CN108210062B - Ankle joint fusion surgical robot - Google Patents
Ankle joint fusion surgical robot Download PDFInfo
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- CN108210062B CN108210062B CN201810167101.6A CN201810167101A CN108210062B CN 108210062 B CN108210062 B CN 108210062B CN 201810167101 A CN201810167101 A CN 201810167101A CN 108210062 B CN108210062 B CN 108210062B
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- 230000004927 fusion Effects 0.000 title claims abstract description 25
- 210000003423 ankle Anatomy 0.000 claims abstract description 23
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- 238000003825 pressing Methods 0.000 claims description 41
- 239000000463 material Substances 0.000 claims description 28
- 230000007246 mechanism Effects 0.000 claims description 27
- 238000002591 computed tomography Methods 0.000 claims description 21
- 238000007599 discharging Methods 0.000 claims description 16
- 238000003384 imaging method Methods 0.000 claims description 9
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- 230000000670 limiting effect Effects 0.000 claims description 5
- 210000000988 bone and bone Anatomy 0.000 description 13
- 238000000034 method Methods 0.000 description 12
- 238000001356 surgical procedure Methods 0.000 description 8
- 244000309466 calf Species 0.000 description 7
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- 230000008569 process Effects 0.000 description 5
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Classifications
-
- 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
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
- A61B17/92—Impactors or extractors, e.g. for removing intramedullary devices
-
- 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
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
- A61B17/885—Tools for expanding or compacting bones or discs or cavities therein
-
- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- 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
-
- 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
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
- A61B17/92—Impactors or extractors, e.g. for removing intramedullary devices
- A61B2017/922—Devices for impaction, impact element
- A61B2017/924—Impact element driving means
-
- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Prostheses (AREA)
Abstract
The invention discloses an ankle joint fusion surgical robot, which belongs to the technical field of medical appliances and comprises fixing nails, wherein the fixing nails have self-guiding functions and are used for fixing ankle joints; the fixed nail conveying system is used for storing, selecting and conveying fixed nails; a staple driving system for driving the staples into the ankle; a manipulator having seven degrees of freedom for transferring staples from the transport system to the drive system; the navigation system is used for fixing the fixed nails and determining the space position where the fixed nails are nailed in, and comprises a fixing device and a CT scanner; and the control system is used for controlling the staple conveying system, the staple driving system, the manipulator and the navigation system. The invention automatically completes the operation of conveying, fixing, space positioning, fixing driving and the like of the fixing nails with the self-guiding function at one time under the automatic control of the control system, thereby obviously improving the operation efficiency and quality.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to an ankle joint fusion surgical robot.
Background
Ankle fusion is a procedure in which bony structures of the ankle are fused, whereby pain is reduced, lesions are terminated, or joint stability is provided. The main indications are: secondary pain caused by degenerative changes such as ankle fracture and rheumatoid arthritis, and ankle disorder associated with progressive development of arthritis, and the inability to improve function and relieve pain by conventional treatment, are all considered to be treated by joint fusion. The method comprises the following steps: 1. severe joint dysfunction caused by traumatic arthritis of the ankle, or refractory joint pain; 2. severe joint pain left behind in the late stages of tuberculous or suppurative arthritis; 3. muscle paralysis caused by neuropathy or injury, causing serious instability of joints, including poliomyelitis sequela, serious peripheral or central nerve injury, etc.; 4. congenital or acquired deformities; 5. severe rheumatoid or osteoarthritis; 6. artificial ankle replacement failed; 7. ankle tumor, infection; 8. ischemic necrosis of talus. In the ankle fusion surgery, the lower end of the tibiofibular bone, the medial malleolus, the lateral malleolus and the talus body are usually fused and fixed by using 2 to 3 fixing nails to strengthen and fix the ankle. Because the operation is basically completed by manual operation of medical staff, and the procedures are complex, the perspective times are more, the labor intensity is high, and the operation efficiency is low. In recent years, in order to simplify the surgical procedure, reduce the number of perspectives and reduce the labor intensity, a robot capable of performing the surgery has been proposed by those skilled in the art, which is helpful for reducing the labor intensity, but the following drawbacks still exist:
1) The conveying and the mounting of the fixed nails cannot be automatically finished without a fixed nail conveying system;
2) There is no independent fixed drive system and stability is poor. In the prior art, a manipulator is adopted for fixing operation, but as the manipulator is used for realizing multiple degrees of freedom, the combined sections are connected through movable joints, the rigidity is relatively poor, a fixing nail is nailed into a bone or a joint, larger acting force and moment are needed, the manipulator is inevitably unstable during operation, and deviation exists between the manipulator and a calculation path, so that the reliability of operation is affected;
3) No fixing nail with a self-guiding function is needed, so that the Kirschner wire guiding is needed, the operation procedure is increased, and the operation time is prolonged.
Therefore, it is necessary to develop an ankle fusion surgical robot capable of automatically completing the conveying, mounting and fixing driving of the fixing nails with the self-guiding function, so that the ankle fusion surgery is mechanized, automated and intelligent, the surgery efficiency and quality are improved, and the surgery cost is reduced.
Disclosure of Invention
In view of the above, an object of the present invention is to provide an ankle fusion surgical robot.
The aim of the invention is achieved by the following scheme:
an ankle fusion surgical robot comprising:
the fixing nail has a self-guiding function and is used for fixing an ankle joint, the fixing nail comprises a rotary driving structure, a nail body, a guide rod with the diameter smaller than that of the nail body and coaxially and integrally arranged with the nail body, and a conical transition section coaxially and integrally arranged between the nail body and the guide rod, the nail body and the conical transition section are both provided with an outer spiral cutting edge, the end part of the guide rod is provided with a cutting guide head, the cutting guide head is provided with a 180-degree double-side cutting edge, the cutting edge is provided with a cutting tip of 30-120 degrees, the rotary driving structure comprises an outer hexagonal driving head and an inner hexagonal hole which is arranged in the middle of the nail body and matched with the outer hexagonal driving head,
a staple conveying system for storing, selecting and conveying staples,
a staple driving system for driving the staples into the ankle,
a manipulator having seven degrees of freedom for transferring staples from the transport system to the drive system,
the navigation system is used for fixing the fixing nails and determining the space position where the fixing nails are nailed, and comprises a fixing device and a CT scanner, wherein the fixing device is used for fixing the sole at the front end of the ankle joint and the lower leg at the rear end of the ankle joint, the CT scanner is used for scanning and imaging the ankle joint,
the control system is used for controlling the fixing nail conveying system, the fixing nail driving system, the manipulator and the navigation system to automatically complete the ankle joint fusion operation, and comprises a memory, a processing chip and input and output equipment, wherein the processing chip is electrically communicated with the memory, the input and output equipment, the fixing device, the CT scanner, the fixing nail conveying system and the fixing nail driving system.
