal rotation on traction frame 5 can freely move
Dynamic；By adjusting the position of traction frame 5 and flexible rocking bar handle thereon, will be mobile flat for the near-end from handss reset robot 3
Platform 32 is directed at the distal femur 71 of patient 7, then the fixing bolt horizontally rotating on traction frame is screwed；Will by draw point and nail
Distal femur 71 is fixed on from handss robot near-end 32；Mobile g arm pair shows the position of the g arm 61 of x ray machine 6, by g arm
61 two groups of transceivers are respectively aligned to the normotopia at fracture of shaft of femur and side position.
In art, operating procedure includes: the power supply of the on and off switch and the double aobvious x ray machine 6 of g arm of opening central controller 2 is opened
Close；Observe the normotopia x light image of double-display screen 62 display and the x light image of side position of the double aobvious x ray machine 6 of g arm, manipulation main handss manipulation
The Zhu Shou robot dynamic platform of robot 1, when the annular control handle 12 of setting, control handle, and opened by mapping
Close 21 unlatchings and the control of central controller 2, the reduction of the fracture operation of main handss Manipulation of the machine people 1 is had ready conditions and is mapped to from handss
Reset robot 3, realizes remote operating from handss reset robot 3 to carry out fracture of shaft of femur reattachment surgery.
Below with the left of 2/3 annulus from handss reset robot 3 as the center of circle, by the right side of annulus level inward-facing rotation this
Illustrate as a example one operation to replicate the action of how main handss Manipulation of the machine people 1 from handss reset robot 3.Concrete operations are as follows: will lead
The right side pull-out of the Zhu Shou robot dynamic platform of handss Manipulation of the machine people, now zpk switch is not stepped on, then from handss reset machine
People's remains stationary.Step on foot switch, recover initial position on the right side of the Zhu Shou robot dynamic platform of main handss Manipulation of the machine people.This
When from handss reset robot replicate main handss Manipulation of the machine people return motion.
It should be understood that only when foot switch is stepped on, that is, close, just realizing mapping relations.Otherwise mapping relations
It is false.When therefore operating, the Zhu Shou robot dynamic platform of main handss Manipulation of the machine people or annular control handle are adjustable to arbitrarily
Position, as long as foot switch is not stepped on, from handss reset robot all remains stationary states.And work as and need to replicate main handss Manipulation of the machine
People moves to when handss reset robot, steps on foot switch, the now motion of main handss Manipulation of the machine people be copied to from
In handss reset robot.Preferably, circular in 2/3rds from the near-end mobile platform 32 of handss reset robot 3, in other words
Near-end mobile platform has 1/3rd annular indentation, is sheathed on near-end mobile platform by 1/3rd annular indentation and to go down on one's knees
The distal femur of patient, then distal femur is fixed on by the near-end mobile platform from handss reset robot by draw point and nail
32.
In sum, what the present invention brought has the beneficial effect that:
By setting up main handss control device people 1 and the mapping from handss reset robot 2, thus avoiding or reduce medical personnel being subject to
The x light ray injury arrived.
By the near-end mobile platform from handss reset robot under quiescent conditions, its attitude can be maintained constant, and have
Have with reset operation identical retentivity, thus freed medical personnel for make after the reduction of the fracture keep reset state and to fracture
The required manpower applying before being fixed.
It is the characteristic of a rigid body by using Orthopedic operation bed 4 and traction frame 5, will be solid for the far-end from handss reset robot 2
Fixed platform 31 is fixed on traction frame 5 so that being fixed on the near end of thighbone fracture on Orthopedic operation bed 4 and being fixed on traction frame 5
On far-end fixed platform 31 be considered a rigid body, thus when being fractured from the near-end mobile platform 32 of handss reset robot
During reseting movement, drive distal femur fixed thereon to move to realize the reduction of the fracture, the femur beneficial to patient resets simultaneously.
As known by the technical knowledge, the present invention can be by the embodiment party of other essence without departing from its spirit or essential feature
Case is realizing.Therefore, embodiment disclosed above, for each side, is all merely illustrative, and is not only.Institute
Have within the scope of the present invention or be all included in the invention in the change being equal in the scope of the present invention.
