JP3735751B2 - Bone repair / treatment device - Google Patents

Bone repair / treatment device Download PDF

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Publication number
JP3735751B2
JP3735751B2 JP2000203756A JP2000203756A JP3735751B2 JP 3735751 B2 JP3735751 B2 JP 3735751B2 JP 2000203756 A JP2000203756 A JP 2000203756A JP 2000203756 A JP2000203756 A JP 2000203756A JP 3735751 B2 JP3735751 B2 JP 3735751B2
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bone
support member
flexible rod
pin
robot arm
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JP2002017740A (en
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隆弘 越智
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MMT Co Ltd
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MMT Co Ltd
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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
    • A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
    • A61B17/8866—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices for gripping or pushing bones, e.g. approximators
    • 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
    • A61B17/6441—Bilateral fixators, i.e. with both ends of pins or wires clamped
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
    • A61B17/60—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like for external osteosynthesis, e.g. distractors, contractors
    • A61B17/66—Alignment, compression or distraction mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Surgery (AREA)
  • Biomedical Technology (AREA)
  • Engineering & Computer Science (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Surgical Instruments (AREA)

Description

【０００１】
【発明の属する技術分野】
本発明は、分断した体内の骨を外部に露出させることなく、移動および／または旋回をさせ、正常位置に修復・治療する装置に関し、詳しくは、骨折して断列した骨を元通りの位置まで移動することが可能な治療装置に関し、さらに詳しくは、四肢のなかでも特に大腿骨や脛骨に好適に用いられる治療装置に関する。
【０００２】
【従来の技術】
従来、骨折などの治療は、患部を広く切開し骨折した骨を露出させた状態で修復するのが一般的であった。そのため、切開部の癒合に時間がかかり、また、大きな傷跡が残るため、患者にとっては大きな苦痛があった。
【０００３】
切開せずにレントゲンによる画像で確認しながら元通りに修復することも検討されているが、脚の骨の場合には脚全体を引っ張ったり旋回したりせねばならず、強制の確認のために頻回のレントゲン透視を行う必要があり、微調整が難しく熟練者といえども実行が困難である。さらに、術者や従業者の放射線被爆も大きな問題である。
【０００４】
【発明が解決しようとする課題】
本発明は、従来のように大きな切開をせずに、最小限の切開で修復できる装置を提供するものである。
【０００５】
【課題を解決するための手段及び作用】
請求項１に記載の発明は、骨折等により２以上に分断された骨部分のそれぞれに固定されたピンなどの支持部材を相対的に動かすロボットアームを備えた骨の修復・治療装置で あって、フレキシブルなロッドと、これを前記骨部分に挿通するロボットアームと、前記骨部分に挿通された前記フレキシブルなロッドの先端を前記支持部材に固定する係合手段と、前記フレキシブルなロッドと前記支持部材の間に張力を加える手段を有し、フレキシブルなロッドの先端が前記支持部材に固定された状態で、前記フレキシブルなロッドと前記支持部材の間に張力を加え、前記骨部分の軸を揃えることを特徴とする骨の修復・治療装置。
支持部材はピンの形態をとることが好ましいが、これに限定されず、また、ロボットアームの先端自体がピンなどの支持部材を構成していてもよい。
【０００６】
ピンなどの支持部材を骨に固定するには、これを骨に挿通することが好ましいが、これに限定されず、骨に表面に接着したり、その他の固定手段を適宜採用できる。
【０００７】
ピンなどの支持部材は、それぞれの骨における損傷を受けていない部位すなわち負荷をかけることができる部位に固定する。固定されたピンは少なくとも一部が体外に露出しており、この露出したピンをロボットアームで操作して修復作業を行う。
【０００８】
ロボットアームは、相対的に移動できれば良いから、例えば、２つのロボットアームを備える装置の場合は、一方のロボットアームが移動および旋回が可能で有れば、他方のロボットアームは不動であってそれが支持する骨部分を単に固定するだけの機能を有するものでも良い。
【０００９】
請求項１の発明によれば、骨の移動を機械が行うので、骨に対して大きな力をかけながらも骨の微量の移動が可能であり、したがって、骨の正確な位置あわせができて、修復作業がいっそう容易となる。