Further, the depth of the inner hexagonal hole is 40-60mm.
Further, the staple conveying system comprises a fixed shell, a plurality of discharging units which can output staples one by one, and a feeding device which is arranged below the plurality of discharging units and is used for receiving and feeding materials,
the discharging unit comprises a storage hopper, a discharge hopper and a rotary material pulling mechanism which are sequentially arranged in a fixed shell from top to bottom, wherein any storage hopper can store a plurality of fixed nails with the same specification in the same direction, the discharge hopper is provided with a nail inlet which is the same as the outlet of the storage hopper and is connected and sealed together, the discharge hopper is provided with a nail outlet through which only one fixed nail can independently pass, the rotary material pulling mechanism comprises a material pulling rotating shaft arranged below the nail outlet, a material pulling wheel sleeved on the material pulling rotating shaft and a driving motor fixed at one end of the material pulling rotating shaft, a plurality of material pulling through grooves are uniformly distributed on the outer circumference of the material pulling wheel, the material pulling through grooves are arc-shaped notches which are matched with the appearance of the fixed nails,
a discharge hole is arranged at the bottom of the fixed shell, a collecting space for receiving the fixing nails pulled out by all the rotary pulling mechanisms is arranged above the discharge hole,
the feeding device comprises a conveying belt and a guiding mechanism, and the conveying belt and the guiding mechanism are arranged below the discharging hole.
Further, the guide mechanism comprises two guide plates which are symmetrically arranged at two sides of the longitudinal direction of the conveying belt, and the two guide plates and the conveying direction are arranged in a taper manner of far small and near large.
Further, the staple driving system comprises:
a support having multiple degrees of freedom, at least having a degree of freedom of movement in the Y-axis direction, a degree of freedom of rotation in the XOZ plane and the YOZ plane in a Cartesian coordinate system,
the support includes Z to the arm, X to arm and Y to flexible jar, and X is to the arm through ball pivot fixing on the top of Z to the arm, Y is to flexible jar through rotating electrical machines fixing at the distal end of X to the arm, the fixing base passes through ball pivot fixing at the proximal end of Y to flexible jar, set up XOZ plane revolving cylinder between Z to arm and the X to the arm, be provided with YOZ plane revolving cylinder between Y to flexible jar and the fixing base.
A fixing nail fixed on the bracket,
the sliding fit seat is arranged between the fixed nail and the bracket and comprises a fixed seat and a sliding seat, the fixed seat is fixed at the top of the bracket, the sliding seat is fixed at the bottom of the fixed nail, a T-shaped sliding groove parallel to the axis direction of the fixed nail is arranged on the fixed seat, a T-shaped sliding strip in sliding fit with the T-shaped sliding groove is arranged on the sliding seat,
the guide seat comprises a left guide seat and a right guide seat which are symmetrically arranged at two sides of the axial direction of the fixing nail, and the left seat body and the right seat body respectively comprise a supporting seat, a guide semicircle sleeve and an adjusting mechanism which is arranged between the supporting seat and the guide semicircle sleeve and can adjust the distance between the supporting seat and the guide semicircle sleeve.
Further, the driving cylinder capable of driving the fixed nails in a traveling way is further included, a cylinder seat of the driving cylinder is fixed on the fixed seat, and a piston end is fixed on the fixed nails.
Further, the fixing device comprises a bottom plate, shank fixing positions and sole fixing positions which are respectively fixed at the front end and the rear end of the bottom plate,
the shank fixing position comprises a left shank fixing position and a right shank fixing position, both the left shank fixing position and the right shank fixing position comprise a shank fixing left block and a shank fixing right block, the shank fixing left block is provided with a shank fixing left cambered surface which is horizontally concave leftwards, the shank fixing right block is provided with a shank fixing right cambered surface which is symmetrical with the shank fixing left cambered surface, the shank fixing left block of the left shank fixing position is movably connected with the shank fixing right block through a telescopic device I, the shank fixing right block of the right shank fixing position is movably connected with the shank fixing left block through a telescopic device II,
the sole fixing position comprises a left sole fixing position and a right sole fixing position, both the left sole fixing position and the right sole fixing position comprise a sole fixing left block and a sole fixing right block, the sole fixing left block is provided with a sole fixing left cambered surface which is horizontally concave leftwards, the sole fixing left block of the left sole fixing position is movably connected with the sole fixing right block through a telescopic device III, the sole fixing right block of the right sole fixing position is movably connected with the sole fixing left block through a telescopic device IV,
the shank fixing left block is integrally provided with a shank fixing left bottom block with the same height, the shank fixing left bottom block is provided with a shank supporting left cambered surface connected with the shank fixing left cambered surface,
the lower leg fixing right block is integrally provided with a lower leg fixing right bottom block with the same height, and the lower leg fixing right bottom block is provided with a lower leg supporting right cambered surface which is in arc connection with the lower leg fixing right cambered surface;
the sole fixing left block is integrally provided with a sole fixing left bottom block with the same height, the sole fixing left bottom block is provided with a sole supporting left cambered surface connected with the sole fixing left cambered surface,
the sole fixing right block is integrally provided with a sole fixing right bottom block with the same height, and the sole fixing right bottom block is provided with a sole supporting right cambered surface which is in arc connection with the sole fixing right cambered surface;
the shank fixing position also comprises a shank pressing device, the shank pressing device comprises a left shank pressing block, a right shank pressing block, a telescopic device V and a pressure-bearing beam, the left shank pressing block and the right shank pressing block are respectively fixed at two ends of the pressure-bearing beam, the middle part of the other side of the pressure-bearing beam is fixed with the telescopic device V, and the other end of the telescopic device V is fixed with the bottom plate;
the sole fixing position also comprises a sole pressing device, wherein the sole pressing device comprises a left sole pressing block, a right sole pressing block, a telescopic device VI and a supporting beam, the left sole pressing block and the right sole pressing block are respectively fixed at two ends of the supporting beam, the middle part of the other side of the supporting beam is fixed with the telescopic device VI, and the other end of the telescopic device VI is fixed with the bottom plate;
the left calf press block and the right calf press block are symmetrically provided with calf compression concave surfaces, the left sole press block and the right sole press block are symmetrically provided with sole compression concave surfaces,
further, the CT scanner comprises a CT scanning upper semicircular module and a CT scanning lower semicircular module which are arranged between the shank fixing position and the sole fixing position and are distributed up and down.