Claims (10)
1. a kind of master-slave mode fracture of shaft of femur reset parallel robot system is it is characterised in that described system includes: main handss manipulation
Robot, central controller, from handss reset robot, zpk switch, Orthopedic operation bed, traction frame, the double aobvious x ray machine of g arm and
Operation chassis；
Described main handss Manipulation of the machine artificial hand push-and-pull rod six-degree-of-freedom parallel connection mechanism robot, for receiving and executing patient's
Reduction of the fracture operational order；
Described central controller and described main handss Manipulation of the machine people and described be connected from handss reset robot, for by described main handss
The reduction of the fracture operation of Manipulation of the machine people have ready conditions mapping pass to described from handss reset robot；
Described zpk switch is connected with described central controller, for being turned on and off the mapping of having ready conditions of described central controller
Operation；
The near end of thighbone of patient is fixed with described Orthopedic operation bed, described patient is fracture of shaft of femur patient and is in appearance of going down on one's knees
State；
Described traction frame and described Orthopedic operation bed connect into a rigid body；
Described from handss reset machine artificial electric push rod six-degree-of-freedom parallel connection mechanism robot, described from handss reset robot
Far-end fixed platform is fixed on described traction frame, and the described near-end mobile platform from handss reset robot passes through nail or spicule
The distal femur of immobilized patients, under controlling in the mapping of described central controller, replicates described main handss Manipulation of the machine people couple
The reduction of the fracture operation that described patient is carried out；
The double aobvious x ray machine of described g arm is used for gathering the light image of normotopia x and the side position x light figure at the fracture of shaft of femur of patient simultaneously
Picture；
Described main handss Manipulation of the machine people and described central controller are fixed on described operation chassis；
Wherein, described reduction of the fracture operational order by patient according to the observation to described normotopia x light image and described side position x light figure
As making.
2. system according to claim 1 is it is characterised in that described include from handss reset robot: far-end fixed platform,
Near-end mobile platform, six electric push rods and six pairs of universal joints；
Described far-end fixed platform is in the form of annular discs；
Described near-end mobile platform is circular in 2/3rds；
Six described electric push rods are connected to described far-end fixed platform and described near-end mobile platform by six pairs of universal joints
Between, under controlling in the mapping of described central controller, execute corresponding actions；
Universal joint described in a pair be used for by the both ends of an electric push rod respectively with corresponding described far-end fixed platform and
Described near-end mobile platform is connected.
3. system according to claim 2 it is characterised in that described central controller be additionally operable to directly to control described electronic
The stroke of push-pull bar；
Described system also includes: recovery button, elongation button and the shortening button being connected with described central controller respectively；
The described button that recovers is used for described electric push rod is returned to the half of rated travel by current stroke；
Described elongation button is used for gradually being extended described electric push rod by current stroke；
Described shortening button is used for being gradually shortened described electric push rod by current stroke.
4. system according to claim 1 is it is characterised in that described main handss Manipulation of the machine people includes: Zhu Shou robot is quiet
State platform, Zhu Shou robot dynamic platform, six manual Distance-sensing push-pull bars and six pairs of universal joints；
Described Zhu Shou robot stationary platforms are in the form of annular discs, are fixed on described operation chassis；
Described Zhu Shou robot dynamic platform is in the form of annular discs, for receiving the reduction of the fracture operational order of described patient；
Six described manual Distance-sensing push-pull bars are located at described Zhu Shou robot stationary platforms and described main handss Robotic Dynamic
Between platform；
Universal joint described in a pair be used for by the both ends of a described manual Distance-sensing push-pull bar respectively with corresponding described master
Handss robot stationary platforms are connected with described Zhu Shou robot dynamic platform.
5. system according to claim 4 is it is characterised in that described main handss Manipulation of the machine people also includes: extension spring；
Described extension spring is connected between described Zhu Shou robot stationary platforms and described Zhu Shou robot dynamic platform, and position
Outer circumferential in described Zhu Shou robot stationary platforms and described Zhu Shou robot dynamic platform.
6. the system according to claim 2 or 4 is it is characterised in that described universal joint is rubber universal joint.
7. system according to claim 1 it is characterised in that described zpk switch be foot switch, described foot switch
Setting is on the ground.
8. system according to claim 1 is it is characterised in that described system also includes: lead shield, described lead shield is arranged at institute
State g arm pair to show between x ray machine and described patient.
9. a kind of master-slave mode fracture of shaft of femur repositioning method is carried out using the system any one of claim 1～8, it is special
Levy and be, methods described comprises: operating procedure in Preoperative Method step and art；
Described Preoperative Method step specifically includes: described main handss Manipulation of the machine people and described central controller are fixed on described behaviour
Make on chassis, the described far-end fixed platform from handss reset robot is fixed on described traction frame；Connect the control of described central authorities
Device processed and described main handss Manipulation of the machine people, described from handss reset robot with described zpk switch；By described traction frame and described
Orthopedic operation bed connects into a rigid body；Fracture of shaft of femur patient is made to lie low on described Orthopedic operation bed, will be near for the femur of patient
End be fixed on described Orthopedic operation bed, and make patient tibia sagging in shape of going down on one's knees；Adjust the position of described traction frame, will
The described near-end mobile platform from handss reset robot is directed at the distal femur of patient, by draw point and nail, distal femur is solid
Described in being scheduled on from the near-end mobile platform of handss reset robot；Mobile g arm pair shows the position of the g arm of x ray machine, will be described
Two transceivers of g arm are respectively aligned to the normotopia at fracture of shaft of femur and side position；
In described art, operating procedure specifically includes: opens on and off switch and the double aobvious x light of described g arm of described central controller
The on and off switch of machine；Observe the double-display screen of the double aobvious x ray machine of described g arm, manipulate the master machine of described main handss Manipulation of the machine people
People's dynamic platform, realizes described in remote operating from handss reset robot to carry out fracture of shaft of femur reattachment surgery.