【００１０】
以上のような作業を円滑に行うには、請求項２に記載のように、少なくともロボットアームの１つが３軸方向の移動と旋回が可能であることが好ましい。
【００１１】
さらに、この発明においては、画像処理システム（いわゆる骨のナビゲーションシステム）を用いることにより、いったん記憶させたデータに基づいて骨の位置関係がモニター上で観察できるようになすことができる。また、必要があれば移動自体もプログラムにより機械が自動的に行うようにすることができる。
【００１２】
すなわち、一般的に、大腿骨などは骨折すると全体の長さが縮むので、請求項３に記載のように、分断された骨部分をピンなどの支持部材を用いて相対的に引き離し、必要により旋回させた後、骨の軸線を揃える動きをプログラムしておくと良い。なお、プログラムは、これに限らず、種々の症状に応じて最適なものが選択できるようにしておくのが好ましい。
【００１３】
【発明の実施の形態】
以下、実施例によりこの発明を具体的に説明する。なお、実施例は本発明の範囲を限定するものではない。
【００１４】
この発明の骨の修復・治療装置は、図１に示すように、レントゲンイメージ撮影装置および光学式赤外線カメラ１０と、ディスプレイ１２と、コンピュータ１４と、制御装置１６と、ロボット１８とで構成されている。ロボット１８は、それぞれ不図示の、少なくとも２つのロボットアームと、これらロボットアームの少なくとも１つを３軸方向に移動させ且つ３軸の各々の周りに旋回させる複数の駆動モータとから構成されている。
【００１５】
レントゲンイメージ撮影装置と光学式赤外線カメラとは、これらを組み合わせることで、２方向（正面および側面など一方向と、それと直交する方向）のレントゲンイメージを用いて、手術ナビゲーションができるものであり、その一例はフルオロナビ（商標）として知られている。
【００１６】
まず、図２に示す実施例につき説明する。
【００１７】
２６，２８はこの発明の骨の修復・修理装置（不図示）に設けられた２つのロボットアームあり、各ロボットアーム２６，２８はそれぞれピン３０，３２を保持している。（なお、図２は、ピン３０が骨に打ちこまれた状態を示している。打ち込み前は、ピン３０もアーム２８に類似のアーム（不図示）により保持され、このアームにより骨に打ち込まれる。）
例えば、大腿骨Ａが骨端を除いた部位で２つに折れたとする。骨の支えがなくなった大腿部は筋肉の力で収縮し図２（ａ）のように短くなる。取りあえず、この状態でレントゲンを２方向以上から撮影し、骨の位置関係を把握する。このデータは、前記のレントゲンイメージ撮影装置と光学式赤外線カメラに適用することにより、患部を動かしても常時骨の位置関係を追尾できるようになる。骨のどこへピンを打てば骨をロボットアームで操作しやすいかを判断し、体外から２つの骨部分ａ１，ａ２にピン３０，３２を打つ。このとき、例えば直径５ｍｍ程度の金属製ピン３０，３２を通すために若干、切開する。ピンを打つ最適位置は、画像データをもとにコンピュータに計算させても良い。例えば、図１の３０，３２のように骨の軸に垂直方向に打つ。ピンは横滑りしないように外表面にネジ山を刻んでも良い。貫通させた場合は、馬蹄形の部材３４で両端を固定しても良い。
【００１８】
ピン３０，３２はロボットアーム２６，２８により互いに離れる方向へ移動する。その後、骨部分ａ１，ａ２にねじれがある場合には、ロボットアーム３を旋回させ、骨部分ａ１，ａ２を正しい位置関係にもたらし、その後、図２（ｂ）のように二つの骨部分ａ１，ａ２を貫通するロッド３６を骨端３８付近から骨Ａに挿入することにより骨Ａは固定される。このとき、患者の脚へは、数ヶ所の小さな穴をあけるだけで修復作業が完了する。
【００１９】
ロボットアームの動作を自動的に行わせるにはつぎのようにする。レントゲンイメージ撮影装置と光学式赤外線カメラとにより把握された骨折した骨の位置関係はディスプレイ１２上に表示されると共に、この位置関係に関する情報はコンピュータ１４により記憶されるされる。コンピュータ１４は、ピンの３軸方向の移動量、旋回量を定め、制御装置１６を介してロボット１８の駆動モータへ制御信号を送って各モータを駆動する。そして、各モータに取り付けられたエンコーダがコンピュータ１４によって指示された値にまでモータを駆動したことを検出すると、各モータの駆動が停止する。
【００２０】
図３に示す実施例においては、ピン及びそれを保持するロボットアームは図２の場合と同じものを使用する。
【００２１】
図２の場合と同様に骨折したとする。このとき、体外からピン１３０，１３２を打つ。このとき、ピン１３０は図２のピン３０と同様に打ち込むが、ピン１３２は、骨Ａの軸線方向に近い角度から、ある程度の長さ打ち込む。ピン１３２は、ロボットアーム１２８で固定しておき、ピン１３０を他のロボットアーム（不図示）で移動させて骨の軸を揃える。骨が正しく移動した後はピン１３２を図２のロッド３６の代わりに押し込み、骨を固定する。
【００２２】
図４の実施例の装置においては、図２および図３の実施例の場合と同様のピン２３０，２３２を把持するロボットアーム（不図示）を有しているが、フレキシブルかつ中空のロッド２４０を供給する別のロボットアーム２４２を有している点で図２および図３の実施例とは異なる。
【００２３】
この場合においても、図２の実施例の場合と同様に骨折したとする。このとき、体外からピン２３０，２３２を図２の実施例のピン３０，３２の場合と同様に打ち込む。ついで、ロボットアーム２４２よりフレキシブルなロッド２４０が挿入され、ピン２３０に先端を固定する。ピン２３０，２３２が互いに離れるように移動した後、ロッド２４０とピン２３０の間にテンションをかけると、ロッド２４０は直線化し、骨折した骨部分ａ１，ａ２の軸が揃う。この状態で、図４（ｂ）に示すのと同様に、ロッド２４０の中空内部に小径ロッド（不図示）を挿入して、これを骨Ａ内に留置することができる。
【００２４】
なお、挿通するピンは、骨を固定したり移動したりできるものであれば、ピン以外の治具によるものでも良い。また、ピンまたはピン以外の治具の数、角度、形状、材質などは必要により適宜選択すればよい。
【００２５】
また、図示しないが、プログラムを実施せず、モニターを監視しながら遠隔操作でロボットアームを動かすようにしても良い。
【００２６】
【発明の効果】
本発明によれば、大腿骨などの骨折治療が、数カ所の小さな切開をするだけで行なえる。また、ロボットで制御するので大きな力が出せる上、微小な動きが可能であり、位置合わせが容易に行える。
【００２７】
また、ナビゲーションシステムを用いれば、常に骨の位置関係が確認でき、実際の処置が適切に行われていることを確認できる。
【図面の簡単な説明】