Further, the navigation system further comprises a mobile manipulator which is detachably connected with the CT scanning upper semicircular module and has seven degrees of freedom.
Further, a side blocking surface for limiting the side surface is arranged on the sole fixing left cambered surface, the sole fixing right cambered surface, the shank fixing left cambered surface and the shank fixing right cambered surface, and the side blocking surface is a vertical surface tangent with the upper tail end of each cambered surface.
The invention has the beneficial effects that:
1. according to the invention, the specified fixed nails with different specifications can be selected through the fixed nail conveying system, and then the selected fixed nails can be sent out one by one through the feeding device, so that the automatic feeding of the fixed nails is realized;
2. according to the invention, the ankle joint is effectively fixed through the navigation system, the real-time space position of the ankle joint can be accurately transmitted to the control system through the CT scanner, the real-time space position and the model are highly fitted through the control system, so that the actual fixed position, the actual nailing direction and the actual nailing point of the fixing nail are obtained, and the accurate nailing of the fixing nail is further completed;
3. according to the invention, the fixing nails have multiple degrees of freedom and stable and reliable movement paths through the fixing nail driving system, so that the nailing quality is improved;
4. according to the invention, the combined structure of the guide rod and the cutting guide head enables the fixing nail to have a self-guiding function, so that the fixing nail can be directly screwed in once to finish fixing operation, the procedure is simplified, and the efficiency is improved;
5. the invention enables the functional systems to cooperatively work and automatically perform ankle joint fusion surgery through the unified control of the control system on the functional systems.
In a word, the invention can automatically complete the operation of conveying, fixing, space positioning, fixing driving and the like of the fixing nails with the self-guiding function at one time under the automatic control of the control system, so that the ankle joint fusion operation is mechanized, automated and intelligent, the operation efficiency and the quality are obviously improved, and the invention has great practical significance for improving the operation efficiency and reducing the operation cost.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objects and other advantages of the invention may be realized and obtained by means of the instrumentalities and combinations particularly pointed out in the specification.
Drawings
In order to make the objects, technical solutions and advantageous effects of the present invention more clear, the present invention provides the following drawings for description:
FIG. 1 is a three-dimensional schematic view of an ankle fusion surgical robot of the present invention;
FIG. 2 is a three-dimensional schematic of a staple;
FIG. 3 is a front view of the staple with the rotary drive structure removed;
FIG. 4 is a left side view of FIG. 3;
FIG. 5 is an enlarged view of a portion of FIG. 3;
FIG. 6 is a three-dimensional schematic of a staple delivery system;
fig. 7 is a front view of the housing;
FIG. 8 is a top view of the housing;
fig. 9 is a front view of the discharging unit;
FIG. 10 is a left side view of FIG. 9;
FIG. 11 is a front view of the stationary housing;
FIG. 12 is a top view of FIG. 11;
FIG. 13 is a three-dimensional schematic view of a staple driving system;
FIG. 14 is a front view of the staple driving system;
FIG. 15 is a top view of FIG. 14;
FIG. 16 is a top view of FIG. 14;
FIG. 17 is a three-dimensional schematic of a navigation system;
FIG. 18 is a front view of a navigation system;
FIG. 19 is a left side view of FIG. 18;
FIG. 20 is a three-dimensional schematic view of a fixture;
FIG. 21 is a top view of the fixture;
FIG. 22 is a left side view of FIG. 21;
fig. 23 is a right side view of fig. 21;
fig. 24 is a schematic diagram of data information acquisition according to the present invention.
Reference numerals:
1-fixing nails; 2-staple delivery system; 3-stapling driving system; 4-a manipulator; 5-a navigation system; 6-a control system; 7-a memory; 8-processing the chip; 9-an input-output device; 10-nailing body; 11-a guide bar; 12-a conical transition section; 13-an outer helical cutting edge; 14-cutting guide head; 15-an outer hexagonal drive head; 16-inner hexagonal hole; 17-a housing; 18-fixing the shell; 19-a discharging unit; 20-feeding devices; 21-a discharge unit accommodating chamber; 22-a storage hopper; 23-discharging a hopper; 24-conical transition section; 25-pulling a material rotating shaft; 26, a pulling wheel; 27-a drive motor; 28-pulling a material through groove; 29-a discharge hole; 30-pooling space; 31-a conveyor belt; 32-a guide plate; 33-fixing means; a 34-CT scanner; 35-a discharge channel; 36-a bracket; 37-a sliding fit seat; 38-a guide seat; 39-Z arm; a 40-X directional arm; 41-Y direction telescopic cylinder; 42-fixing seat; 43-sliding seat; a 44-XOZ plane rotary cylinder; 45-YOZ plane rotary cylinder; 46-supporting seat; 47-guiding a semicircle sleeve; 48-an adjustment mechanism; 49-left calf immobilization; 50-right calf immobilization; 51-left leg fixation block; 52-fixing the right block on the lower leg; 53-electric putter I; 54-electric push rod I I; 55-fixing and positioning the left sole; 56-right sole fixing and positioning; 57-sole fixing left block; 58-sole fixing right block; 59-electric putter III; 60-an electric push rod IV; 61-a guide bar; 62-left bottom block is fixed on the lower leg; 63-the right bottom block is fixed on the lower leg; 64-sole fixing left bottom block; 65-sole fixing right bottom block; 66-left calf briquetting; 67-right calf press; 68-an electric push rod V; 69-bearing beams; 70-pressing the left sole; 71-right sole pressing block; 72-an electric push rod VI; 73-supporting beams; 74-CT scanning upper semicircle module; 75-CT scanning lower semicircle module; 76-moving the manipulator; 77-side stop surfaces; 78-T-shaped chute; 79-T-shaped slides; 80-bone drill; 81-a bottom plate; 82-shank fixation; 83-sole fixing position.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the ankle fusion surgical robot of the present invention includes:
the fixing nail 1 has a self-guiding function and is used for fixing an ankle joint, and the specific structure is shown in fig. 2-5: the nail comprises a rotary driving structure, a nail body 10, a guide rod 11 with the diameter smaller than that of the nail body and coaxially and integrally arranged with the nail body, and a conical transition section 12 coaxially and integrally arranged between the nail body and the guide rod, wherein the nail body and the conical transition section are both provided with an outer spiral cutting edge 13, the end part of the guide rod is provided with a cutting guide head 14, the cutting guide head is provided with 180-degree double-side cutting edges, the cutting edge is provided with a cutting tip of 30-120 degrees, the rotary driving structure comprises an outer hexagonal driving head 15 and an inner hexagonal hole 16 which is arranged in the middle of the nail body and is matched with the outer hexagonal driving head, and because the outer hexagonal driving head is matched with the inner hexagonal hole, the aperture is relatively smaller, the outer hexagonal driving head is inconvenient to be connected with a driving system, in order to solve the problem, the outer hexagonal driving head of the embodiment also comprises an outer tetragonal power end integrally arranged at the end part of the outer hexagonal driving head, so that the size of the outer tetragonal power end is set larger, the outer tetragonal power end is convenient to be connected with the driving system, the transmission moment is realized, and the inner hexagonal hole needs a certain depth to obtain a nail area to be matched with the outer hexagonal driving head, and the clinical situation is considered to be taken out after the clinical situation is required to be repeatedly studied and taken out, and the clinical situation is considered that is needed to be repeatedly and broken: the depth of the inner hexagonal hole is at least 40mm, which can achieve satisfactory effect, and the depth of the inner hexagonal hole is considered to be optimal from 40mm to 60mm in combination with the convenience of processing,
the staple conveying system 2 is used for storing, selecting and conveying staples, and the specific structure is shown in fig. 6-12: including shell 17, the fixed shell 18, a plurality of ejection of compact unit 19 and material feeding unit 20, the shell has the cavity that holds the fixed shell, fixed shell detachably places in the cavity, be provided with a plurality of ejection of compact units side by side in the fixed shell and hold chamber 21, ejection of compact unit one-to-one places in ejection of compact unit holds the intracavity, specifically, the ejection of compact unit includes hopper 22 that from the top down sets gradually, ejection of compact fill 23 and rotatory material pulling mechanism, arbitrary hopper can the same place many staples of specification, just deposit the staple of one specification promptly with the hopper, the staple of different specifications is deposited to different hoppers, like this, in concrete use, can deposit the staple of multiple specification according to the specific circumstances, so as to adapt to different needs, the ejection of compact fill of this embodiment has the nail mouth that advances with hopper exit dimension the same and link together, can form seamless connection with the hopper, do not leak, the exact and reliable, simultaneously, still have the nail can only a nail mouth that singly passes through, for this purpose, the nail of this embodiment holds the nail mouth and sets up the taper-shaped section and can hold the taper section for the taper section with the taper section, the taper section can be held for the taper section is held to the changeover portion, the changeover portion is held for the changeover portion is big with the changeover portion, and the taper section is held. A dimension that is the same length as the staple or slightly longer and wider than the staple diameter, while being set at the small end: the length is the same as the length of the fixed nail or is slightly longer and the width is about the same as the diameter of the fixed nail; the rotary pulling mechanism of the embodiment comprises a pulling rotating shaft 25 arranged below a nail outlet, a pulling wheel 26 sleeved on the pulling rotating shaft and a driving motor 27 fixed at one end of the pulling rotating shaft, wherein a plurality of pulling through grooves 28 are uniformly distributed on the outer circumference of the pulling wheel, the pulling through grooves are arc-shaped notches which are matched with the appearance of the fixed nails, a discharging hole 29 is arranged at the bottom of a fixed shell, a collecting space 30 for receiving the fixed nails coming out of all the rotary pulling mechanisms is arranged above the discharging hole, all the fixed nails are collected through the collecting space, the rotary pulling mechanism further comprises a feeding device which comprises a conveying belt 31 and a guiding mechanism, wherein the conveying belt 31 and the guiding mechanism are arranged below the discharging hole, the guiding mechanism comprises two guiding plates 32 which are symmetrically arranged at two longitudinal sides of the conveying belt, one ends of the two guiding plates are rotatably fixed below a cavity through hinges, one ends of the two guiding plates are adjustably fixed at the front of the conveying belt through telescopic mechanisms, the telescopic mechanisms can be air cylinders, oil cylinders and other prior art, the two guiding plates and the conveying direction are far smaller, the two guiding plates are large in taper, the fixed nails entering the conveying belt are guided into the fixed nails of the conveying belt, the conveying belt is guided by the conveying mechanism, and the conveying belt is arranged at the output end of the conveying channel 35, and the conveying channel is arranged on the conveying end of the conveying belt,
the specific sorting process comprises the following steps:
when the fixed nails fall into the arc-shaped notch under the action of gravity, the driving motor is started to drive the material pulling rotating shaft and the material pulling wheel to rotate, and simultaneously drive the fixed nails to rotate, when the fixed nails rotate to a certain angle, the fixed nails slide out of the arc-shaped notch under the action of gravity and fall into the collecting space to realize sorting,
the specific conveying process comprises the following steps:
the fixed nails in the collecting space come onto the conveying belt through the discharging hole, the conveying belt moves to drive the fixed nails to move in the same way, the guiding mechanism starts to work while moving, and the two guiding plates and the conveying direction form a far small and near large taper to guide the fixed nails, so that the fixed nails are accurately fed into the discharging channel to realize conveying,