10. method according to claim 9 is it is characterised in that described near-end mobile platform is circular in 2/3rds, first
Described near-end mobile platform is sheathed on the distal femur of the patient going down on one's knees, then by draw point and nail, distal femur is fixed on
The described near-end mobile platform from handss reset robot.
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| CN109330686A (en) * | 2018-10-25 | 2019-02-15 | 上海大学 | A kind of robot assisted reset system for long bone fracture |
| CN109480980A (en) * | 2019-01-05 | 2019-03-19 | 陈聚伍 | Multidimensional flexibility fracture setting device |
| CN109498141A (en) * | 2018-11-20 | 2019-03-22 | 中国人民解放军第四军医大学 | A kind of master-slave mode both arms bionical digitlization long bone shaft fracture reset robot |
| CN109771196A (en) * | 2019-01-23 | 2019-05-21 | 上海莱影医疗科技有限公司 | A kind of reduction of the fracture system and method |
| CN110141335A (en) * | 2019-04-14 | 2019-08-20 | 浙江工业大学 | A kind of bone rehabilitation external fixing rack of triangle extension type |
| CN112043384A (en) * | 2020-07-29 | 2020-12-08 | 上海大学 | External force prediction method of fracture reduction robot |
| CN112334116A (en) * | 2018-04-27 | 2021-02-05 | O·M·马奥尼 | System and method for automated intraoperative patient positioning |
| CN112828862A (en) * | 2020-12-30 | 2021-05-25 | 诺创智能医疗科技(杭州)有限公司 | Master-slave mapping method for parallel platform, mechanical arm system and storage medium |
| WO2021232605A1 (en) | 2020-05-18 | 2021-11-25 | 天津大学 | Wearable fracture reduction and rehabilitation integrated robot |
| CN113907882A (en) * | 2021-08-26 | 2022-01-11 | 四川大学华西医院 | A location robot resets for fracture operation |
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| CN112334116A (en) * | 2018-04-27 | 2021-02-05 | O·M·马奥尼 | System and method for automated intraoperative patient positioning |
| CN109330686A (en) * | 2018-10-25 | 2019-02-15 | 上海大学 | A kind of robot assisted reset system for long bone fracture |
| CN109330686B (en) * | 2018-10-25 | 2021-06-04 | 上海大学 | Robot-assisted reduction system for long bone fracture |
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| CN109480980A (en) * | 2019-01-05 | 2019-03-19 | 陈聚伍 | Multidimensional flexibility fracture setting device |
| CN109480980B (en) * | 2019-01-05 | 2024-05-07 | 陈聚伍 | Multi-dimensional flexible fracture reduction device |
| CN109771196A (en) * | 2019-01-23 | 2019-05-21 | 上海莱影医疗科技有限公司 | A kind of reduction of the fracture system and method |
| CN110141335A (en) * | 2019-04-14 | 2019-08-20 | 浙江工业大学 | A kind of bone rehabilitation external fixing rack of triangle extension type |
| CN110141335B (en) * | 2019-04-14 | 2024-04-26 | 浙江工业大学 | Triangular telescopic skeleton rehabilitation external fixation frame |
| WO2021232605A1 (en) | 2020-05-18 | 2021-11-25 | 天津大学 | Wearable fracture reduction and rehabilitation integrated robot |
| CN112043384B (en) * | 2020-07-29 | 2023-07-18 | 上海大学 | External force prediction system of fracture reduction robot |
| CN112043384A (en) * | 2020-07-29 | 2020-12-08 | 上海大学 | External force prediction method of fracture reduction robot |
| CN112828862B (en) * | 2020-12-30 | 2022-09-16 | 诺创智能医疗科技(杭州)有限公司 | Master-slave mapping method for parallel platform, mechanical arm system and storage medium |
| CN112828862A (en) * | 2020-12-30 | 2021-05-25 | 诺创智能医疗科技(杭州)有限公司 | Master-slave mapping method for parallel platform, mechanical arm system and storage medium |
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| CN114191080B (en) * | 2021-11-25 | 2024-01-30 | 燕山大学 | Decoupling type bone setting robot |
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