【図１】この発明の装置の一実施例の全体構成を示すブロック図
【図２】この発明の装置の一実施例を示す要部概略図
【図３】他の実施例を示す前図同様の図
【図４】さらに他の実施例を示す同様の図
【符号の説明】
Ａ 骨
ａ１ 骨部分
ａ２ 骨部分
２６，２８，１２８，２４２，３４２ ロボットアーム
３０，３２，１３０，１３２，２３０，２３２，３３０，３３２ ピン
２４０，３４０ ロッド[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an apparatus for moving and / or turning to a normal position without exposing the fractured bone inside to the outside, and more particularly, to a normal position of a fractured and disconnected bone. More particularly, the present invention relates to a therapeutic device that is preferably used for the femur and tibia among the limbs.
[0002]
[Prior art]
Conventionally, in the treatment of fractures and the like, it has been common to repair in a state where the affected part is widely opened and the fractured bone is exposed. Therefore, it takes time to unite the incision, and a large scar remains, which causes great pain for the patient.
[0003]
It is also being considered to restore the original shape while confirming with an X-ray image without incision, but in the case of the leg bone, the entire leg must be pulled or swiveled. It is necessary to perform X-ray fluoroscopy frequently, and fine adjustment is difficult and even an expert is difficult to perform. Furthermore, radiation exposure of surgeons and employees is also a major problem.
[0004]
[Problems to be solved by the invention]
The present invention provides a device that can be repaired with a minimal incision without making a large incision as in the prior art.
[0005]
[Means and Actions for Solving the Problems]
According to one aspect of the present invention, a repair-treatment device for bones with a robot arm to move relative to the support member, such as a fixed pin in the respective divided bone portion into two or more by fracture or the like A flexible rod, a robot arm through which the bone portion is inserted, an engagement means for fixing a distal end of the flexible rod inserted through the bone portion to the support member, the flexible rod and the support Means for applying tension between the members, and applying tension between the flexible rod and the support member in a state where the tip of the flexible rod is fixed to the support member, aligns the axis of the bone portion Bone repair and treatment device characterized by this.
The support member preferably takes the form of a pin, but is not limited to this, and the tip of the robot arm itself may constitute a support member such as a pin.
[0006]
In order to fix a support member such as a pin to the bone, it is preferable to insert the support member into the bone. However, the present invention is not limited to this, and any other fixing means can be used as appropriate.
[0007]
A support member such as a pin is fixed to an undamaged site in each bone, that is, a site where a load can be applied. At least a part of the fixed pin is exposed to the outside of the body, and this exposed pin is operated by a robot arm to perform repair work.