13-16, the fixing nail driving system 3 comprises a bracket 36, a bone drill, a sliding matching seat 37 and a guide seat 38, wherein in a Cartesian coordinate system, the bracket comprises a Z-direction arm 39, an X-direction arm 40 and a Y-direction telescopic cylinder 41, the sliding matching seat is arranged between the fixing nails and the bracket and comprises a fixed seat 42 and a sliding seat 43, the X-direction arm is fixed at the top end of the Z-direction arm through a spherical hinge, the Y-direction telescopic cylinder is fixed at the far end of the X-direction arm through a rotary motor, the Y-direction telescopic cylinder can rotate relative to the X-direction arm, the fixed seat is fixed at the near end of the Y-direction telescopic cylinder through the spherical hinge, an XOZ plane rotary cylinder 44 is arranged between the Z-direction arm and the X-direction arm, a YOZ plane rotary cylinder 45 is arranged between the Y-direction telescopic cylinder and the fixed seat, and therefore, the bracket has the movement freedom degree in the Y-axis direction, the OXZ plane and the rotation freedom degree of the YZ plane, and the fixing nails are fixed on the bracket, so that the fixing nails also have the movement freedom degree in the Y-axis direction, the OXZ plane and the rotation freedom degree of the XZ plane are different, and the rotation direction of the rotation degree are adjusted, and the rotation degree of freedom degree is different; the fixed seat is fixed at the top of the bracket, the sliding seat is fixed at the bottom of the fixed nail, a T-shaped sliding groove parallel to the axis direction of the fixed nail is arranged on the fixed seat, a T-shaped sliding strip in sliding fit with the T-shaped sliding groove is arranged on the sliding seat, and the moving path of the fixed nail is stable and reliable through the sliding fit of the T-shaped sliding strip and the T-shaped sliding groove; the guide seat comprises a left guide seat and a right guide seat which are symmetrically arranged at two axial sides of the fixed nail, the left seat body and the right seat body respectively comprise a supporting seat 46 and a guide semicircular sleeve 47, an adjusting mechanism 48 is arranged between the supporting seat and the guide semicircular sleeve, the adjusting mechanism can be an electric push rod or an oil cylinder and the like in the prior art, the embodiment is the electric push rod, the distance between the two guide semicircular sleeves is adjusted by the pushing action of the electric push rod to enable the distance to be matched with the diameter of a drill rod, the drill rod is guided, and the drill rod has rotational freedom degree during working, so the guide semicircular sleeve in the embodiment is made of a quenchable material, such as various high carbon steel, die steel and the like, particularly, for example, T10A, cr MoV, the wear resistance of the guide semicircular sleeve can be improved, and the service life of the guide semicircular sleeve is prolonged,
the guide seat adopts the combined structure of the two guide semicircular sleeves, and has the advantages that: the two guiding semicircular sleeves can be completely separated, so that the tail end of the drill rod is close to the human body without interference, the operation that the end part protrudes out of the human body and needs to be cut off is not performed any more, the operation procedure is simplified, the operation efficiency is improved,
the bone drill driving device also comprises a driving cylinder, wherein a cylinder seat of the driving cylinder is fixed on the fixed seat, a piston end is fixed on the bone drill, and the driving cylinder drives the bone drill to move at a certain speed, so that the bone drill moves at a uniform speed and is stable, damage to a drill rod caused by too high speed is avoided, and the influence on the operation efficiency caused by too low speed is also avoided
A robot 4 having seven degrees of freedom for transferring staples from the conveyor system to the drive system,
the navigation system 5 for fixing the fixing nails and determining the space position where the fixing nails are nailed, as shown in fig. 17-19, comprises a fixing device 33 for fixing the sole at the front end of the ankle joint and the lower leg at the rear end, and a CT scanner 34 for scanning and imaging the ankle joint,
as shown in fig. 20 to 23, the fixing device comprises a base plate 81, and shank fixing portions 82 and sole fixing portions 83 respectively fixed to front and rear ends of the base plate, and can fix the front shank of the ankle joint and the rear sole of the ankle joint respectively:
the shank fixing position of the embodiment comprises a left shank fixing position 49 and a right shank fixing position 50, wherein the left shank fixing position and the right shank fixing position comprise a shank fixing left block 51 and a shank fixing right block 52, the shank fixing left block is provided with a shank fixing left cambered surface which is horizontally concave leftwards, the shank fixing right block is provided with a shank fixing right cambered surface which is symmetrical to the shank fixing left cambered surface, the left and right directions of the shank can be symmetrically fixed by two symmetrically arranged cambered surfaces, so that the fixing force is uniform and consistent, meanwhile, in order to enhance the adaptability, the shank fixing left block of the left shank fixing position of the embodiment is connected with the shank fixing right block through an electric push rod I53, and the shank fixing right block of the right shank fixing position is connected with the shank fixing left block through an electric push rod II 54, so that the movable connection can adjust the space between the two blocks to adapt to the leg fixing of different sizes;
similarly, the sole fixing position of the embodiment also comprises a left sole fixing position 55 and a right sole fixing position 56, the left sole fixing position and the right sole fixing position both comprise a sole fixing left block 57 and a sole fixing right block 58, the sole fixing left block is provided with a sole fixing left cambered surface which is horizontally concave leftwards, the sole fixing right block is provided with a sole fixing right cambered surface which is symmetrical to the sole fixing left cambered surface, the left and right directions of the sole can be symmetrically fixed by two symmetrically arranged cambered surfaces, so that the fixing force is uniform and consistent, meanwhile, in order to enhance the adaptability, the sole fixing left block of the left sole fixing position is movably connected with the sole fixing right block through an electric push rod III 59, and the sole fixing right block of the right sole fixing position is movably connected with the sole fixing left block through an electric push rod IV 60, so that the movable connection can adjust the space between the two sole fixing left and right blocks to adapt to sole fixing of different sizes;
in order to improve the movement stability, a plurality of guide rods 61 are arranged between the left shank fixing block and the right shank fixing block, and between the left sole fixing block and the right sole fixing block, two guide rods can be arranged, two guide rods are respectively symmetrically arranged between the left shank fixing block and the right shank fixing block and between the left sole fixing block and the right sole fixing block,
in order to enhance the limiting effect, the left shank-fixing block is integrally provided with a left shank-fixing bottom block 62 with the same height, the left shank-fixing bottom block is provided with a left shank-supporting cambered surface connected with the left shank-fixing cambered surface, the right shank-fixing block is integrally provided with a right shank-fixing bottom block 63 with the same height, and the right shank-fixing bottom block is provided with a right shank-supporting cambered surface connected with the right shank-fixing cambered surface in a cambered manner; the left arc surface and the right arc surface of the lower leg support limit support the left side and the right side below the lower leg respectively, so that the accuracy of lower leg fixing is improved;
similarly, the sole fixing left block is integrally provided with a sole fixing left bottom block 64 with equal height, the sole fixing left bottom block is provided with a sole supporting left cambered surface connected with the sole fixing left cambered surface, the sole fixing right block is integrally provided with a sole fixing right bottom block 65 with equal height, and the sole fixing right bottom block is provided with a sole supporting right cambered surface connected with the sole fixing right cambered surface in an arc shape; the left cambered surface and the right cambered surface of the sole support are used for limiting and supporting the left side, the right side, the front side and the rear side below the sole respectively, so that the accuracy of sole fixing is improved;
in order to further improve the fixing effect, the shank fixing position of the embodiment further comprises a shank compressing device, the shank compressing device comprises a left shank compressing block 66, a right shank compressing block 67, an electric push rod V68 and a pressure-bearing beam 69, the left shank compressing block and the right shank compressing block are respectively fixed at two ends of the pressure-bearing beam, the middle part of the other side of the pressure-bearing beam is fixed with the electric push rod V, the other end of the electric push rod V is fixed with the bottom plate, and because the left shank compressing block and the right shank compressing block are respectively fixed at two ends of the pressure-bearing beam and are limited by one electric push rod, when the lengths of the left shank compressing block and the right shank compressing block are fixed, the same compressing force can be obtained under the action of the same electric push rod, and shank compressing concave surfaces are symmetrically arranged on the left shank compressing block and the right shank compressing block, so that the fixing effect is better, and the 'relatively consistent deformation' of the embodiment is relatively good for different human bodies;
similarly, in order to improve the fixing effect, the sole fixing position of the present embodiment further includes a sole pressing device, where the sole pressing device includes a left sole pressing block 70, a right sole pressing block 71, an electric push rod VI 72, and a support beam 73, where the left sole pressing block and the right sole pressing block are respectively fixed at two ends of the support beam, the middle part of the other side of the support beam is fixed with the electric push rod VI, the other end of the telescopic device VI is fixed with the bottom plate, and sole pressing concave surfaces are symmetrically arranged on the left sole pressing block and the right sole pressing block, so that relatively uniform deformation can be obtained, thereby improving the fixing effect;
as shown in fig. 19, the CT scanner of the present embodiment includes an upper CT scan semicircle module 74 and a lower CT scan semicircle module 75 which are vertically distributed, and a mobile manipulator 76 is detachably connected to the upper CT scan semicircle module, and an X-ray generator and an X-ray detector are disposed in both the upper CT scan semicircle module and the lower CT scan semicircle module, and when the upper CT scan semicircle module emits an X-ray beam, the lower CT scan semicircle module receives the X-ray beam; when the lower semicircular module of CT scan emits X-ray beam, the upper semicircular module of CT scan receives X-ray beam and processes data according to attenuation coefficient and absorption coefficient of X-ray to obtain model of scan entity, and the specific process and principle are known technology, which is not described. The movable manipulator has seven degrees of freedom, can carry out flexible space movement, realizes the movement in or out operation of the upper semicircular module of the CT scanning, is suitable for different use states, moves in the upper semicircular module of the CT scanning when scanning is needed, and is matched with the lower semicircular module of the CT scanning for scanning operation, and when scanning is finished, moves out the upper semicircular module of the CT scanning, thereby facilitating the fixing operation.
The control system 6 is used for controlling the staple conveying system, the staple driving system, the manipulator and the navigation system to automatically complete the ankle joint fusion operation, and as shown in fig. 1, the control system comprises a memory 7, a processing chip 8 and an input/output device 9, wherein the processing chip is electrically communicated with the memory, the input/output device, the fixing device, the CT scanner, the staple conveying system and the staple driving system.
The specific navigation method in this embodiment includes the following steps:
1) Establishing a three-dimensional model of the fixture as described above;
2) Obtaining three-dimensional data information of the ankle joint by CT tomography of the ankle joint, and establishing an ankle joint model by reverse engineering;
3) Fitting and placing the ankle joint model on a three-dimensional model of the fixing device, namely simulating the lying posture of a patient, and presetting the fixing position of the fixing nail through the experience of a doctor;
4) Loading the fixed nail model into an ankle joint model, establishing a CAE simulation model, setting various material parameters, and carrying out analysis and calculation;
5) After the analysis is completed, comparing the analysis results, and when the stress value meets the set value, performing the following steps, otherwise repeating the steps 3) and 4);
6) Determining the theoretical fixing position of the fixing nail, storing data, and calling during operation;
7) During operation, firstly, the ankle joint of a patient is fixed through a fixing device;
8) Then, performing secondary imaging on the ankle joint of the patient through the CT scanner, and transmitting secondary imaging information to a control system;
9) The control system establishes a secondary imaging ankle joint real-time model through secondary imaging information, adjusts the spatial positions of the ankle joint model and the ankle joint real-time model to enable the two models to be completely overlapped, and then determines the position, the nailing direction and the nailing point to be fixed on the ankle joint real-time model;
10 Performing fixation surgery according to the nailing direction and the nailing point determined in the step 9), and ending the navigation.
In step 9), only the real-time ankle joint azimuth model of the secondary imaging can be established through the secondary imaging information, then the ankle joint model and the real-time ankle joint azimuth model are adjusted, as shown in fig. 24, the entity center is different from the model center, the center and the azimuth of the model center can be completely overlapped only by moving the model center in the X direction and the negative Y direction, and the navigation purpose can be achieved.