[0008]
The robot arm only needs to be able to move relatively. For example, in the case of an apparatus having two robot arms, if one robot arm can move and turn, the other robot arm does not move. It may have a function of simply fixing the bone portion supported by the.
[0009]
According to the invention of claim 1, since the machine moves the bone, it is possible to move a small amount of the bone while applying a large force to the bone. Therefore, the bone can be accurately positioned, Repair work becomes even easier.
[0010]
In order to smoothly perform the above operation, it is preferable that at least one of the robot arms is capable of moving and turning in three axis directions as described in claim 2.
[0011]
Furthermore, in the present invention, by using an image processing system (a so-called bone navigation system), it is possible to observe the positional relationship of the bone on the monitor based on the data stored once. Further, if necessary, the machine can automatically perform the movement itself by a program.
[0012]
That is, generally, when the femur etc. is fractured, the entire length contracts. Therefore, as described in claim 3, the separated bone portion is relatively separated using a support member such as a pin, and if necessary, It is good to program the motion to align the bone axis after turning. Note that the program is not limited to this, and it is preferable that an optimal program can be selected according to various symptoms.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the present invention will be specifically described by way of examples. In addition, an Example does not limit the scope of the present invention.
[0014]
As shown in FIG. 1, the bone repair / treatment device of the present invention comprises an X-ray imaging apparatus and optical infrared camera 10, a display 12, a computer 14, a control device 16, and a robot 18. Yes. The robot 18 includes at least two robot arms (not shown), and a plurality of drive motors that move at least one of these robot arms in the three-axis directions and rotate around each of the three axes. .
[0015]
The X-ray imaging device and the optical infrared camera can be used to perform surgical navigation using X-ray images in two directions (one direction such as the front and side surfaces and a direction perpendicular thereto) by combining them. An example is known as FluoroNavi ™.
[0016]
First, the embodiment shown in FIG. 2 will be described.
[0017]
Reference numerals 26 and 28 denote two robot arms provided in the bone repair / repair device (not shown) of the present invention. The robot arms 26 and 28 hold pins 30 and 32, respectively. (Note that FIG. 2 shows a state in which the pin 30 is driven into the bone. Before the driving, the pin 30 is also held by an arm (not shown) similar to the arm 28 and driven into the bone by this arm. .)
For example, it is assumed that the femur A is broken in two at the site excluding the epiphysis. The thigh where the bone is no longer supported contracts by the force of the muscles and becomes shorter as shown in FIG. For the time being, X-rays are taken from two or more directions in this state to grasp the positional relationship of the bones. By applying this data to the X-ray imaging apparatus and the optical infrared camera, the positional relationship of the bone can be tracked at all times even when the affected part is moved. It is judged where the pin is to be pinned and the bone can be easily operated by the robot arm, and the pins 30 and 32 are hit from the outside of the body to the two bone portions a1 and a2. At this time, for example, a slight incision is made to pass the metal pins 30 and 32 having a diameter of about 5 mm. The optimal position for hitting the pin may be calculated by a computer based on the image data. For example, as shown at 30, 32 in FIG. The pins may be threaded on the outer surface to prevent skidding. When penetrating, both ends may be fixed by a horseshoe-shaped member 34.
[0018]
The pins 30 and 32 are moved away from each other by the robot arms 26 and 28. Thereafter, when the bone portions a1 and a2 are twisted, the robot arm 3 is turned to bring the bone portions a1 and a2 into the correct positional relationship, and then, as shown in FIG. By inserting the rod 36 penetrating a2 into the bone A from the vicinity of the bone end 38, the bone A is fixed. At this time, the repair work is completed simply by drilling a few small holes in the patient's leg.
[0019]
The robot arm is automatically operated as follows. The positional relationship of the fractured bone grasped by the X-ray imaging apparatus and the optical infrared camera is displayed on the display 12, and information regarding this positional relationship is stored by the computer 14. The computer 14 determines the amount of movement and turning of the pins in the three axis directions, and sends a control signal to the drive motor of the robot 18 via the control device 16 to drive each motor. Then, when it is detected that the encoder attached to each motor has driven the motor to the value instructed by the computer 14, the driving of each motor is stopped.
[0020]
In the embodiment shown in FIG. 3, the same pins and the robot arm that holds them are used as in FIG.
[0021]
Assume that a fracture has occurred as in the case of FIG. At this time, the pins 130 and 132 are hit from outside the body. At this time, the pin 130 is driven in the same manner as the pin 30 in FIG. 2, but the pin 132 is driven to a certain length from an angle close to the axial direction of the bone A. The pin 132 is fixed by the robot arm 128, and the pin 130 is moved by another robot arm (not shown) to align the bone axes. After the bone has moved correctly, the pin 132 is pushed in place of the rod 36 in FIG. 2 to fix the bone.