The specific operation process of the embodiment is as follows:
1. automatically fixing the ankle joint through a fixing device;
2. the navigation system adopts the navigation scheme to automatically pre-fix the fixed position of the fixing nail on the joint model, so as to prepare for operation;
3. the space orientation of the driving system is adjusted by the control system;
4. retrieving the designated staples from the delivery system via the control system;
5. the fixed nails are grabbed by a manipulator and are arranged in a driving system;
6. the driving system moves to the initial point of staple insertion;
7. the two guiding semicircular sleeves of the guiding seat are closed to form limit guiding for the fixed nails;
8. the bone drill rotates, the driving cylinder is started, and the bone drill is driven to drive the fixing nails into the bone drill at a certain speed;
9. when a certain length is reached, the two guiding semicircular sleeves of the guiding seat are separated, and guiding is finished;
10. when the specified length is reached, the bone drill stops working, the driving cylinder moves reversely, the bone drill is driven to separate from the fixing nail, the bone drill returns to the original position, and the fixing is finished.
The embodiment can automatically complete the accurate operation such as conveying, fixing, space positioning, fixing driving and the like of the fixing nails with the self-guiding function at one time under the automatic control of the control system, greatly improves the operation efficiency and the operation quality, basically realizes the full-automatic operation of the ankle joint fusion operation, only needs the manual participation of the subsequent suturing operation, and has great practical significance for improving the operation efficiency and reducing the operation cost.
As an improvement of the embodiment, a left arc surface is fixed on the sole, a right arc surface is fixed on the sole, a left arc surface is fixed on the shank and a side blocking surface 77 for limiting the side surfaces is arranged on the right arc surface is fixed on the shank, the side blocking surfaces are vertical surfaces tangent to the upper tail ends of the arc surfaces, the left side and the right side of the shank and the sole can be limited through the side blocking surfaces, the shank and the sole cannot slide out even when being lifted, and meanwhile, the shank and the sole can be guided into a fixed position through the vertical side blocking surfaces so as to initially limit, and the fixing effect is improved.
In order to reduce the impact force of downward falling of the fixing nails and reduce the damage to the fixing nails, the embodiment is provided with a buffer channel between the nail outlet and the arc notch, the buffer channel and the nail outlet form an included angle of 20-80 degrees, the descending speed can be reduced, the fixing nails are protected, more preferably, the fixing nails can be well protected when the included angle is in the range of 30-60 degrees, and the free falling of the fixing nails is not influenced.
Finally, it is noted that the above-mentioned preferred embodiments are only intended to illustrate rather than limit the invention, and that, although the invention has been described in detail by means of the above-mentioned preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the invention as defined by the appended claims.
Claims (7)
1. Ankle joint fuses operation robot, its characterized in that includes:
the fixing nail has a self-guiding function and is used for fixing an ankle joint, the fixing nail comprises a rotary driving structure, a nail body, a guide rod with the diameter smaller than that of the nail body and coaxially and integrally arranged with the nail body, and a conical transition section coaxially and integrally arranged between the nail body and the guide rod, the nail body and the conical transition section are both provided with an outer spiral cutting edge, the end part of the guide rod is provided with a cutting guide head, the cutting guide head is provided with a 180-degree double-side cutting edge, the 180-degree double-side cutting edge is provided with a cutting tip of 30-120 degrees, the rotary driving structure comprises an outer hexagonal driving head and an inner hexagonal hole arranged in the middle of the nail body and matched with the outer hexagonal driving head,
also comprises an outer square power end integrally arranged at the end part of the outer hexagonal driving head,
a staple conveying system for storing, selecting and conveying staples,
a staple driving system for driving the staples into the ankle,
a manipulator having seven degrees of freedom for transferring staples from the transport system to the drive system,
the navigation system is used for fixing the fixing nails and determining the space position where the fixing nails are nailed, and comprises a fixing device and a CT scanner, wherein the fixing device is used for fixing the sole at the front end of the ankle joint and the lower leg at the rear end of the ankle joint, the CT scanner is used for scanning and imaging the ankle joint,
the control system is used for controlling the fixing nail conveying system, the fixing nail driving system, the manipulator and the navigation system to automatically complete the ankle joint fusion operation, the control system comprises a memory, a processing chip and input and output equipment, the processing chip is electrically communicated with the memory, the input and output equipment, the fixing device, the CT scanner, the fixing nail conveying system and the fixing nail driving system,
the staple driving system comprises:
a support having multiple degrees of freedom, at least having a degree of freedom of movement in the Y-axis direction, a degree of freedom of rotation in the XOZ plane and the YOZ plane in a Cartesian coordinate system,
the bracket comprises a Z-direction arm, an X-direction arm and a Y-direction telescopic cylinder, wherein the X-direction arm is fixed at the top end of the Z-direction arm through a spherical hinge, the Y-direction telescopic cylinder is fixed at the far end of the X-direction arm through a rotating motor, an XOZ plane rotating cylinder is arranged between the Z-direction arm and the X-direction arm,
a fixing nail fixed on the bracket,
the sliding fit seat is arranged between the fixing nail and the bracket and comprises a fixing seat and a sliding seat, the fixing seat is fixed at the top of the bracket, the sliding seat is fixed at the bottom of the fixing nail, a T-shaped sliding groove parallel to the axis direction of the fixing nail is arranged on the fixing seat, a T-shaped sliding strip in sliding fit with the T-shaped sliding groove is arranged on the sliding seat, the fixing seat is fixed at the proximal end of the Y-direction telescopic cylinder through a spherical hinge, a YOZ plane rotary cylinder is arranged between the Y-direction telescopic cylinder and the fixing seat,
the guide seat comprises a left guide seat and a right guide seat which are symmetrically arranged at two sides of the axial direction of the fixed nail, the left guide seat and the right guide seat both comprise a supporting seat, a guide semicircle sleeve and an adjusting mechanism which is arranged between the supporting seat and the guide semicircle sleeve and can adjust the distance between the supporting seat and the guide semicircle sleeve,
the fixing nail conveying system comprises a fixing shell, a plurality of discharging units which can output fixing nails one by one, and a feeding device which is arranged below the plurality of discharging units and is used for receiving and feeding materials,
the discharging unit comprises a storage hopper, a discharge hopper and a rotary material pulling mechanism which are sequentially arranged in a fixed shell from top to bottom, wherein any storage hopper can store a plurality of fixed nails with the same specification in the same direction, the discharge hopper is provided with a nail inlet which is the same as the outlet of the storage hopper and is connected and sealed together, the discharge hopper is provided with a nail outlet through which only one fixed nail can independently pass, the rotary material pulling mechanism comprises a material pulling rotating shaft arranged below the nail outlet, a material pulling wheel sleeved on the material pulling rotating shaft and a driving motor fixed at one end of the material pulling rotating shaft, a plurality of material pulling through grooves are uniformly distributed on the outer circumference of the material pulling wheel, the material pulling through grooves are arc-shaped notches which are matched with the appearance of the fixed nails,
a discharge hole is arranged at the bottom of the fixed shell, a collecting space for receiving the fixing nails pulled out by all the rotary pulling mechanisms is arranged above the discharge hole,
the feeding device comprises a conveying belt and a guiding mechanism which are arranged below the discharging hole,
the guide mechanism comprises two guide plates which are symmetrically arranged at two sides of the longitudinal direction of the conveying belt, and the two guide plates and the conveying direction are arranged in a taper manner of far small and near large.
2. The ankle fusion surgical robot according to claim 1, wherein the depth of the inner hexagonal hole is 40-60mm.
3. The ankle fusion surgical robot according to claim 1, further comprising a driving cylinder for driving the fixing pin, wherein a cylinder block of the driving cylinder is fixed to the fixing seat, and a piston end is fixed to the fixing pin.
4. The ankle fusion surgical robot according to claim 1, wherein: the fixing device comprises a bottom plate, shank fixing positions and sole fixing positions which are respectively fixed at the front end and the rear end of the bottom plate,
the shank fixing position comprises a left shank fixing position and a right shank fixing position, both the left shank fixing position and the right shank fixing position comprise a shank fixing left block and a shank fixing right block, the shank fixing left block is provided with a shank fixing left cambered surface which is horizontally concave leftwards, the shank fixing right block is provided with a shank fixing right cambered surface which is symmetrical with the shank fixing left cambered surface, the shank fixing left block of the left shank fixing position is movably connected with the shank fixing right block through a telescopic device I, the shank fixing right block of the right shank fixing position is movably connected with the shank fixing left block through a telescopic device II,
the sole fixing position comprises a left sole fixing position and a right sole fixing position, both the left sole fixing position and the right sole fixing position comprise a sole fixing left block and a sole fixing right block, the sole fixing left block is provided with a sole fixing left cambered surface which is horizontally concave leftwards, the sole fixing left block of the left sole fixing position is movably connected with the sole fixing right block through a telescopic device III, the sole fixing right block of the right sole fixing position is movably connected with the sole fixing left block through a telescopic device IV,
the lower leg fixing left block is integrally provided with a lower leg fixing left bottom block with the same height, and the lower leg fixing left bottom block is provided with a lower leg supporting left cambered surface connected with the lower leg fixing left cambered surface;
the lower leg fixing right block is integrally provided with a lower leg fixing right bottom block with the same height, and the lower leg fixing right bottom block is provided with a lower leg supporting right cambered surface which is in arc connection with the lower leg fixing right cambered surface;
the sole fixing left block is integrally provided with a sole fixing left bottom block with the same height, the sole fixing left bottom block is provided with a sole supporting left cambered surface connected with the sole fixing left cambered surface,
the sole fixing right block is integrally provided with a sole fixing right bottom block with the same height, and the sole fixing right bottom block is provided with a sole supporting right cambered surface which is in arc connection with the sole fixing right cambered surface;
the shank fixing position also comprises a shank pressing device, the shank pressing device comprises a left shank pressing block, a right shank pressing block, a telescopic device V and a pressure-bearing beam, the left shank pressing block and the right shank pressing block are respectively fixed at two ends of the pressure-bearing beam, the middle part of the other side of the pressure-bearing beam is fixed with the telescopic device V, and the other end of the telescopic device V is fixed with the bottom plate;
the sole fixing position also comprises a sole pressing device, wherein the sole pressing device comprises a left sole pressing block, a right sole pressing block, a telescopic device VI and a supporting beam, the left sole pressing block and the right sole pressing block are respectively fixed at two ends of the supporting beam, the middle part of the other side of the supporting beam is fixed with the telescopic device VI, and the other end of the telescopic device VI is fixed with the bottom plate;
the left shank pressing block and the right shank pressing block are symmetrically provided with shank pressing concave surfaces, and the left sole pressing block and the right sole pressing block are symmetrically provided with sole pressing concave surfaces.
5. The ankle fusion surgical robot according to claim 4, wherein the CT scanner includes a CT scan upper semicircle module and a CT scan lower semicircle module disposed between the shank fixation position and the sole fixation position in an up-down distribution.
6. The ankle fusion surgical robot according to claim 5, wherein: the navigation system further comprises a mobile manipulator which is detachably connected with the CT scanning upper semicircular module and has seven degrees of freedom.
7. The ankle fusion surgical robot according to claim 4, wherein a section of side blocking surface for side limiting is arranged on the sole fixing left cambered surface, the sole fixing right cambered surface, the shank fixing left cambered surface and the shank fixing right cambered surface, and the side blocking surface is a vertical surface tangent to the upper tail end of each cambered surface.
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| CN110561404B (en) * | 2019-09-12 | 2021-08-13 | 北京交通大学 | Modular reconfigurable robot teaching aid |
| CN112842414B (en) * | 2021-01-07 | 2021-12-07 | 南通市第一人民医院 | Thoracic surgery is with bone strut that can automatically regulated |
| 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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|---|---|---|---|---|
| EP1354562A1 (en) * | 2002-04-18 | 2003-10-22 | Sulzer Orthopedics Ltd. | Improved bone fixation |
| CN208769976U (en) * | 2018-02-28 | 2019-04-23 | 重庆英泰帝克科技有限公司 | Ankle fusion operating robot |
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| US10751071B2 (en) * | 2016-04-25 | 2020-08-25 | Imds Llc | Joint fusion instrumentation and methods |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP1354562A1 (en) * | 2002-04-18 | 2003-10-22 | Sulzer Orthopedics Ltd. | Improved bone fixation |
| CN208769976U (en) * | 2018-02-28 | 2019-04-23 | 重庆英泰帝克科技有限公司 | Ankle fusion operating robot |
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