[0022]
4 has a robot arm (not shown) that holds the same pins 230 and 232 as in the embodiment of FIGS. 2 and 3, but a flexible and hollow rod 240 is used. It differs from the embodiment of FIGS. 2 and 3 in that it has another robot arm 242 to be supplied.
[0023]
Even in this case, it is assumed that the fracture has occurred in the same manner as in the embodiment of FIG. At this time, the pins 230 and 232 are driven from the outside in the same manner as the pins 30 and 32 in the embodiment of FIG. Next, a flexible rod 240 is inserted from the robot arm 242 and the tip is fixed to the pin 230. After the pins 230 and 232 move away from each other, when a tension is applied between the rod 240 and the pin 230, the rod 240 is straightened and the axes of the fractured bone portions a1 and a2 are aligned. In this state, as shown in FIG. 4B, a small-diameter rod (not shown) can be inserted into the hollow interior of the rod 240 and placed in the bone A.
[0024]
The pin to be inserted may be a jig other than the pin as long as it can fix or move the bone. Further, the number, angle, shape, material, etc. of the pins or jigs other than the pins may be appropriately selected as necessary.
[0025]
Although not shown, the robot arm may be moved remotely by monitoring the monitor without executing the program.
[0026]
【The invention's effect】
According to the present invention, a fracture such as a femur can be treated with a few small incisions. In addition, since it is controlled by a robot, a large force can be produced, and a minute movement is possible, so that positioning can be performed easily.
[0027]
Further, if the navigation system is used, the positional relationship between the bones can always be confirmed, and it can be confirmed that the actual treatment is appropriately performed.
[Brief description of the drawings]
FIG. 1 is a block diagram showing the overall configuration of an embodiment of the apparatus of the present invention. FIG. 2 is a schematic diagram of the main part showing an embodiment of the apparatus of the present invention. Fig. 4 is a similar diagram showing another embodiment [Explanation of symbols]
A Bone a1 Bone part a2 Bone part 26, 28, 128, 242, 342 Robot arm 30, 32, 130, 132, 230, 232, 330, 332 Pin 240, 340 Rod

Claims (4)

骨折等により２以上に分断された骨部分のそれぞれに固定されたピンなどの支持部材を相対的に動かすロボットアームを備えた骨の修復・治療装置であって、
フレキシブルなロッドと、
これを前記骨部分に挿通するロボットアームと、
前記骨部分に挿通された前記フレキシブルなロッドの先端を前記支持部材に固定する係合手段と、
前記フレキシブルなロッドと前記支持部材の間に張力を加える手段を有し、
フレキシブルなロッドの先端が前記支持部材に固定された状態で、前記フレキシブルなロッドと前記支持部材の間に張力を加え、前記骨部分の軸を揃えることを特徴とする骨の修復・治療装置。 A rehabilitation and treatment device of a bone which includes a robot arm to move relative to the support member, such as a fixed pin in the respective divided bone portion into two or more by fracture or the like,
A flexible rod,
A robot arm that passes this through the bone part;
Engagement means for fixing a distal end of the flexible rod inserted through the bone portion to the support member;
Means for applying tension between the flexible rod and the support member;
An apparatus for repairing and treating bone, wherein a tension is applied between the flexible rod and the support member in a state where a distal end of the flexible rod is fixed to the support member to align the axis of the bone portion. 少なくともロボットアームの１つが３軸方向の移動と旋回が可能であることを特徴とする請求項１に記載の修復・治療装置。  The repair / treatment apparatus according to claim 1, wherein at least one of the robot arms is capable of moving and turning in three axial directions. 分断された骨部分を支持部材を介して相対的に引き離し、必要により前記支持部材を介して旋回した後、骨の軸線を揃える動きをプログラムされた請求項１または２に記載の修復・治療装置。  The repair / treatment device according to claim 1 or 2, wherein a movement of aligning the axis of the bone is programmed after the separated bone portion is relatively separated through the support member and, if necessary, pivoted through the support member. . 前記フレキシブルなロッドは中空部を備え、骨が修復された位置に達したときに前記フレキシブルなロッドの中空内部に小径ロッドを挿入する手段を有することを特徴とする請求項１〜３のいずれか１項に記載の修復・治療装置。The flexible rod has a hollow portion, and has means for inserting a small-diameter rod into the hollow interior of the flexible rod when the bone has been repaired. The repair / treatment apparatus according to item 1.
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